Ufuk Topcu

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The University of Texas at Austin ∙ University of Pennsylvania

Assistant Professor Department of Aerospace Engineering and Engineering Mechanics at The University of Texas

Robust Generative Adversarial Imitation Learning via Local Lipschitzness

We explore methodologies to improve the robustness of generative adversa...
06/30/2021 ∙ by Farzan Memarian, et al. ∙ 0 ∙ share

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Convex Optimization for Parameter Synthesis in MDPs

Probabilistic model checking aims to prove whether a Markov decision pro...
06/30/2021 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Probabilistic Control of Heterogeneous Swarms Subject to Graph Temporal Logic Specifications: A Decentralized and Scalable Approach

We develop a probabilistic control algorithm, , for swarms of agents wit...
06/29/2021 ∙ by Franck Djeumou, et al. ∙ 0 ∙ share

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Non-Parametric Neuro-Adaptive Control Subject to Task Specifications

We develop a learning-based algorithm for the control of robotic systems...
06/25/2021 ∙ by Christos K. Verginis, et al. ∙ 0 ∙ share

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Learning to Reach, Swim, Walk and Fly in One Trial: Data-Driven Control with Scarce Data and Side Information

We develop a learning-based control algorithm for unknown dynamical syst...
06/19/2021 ∙ by Franck Djeumou, et al. ∙ 0 ∙ share

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Robust Training in High Dimensions via Block Coordinate Geometric Median Descent

Geometric median (Gm) is a classical method in statistics for achieving ...
06/16/2021 ∙ by Anish Acharya, et al. ∙ 11 ∙ share

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Verifiable and Compositional Reinforcement Learning Systems

We propose a novel framework for verifiable and compositional reinforcem...
06/07/2021 ∙ by Cyrus Neary, et al. ∙ 0 ∙ share

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Task-Guided Inverse Reinforcement Learning Under Partial Information

We study the problem of inverse reinforcement learning (IRL), where the ...
05/28/2021 ∙ by Franck Djeumou, et al. ∙ 0 ∙ share

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Uncertainty-Aware Signal Temporal Logic Inference

Temporal logic inference is the process of extracting formal description...
05/24/2021 ∙ by Nasim Baharisangari, et al. ∙ 0 ∙ share

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Identity Concealment Games: How I Learned to Stop Revealing and Love the Coincidences

In an adversarial environment, a hostile player performing a task may be...
05/12/2021 ∙ by Mustafa O. Karabag, et al. ∙ 0 ∙ share

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Efficient Strategy Synthesis for MDPs with Resource Constraints

We consider qualitative strategy synthesis for the formalism called cons...
05/05/2021 ∙ by František Blahoudek, et al. ∙ 0 ∙ share

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Polynomial-Time Algorithms for Multi-Agent Minimal-Capacity Planning

We study the problem of minimizing the resource capacity of autonomous a...
05/04/2021 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Learning Linear Temporal Properties from Noisy Data: A MaxSAT Approach

We address the problem of inferring descriptions of system behavior usin...
04/30/2021 ∙ by Jean-Raphaël Gaglione, et al. ∙ 0 ∙ share

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Self-Supervised Online Reward Shaping in Sparse-Reward Environments

We propose a novel reinforcement learning framework that performs self-s...
03/08/2021 ∙ by Farzan Memarian, et al. ∙ 0 ∙ share

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Function Approximation via Sparse Random Features

Random feature methods have been successful in various machine learning ...
03/04/2021 ∙ by Abolfazl Hashemi, et al. ∙ 40 ∙ share

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A 3D Printing Hexacopter: Design and Demonstration

3D printing using robots has garnered significant interest in manufactur...
03/02/2021 ∙ by Alexander Nettekoven, et al. ∙ 0 ∙ share

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Safe Multi-Agent Reinforcement Learning via Shielding

Multi-agent reinforcement learning (MARL) has been increasingly used in ...
01/27/2021 ∙ by Ingy Elsayed-Aly, et al. ∙ 0 ∙ share

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Multiple Plans are Better than One: Diverse Stochastic Planning

In planning problems, it is often challenging to fully model the desired...
12/31/2020 ∙ by Mahsa Ghasemi, et al. ∙ 23 ∙ share

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Towards online monitoring and data-driven control: a study of segmentation algorithms for infrared images of the powder bed

An increasing number of selective laser sintering and selective laser me...
11/18/2020 ∙ by Alexander Nettekoven, et al. ∙ 0 ∙ share

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Assured Autonomy: Path Toward Living With Autonomous Systems We Can Trust

The challenge of establishing assurance in autonomy is rapidly attractin...
10/27/2020 ∙ by Ufuk Topcu, et al. ∙ 0 ∙ share

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Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations

This paper considers the problem of computing an optimal trajectory for ...
09/24/2020 ∙ by Tichakorn Wongpiromsarn, et al. ∙ 0 ∙ share

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Robust Finite-State Controllers for Uncertain POMDPs

Uncertain partially observable Markov decision processes (uPOMDPs) allow...
09/24/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning

For a nonlinear system (e.g. a robot) with its continuous state space tr...
09/05/2020 ∙ by Binghan He, et al. ∙ 0 ∙ share

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Near-Optimal Reactive Synthesis Incorporating Runtime Information

We consider the problem of optimal reactive synthesis - compute a strate...
07/31/2020 ∙ by Suda Bharadwaj, et al. ∙ 0 ∙ share

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Distributed Policy Synthesis of Multi-Agent Systems With Graph Temporal Logic Specifications

We study the distributed synthesis of policies for multi-agent systems t...
06/25/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Qualitative Controller Synthesis for Consumption Markov Decision Processes

Consumption Markov Decision Processes (CMDPs) are probabilistic decision...
05/14/2020 ∙ by František Blahoudek, et al. ∙ 0 ∙ share

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Privacy-Preserving Policy Synthesis in Markov Decision Processes

In decision-making problems, the actions of an agent may reveal sensitiv...
04/16/2020 ∙ by Parham Gohari, et al. ∙ 0 ∙ share

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Scalable Synthesis of Minimum-Information Linear-Gaussian Control by Distributed Optimization

We consider a discrete-time linear-quadratic Gaussian control problem in...
04/06/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Scalable Synthesis of Minimum-Information Linear-GaussianControl by Distributed Optimization

We consider a discrete-time linear-quadratic Gaussian control problem in...
04/06/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Distributed Beamforming for Agents with Localization Errors

We consider a scenario in which a group of agents aim to collectively tr...
03/27/2020 ∙ by Erfaun Noorani, et al. ∙ 0 ∙ share

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Verifiable RNN-Based Policies for POMDPs Under Temporal Logic Constraints

Recurrent neural networks (RNNs) have emerged as an effective representa...
02/13/2020 ∙ by Steven Carr, et al. ∙ 0 ∙ share

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Adaptive Teaching of Temporal Logic Formulas to Learners with Preferences

Machine teaching is an algorithmic framework for teaching a target hypot...
01/27/2020 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Active Task-Inference-Guided Deep Inverse Reinforcement Learning

In inverse reinforcement learning (IRL), given a Markov decision process...
01/24/2020 ∙ by Farzan Memarian, et al. ∙ 0 ∙ share

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Policy Synthesis for Factored MDPs with Graph Temporal Logic Specifications

We study the synthesis of policies for multi-agent systems to implement ...
01/24/2020 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Scenario-Based Verification of Uncertain MDPs

We consider Markov decision processes (MDPs) in which the transition pro...
12/24/2019 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Learning and Planning for Time-Varying MDPs Using Maximum Likelihood Estimation

This paper proposes a formal approach to learning and planning for agent...
11/29/2019 ∙ by Melkior Ornik, et al. ∙ 0 ∙ share

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Controller Synthesis of Wind Turbine Generator and Energy Storage System with Stochastic Wind Variations under Temporal Logic Specifications

In this paper, we present a controller synthesis approach for wind turbi...
11/26/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Strategy Synthesis for Surveillance-Evasion Games with Learning-Enabled Visibility Optimization

This paper studies a two-player game with a quantitative surveillance re...
11/18/2019 ∙ by Suda Bharadwaj, et al. ∙ 0 ∙ share

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Online Synthesis for Runtime Enforcement of Safety in Multi-Agent Systems

A shield is attached to a system to guarantee safety by correcting the s...
10/23/2019 ∙ by Dhananjay Raju, et al. ∙ 0 ∙ share

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Decentralized Runtime Synthesis of Shields for Multi-Agent Systems

A shield is attached to a system to guarantee safety by correcting the s...
10/23/2019 ∙ by Dhananjay Raju, et al. ∙ 0 ∙ share

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Online Active Perception for Partially Observable Markov Decision Processes with Limited Budget

Active perception strategies enable an agent to selectively gather infor...
10/04/2019 ∙ by Mahsa Ghasemi, et al. ∙ 0 ∙ share

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The Dirichlet Mechanism for Differential Privacy on the Unit Simplex

As members of a network share more information with each other and netwo...
09/30/2019 ∙ by Parham Gohari, et al. ∙ 0 ∙ share

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Differentially Private Controller Synthesis With Metric Temporal Logic Specifications

Privacy is an important concern in various multiagent systems in which d...
09/29/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Identifying Low-Dimensional Structures in Markov Chains: A Nonnegative Matrix Factorization Approach

A variety of queries about stochastic systems boil down to study of Mark...
09/27/2019 ∙ by Mahsa Ghasemi, et al. ∙ 0 ∙ share

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Controller Synthesis for Multi-Agent Systems With Intermittent Communication: A Metric Temporal Logic Approach

This paper develops a controller synthesis approach for a multi-agent sy...
09/22/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Joint Inference of Reward Machines and Policies for Reinforcement Learning

Incorporating high-level knowledge is an effective way to expedite reinf...
09/12/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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Transfer of Temporal Logic Formulas in Reinforcement Learning

Transferring high-level knowledge from a source task to a target task is...
09/10/2019 ∙ by Zhe Xu, et al. ∙ 0 ∙ share

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An Encoder-Decoder Based Approach for Anomaly Detection with Application in Additive Manufacturing

We present a novel unsupervised deep learning approach that utilizes the...
07/26/2019 ∙ by Baihong Jin, et al. ∙ 8 ∙ share

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Synthesis of Provably Correct Autonomy Protocols for Shared Control

We synthesize shared control protocols subject to probabilistic temporal...
05/15/2019 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Reward-Based Deception with Cognitive Bias

Deception plays a key role in adversarial or strategic interactions for ...
04/25/2019 ∙ by Murat Cubuktepe, et al. ∙ 0 ∙ share

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Ufuk Topcu

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