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09/07/2023
A Tutorial on the Non-Asymptotic Theory of System Identification
This tutorial serves as an introduction to recently developed non-asympt...
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08/16/2023
Safety Filter Design for Neural Network Systems via Convex Optimization
With the increase in data availability, it has been widely demonstrated ...
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08/13/2023
Robust Localization of Aerial Vehicles via Active Control of Identical Ground Vehicles
This paper addresses the problem of active collaborative localization in...
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08/01/2023
Enhancing Sample Efficiency and Uncertainty Compensation in Learning-based Model Predictive Control for Aerial Robots
The recent increase in data availability and reliability has led to a su...
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06/08/2023
Combined Left and Right Temporal Robustness for Control under STL Specifications
Many modern autonomous systems, particularly multi-agent systems, are ti...
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05/29/2023
Active Collaborative Localization in Heterogeneous Robot Teams
Accurate and robust state estimation is critical for autonomous navigati...
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05/18/2023
The noise level in linear regression with dependent data
We derive upper bounds for random design linear regression with dependen...
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05/15/2023
Learning Switching Port-Hamiltonian Systems with Uncertainty Quantification
Switching physical systems are ubiquitous in modern control applications...
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05/15/2023
Gaussian Process Port-Hamiltonian Systems: Bayesian Learning with Physics Prior
Data-driven approaches achieve remarkable results for the modeling of co...
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05/15/2023
Physics-enhanced Gaussian Process Variational Autoencoder
Variational autoencoders allow to learn a lower-dimensional latent space...
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05/14/2023
Federated TD Learning over Finite-Rate Erasure Channels: Linear Speedup under Markovian Sampling
Federated learning (FL) has recently gained much attention due to its ef...
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05/09/2023
Resilient Temporal Logic Planning in the Presence of Robot Failures
Several task and motion planning algorithms have been proposed recently ...
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04/03/2023
Conformal Prediction Regions for Time Series using Linear Complementarity Programming
Conformal prediction is a statistical tool for producing prediction regi...
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04/01/2023
Safe Perception-Based Control under Stochastic Sensor Uncertainty using Conformal Prediction
We consider perception-based control using state estimates that are obta...
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02/20/2023
Variational Autoencoding Neural Operators
Unsupervised learning with functional data is an emerging paradigm of ma...
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01/27/2023
Certified Invertibility in Neural Networks via Mixed-Integer Programming
Neural networks are notoriously vulnerable to adversarial attacks – smal...
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12/01/2022
Adaptive Conformal Prediction for Motion Planning among Dynamic Agents
This paper proposes an algorithm for motion planning among dynamic agent...
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11/03/2022
Conformal Prediction for STL Runtime Verification
We are interested in predicting failures of cyber-physical systems durin...
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10/19/2022
Safe Planning in Dynamic Environments using Conformal Prediction
We propose a framework for planning in unknown dynamic environments with...
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09/24/2022
Graph Neural Networks for Multi-Robot Active Information Acquisition
This paper addresses the Multi-Robot Active Information Acquisition (AIA...
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09/13/2022
Multi-robot Mission Planning in Dynamic Semantic Environments
This paper addresses a new semantic multi-robot planning problem in unce...
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09/12/2022
Statistical Learning Theory for Control: A Finite Sample Perspective
This tutorial survey provides an overview of recent non-asymptotic advan...
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07/30/2022
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of safely coordinating a team of sensor...
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06/07/2022
NOMAD: Nonlinear Manifold Decoders for Operator Learning
Supervised learning in function spaces is an emerging area of machine le...
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05/28/2022
Risk of Stochastic Systems for Temporal Logic Specifications
The wide availability of data coupled with the computational advances in...
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05/27/2022
Learning to Control Linear Systems can be Hard
In this paper, we study the statistical difficulty of learning to contro...
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05/12/2022
Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty
In this paper we address mobile manipulation planning problems in the pr...
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04/08/2022
Path Defense in Dynamic Defender-Attacker Blotto Games (dDAB) with Limited Information
We consider a path guarding problem in dynamic Defender-Attacker Blotto ...
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04/03/2022
Adaptive Stochastic MPC under Unknown Noise Distribution
In this paper, we address the stochastic MPC (SMPC) problem for linear s...
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01/04/2022
Learning Operators with Coupled Attention
Supervised operator learning is an emerging machine learning paradigm wi...
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08/30/2021
Reactive and Risk-Aware Control for Signal Temporal Logic
The deployment of autonomous systems in uncertain and dynamic environmen...
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08/26/2021
Robust Motion Planning in the Presence of Estimation Uncertainty
Motion planning is a fundamental problem and focuses on finding control ...
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07/23/2021
Technical Report: Distributed Sampling-based Planning for Non-Myopic Active Information Gathering
This paper addresses the problem of active information gathering for mul...
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05/31/2021
Safe Pontryagin Differentiable Programming
We propose a Safe Pontryagin Differentiable Programming (Safe PDP) metho...
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04/23/2021
Encrypted Distributed Lasso for Sparse Data Predictive Control
The least squares problem with L1-regularized regressors, called Lasso, ...
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04/03/2021
STL Robustness Risk over Discrete-Time Stochastic Processes
We present a framework to interpret signal temporal logic (STL) formulas...
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04/02/2021
Linear Systems can be Hard to Learn
In this paper, we investigate when system identification is statisticall...
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03/16/2021
Technical Report: Scalable Active Information Acquisition for Multi-Robot Systems
This paper proposes a novel highly scalable non-myopic planning algorith...
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03/03/2021
Resilient Active Information Acquisition with Teams of Robots
Emerging applications of collaborative autonomy, such as Multi-Target Tr...
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02/25/2021
Model-Based Domain Generalization
We consider the problem of domain generalization, in which a predictor i...
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02/25/2021
Achieving Linear Convergence in Federated Learning under Objective and Systems Heterogeneity
We consider a standard federated learning architecture where a group of ...
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01/26/2021
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of planning trajectories for a team of ...
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12/22/2020
Is the brain macroscopically linear? A system identification of resting state dynamics
A central challenge in the computational modeling of neural dynamics is ...
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12/18/2020
Sensor-Based Temporal Logic Planning in Uncertain Semantic Maps
This paper addresses a multi-robot mission planning problem in uncertain...
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12/14/2020
Reactive Temporal Logic Planning for Multiple Robots in Unknown Occupancy Grid Maps
This paper proposes a new reactive temporal logic planning algorithm for...
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11/16/2020
Scalable Reinforcement Learning Policies for Multi-Agent Control
This paper develops a stochastic Multi-Agent Reinforcement Learning (MAR...
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11/01/2020
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Complex manipulation tasks, such as rearrangement planning of numerous o...
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10/20/2020
Private Weighted Sum Aggregation
As large amounts of data are circulated both from users to a cloud serve...
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10/12/2020
Control Barrier Functions for Unknown Nonlinear Systems using Gaussian Processes
This paper focuses on the controller synthesis for unknown, nonlinear sy...
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08/28/2020