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Self-Supervised Online Reward Shaping in Sparse-Reward Environments
We propose a novel reinforcement learning framework that performs self-s...
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Function Approximation via Sparse Random Features
Random feature methods have been successful in various machine learning ...
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A 3D Printing Hexacopter: Design and Demonstration
3D printing using robots has garnered significant interest in manufactur...
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Safe Multi-Agent Reinforcement Learning via Shielding
Multi-agent reinforcement learning (MARL) has been increasingly used in ...
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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...
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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...
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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...
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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 ...
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Robust Finite-State Controllers for Uncertain POMDPs
Uncertain partially observable Markov decision processes (uPOMDPs) allow...
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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...
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Near-Optimal Reactive Synthesis Incorporating Runtime Information
We consider the problem of optimal reactive synthesis - compute a strate...
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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...
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Qualitative Controller Synthesis for Consumption Markov Decision Processes
Consumption Markov Decision Processes (CMDPs) are probabilistic decision...
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Privacy-Preserving Policy Synthesis in Markov Decision Processes
In decision-making problems, the actions of an agent may reveal sensitiv...
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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...
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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...
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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...
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Verifiable RNN-Based Policies for POMDPs Under Temporal Logic Constraints
Recurrent neural networks (RNNs) have emerged as an effective representa...
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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...
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Active Task-Inference-Guided Deep Inverse Reinforcement Learning
In inverse reinforcement learning (IRL), given a Markov decision process...
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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 ...
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Scenario-Based Verification of Uncertain MDPs
We consider Markov decision processes (MDPs) in which the transition pro...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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Synthesis of Provably Correct Autonomy Protocols for Shared Control
We synthesize shared control protocols subject to probabilistic temporal...
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Reward-Based Deception with Cognitive Bias
Deception plays a key role in adversarial or strategic interactions for ...
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Synthesis of Admissible Shields
Shield synthesis is an approach to enforce a set of safety-critical prop...
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Graph Temporal Logic Inference for Classification and Identification
Inferring spatial-temporal properties from data is important for many co...
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Counterexample-Guided Strategy Improvement for POMDPs Using Recurrent Neural Networks
We study strategy synthesis for partially observable Markov decision pro...
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Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions
With the primary objective of human-robot interaction being to support h...
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Distributed Synthesis of Surveillance Strategies for Mobile Sensors
We study the problem of synthesizing strategies for a mobile sensor netw...
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Fairness with Dynamics
It has recently been shown that if feedback effects of decisions are ign...
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Information-Guided Temporal Logic Inference with Prior Knowledge
This paper investigates the problem of inferring knowledge from data so ...
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Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
Contact-based decision and planning methods are becoming increasingly im...
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The Partially Observable Games We Play for Cyber Deception
Progressively intricate cyber infiltration mechanisms have made conventi...
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Structured Synthesis for Probabilistic Systems
We introduce the concept of structured synthesis for Markov decision pro...
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Entropy Maximization for Markov Decision Processes Under Temporal Logic Constraints
We study the problem of synthesizing a policy that maximizes the entropy...
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Deception in Optimal Control
In this paper, we consider an adversarial scenario where one agent seeks...
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Maximum Realizability for Linear Temporal Logic Specifications
Automatic synthesis from linear temporal logic (LTL) specifications is w...
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