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08/16/2023
Can Transformers Learn Optimal Filtering for Unknown Systems?
Transformers have demonstrated remarkable success in natural language pr...
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07/04/2023
Falsification of a Vision-based Automatic Landing System
At smaller airports without an instrument approach or advanced equipment...
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08/29/2022
Finite Sample Identification of Bilinear Dynamical Systems
Bilinear dynamical systems are ubiquitous in many different domains and ...
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07/09/2022
Efficient Backward Reachability Using the Minkowski Difference of Constrained Zonotopes
Backward reachability analysis is essential to synthesizing controllers ...
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06/14/2022
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory
We present a motion planning algorithm for a class of uncertain control-...
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05/05/2022
Mode Reduction for Markov Jump Systems
Switched systems are capable of modeling processes with underlying dynam...
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11/13/2021
Identification and Adaptive Control of Markov Jump Systems: Sample Complexity and Regret Bounds
Learning how to effectively control unknown dynamical systems is crucial...
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05/26/2021
Certainty Equivalent Quadratic Control for Markov Jump Systems
Real-world control applications often involve complex dynamics subject t...
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04/18/2021
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems
We present a method for contraction-based feedback motion planning of lo...
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03/19/2021
Towards Better Adaptive Systems by Combining MAPE, Control Theory, and Machine Learning
Two established approaches to engineer adaptive systems are architecture...
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11/09/2020
Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations
We present a method for learning to satisfy uncertain constraints from d...
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10/18/2020
Planning with Learned Dynamics: Guaranteed Safety and Reachability via Lipschitz Constants
We present an approach for feedback motion planning of systems with unkn...
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06/03/2020
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations
We present a method for learning multi-stage tasks from demonstrations b...
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05/11/2020
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations
Many methods in learning from demonstration assume that the demonstrator...
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01/25/2020
Learning Constraints from Locally-Optimal Demonstrations under Cost Function Uncertainty
We present an algorithm for learning parametric constraints from locally...
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01/02/2020
From Drinking Philosophers to Wandering Robots
In this paper, we consider the multi-robot path execution problem where ...
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10/08/2019
Learning Parametric Constraints in High Dimensions from Demonstrations
We present a scalable algorithm for learning parametric constraints in h...
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12/17/2018
Learning Constraints from Demonstrations
We extend the learning from demonstration paradigm by providing a method...
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10/31/2018
Multirobot Coordination with Counting Temporal Logics
In many multirobot applications, planning trajectories in a way to guara...
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07/25/2018
Using control synthesis to generate corner cases: A case study on autonomous driving
This paper employs correct-by-construction control synthesis, in particu...
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06/14/2018
Non-asymptotic Identification of LTI Systems from a Single Trajectory
We consider the problem of learning a realization for a linear time-inva...
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01/24/2017