Mykel J. Kochenderfer

research

∙ 09/15/2023

Satisfiability.jl: Satisfiability Modulo Theories in Julia

Satisfiability modulo theories (SMT) is a core tool in formal verificati...

0 Emiko Soroka, et al. ∙

research

∙ 07/20/2023

A Holistic Assessment of the Reliability of Machine Learning Systems

As machine learning (ML) systems increasingly permeate high-stakes setti...

0 Anthony Corso, et al. ∙

research

∙ 07/03/2023

Efficient Determination of Safety Requirements for Perception Systems

Perception systems operate as a subcomponent of the general autonomy sta...

0 Sydney M. Katz, et al. ∙

research

∙ 06/27/2023

Deep Normalizing Flows for State Estimation

Safe and reliable state estimation techniques are a critical component o...

0 Harrison Delecki, et al. ∙

research

∙ 06/19/2023

AVOIDDS: Aircraft Vision-based Intruder Detection Dataset and Simulator

Designing robust machine learning systems remains an open problem, and t...

0 Elysia Q. Smyers, et al. ∙

research

∙ 05/31/2023

BetaZero: Belief-State Planning for Long-Horizon POMDPs using Learned Approximations

Real-world planning problemsx2014including autonomous driving and sustai...

0 Robert J. Moss, et al. ∙

research

∙ 05/29/2023

Experience Filter: Using Past Experiences on Unseen Tasks or Environments

One of the bottlenecks of training autonomous vehicle (AV) agents is the...

0 Anil Yildiz, et al. ∙

research

∙ 05/17/2023

Model-based Validation as Probabilistic Inference

Estimating the distribution over failures is a key step in validating au...

0 Harrison Delecki, et al. ∙

research

∙ 05/03/2023

Bayesian Safety Validation for Black-Box Systems

Accurately estimating the probability of failure for safety-critical sys...

0 Robert J. Moss, et al. ∙

research

∙ 04/19/2023

Optimizing Carbon Storage Operations for Long-Term Safety

To combat global warming and mitigate the risks associated with climate ...

0 Yizheng Wang, et al. ∙

research

∙ 04/02/2023

Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs

To achieve autonomy in unknown and unstructured environments, we propose...

0 Muhammad Fadhil Ginting, et al. ∙

research

∙ 03/17/2023

Inferring Traffic Models in Terminal Airspace from Flight Tracks and Procedures

Realistic aircraft trajectory models are useful in the design and valida...

0 Soyeon Jung, et al. ∙

research

∙ 03/06/2023

Incorporating Human Path Preferences in Robot Navigation with Minimal Interventions

Robots that can effectively understand human intentions from actions are...

0 Oriana Peltzer, et al. ∙

research

∙ 02/06/2023

Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments

We present a method for solving the coverage problem with the objective ...

0 Amanda Bouman, et al. ∙

research

∙ 01/06/2023

Fast and Scalable Signal Inference for Active Robotic Source Seeking

In active source seeking, a robot takes repeated measurements in order t...

0 Christopher Denniston, et al. ∙

research

∙ 12/28/2022

Falsification of Learning-Based Controllers through Multi-Fidelity Bayesian Optimization

Simulation-based falsification is a practical testing method to increase...

0 Zahra Shahrooei, et al. ∙

research

∙ 12/23/2022

Online Planning for Constrained POMDPs with Continuous Spaces through Dual Ascent

Rather than augmenting rewards with penalties for undesired behavior, Co...

0 Arec Jamgochian, et al. ∙

research

∙ 11/22/2022

A Deep Reinforcement Learning Approach to Rare Event Estimation

An important step in the design of autonomous systems is to evaluate the...

0 Anthony Corso, et al. ∙

research

∙ 11/16/2022

Interpretable Self-Aware Neural Networks for Robust Trajectory Prediction

Although neural networks have seen tremendous success as predictive mode...

0 Masha Itkina, et al. ∙

research

∙ 10/31/2022

Agent-Time Attention for Sparse Rewards Multi-Agent Reinforcement Learning

Sparse and delayed rewards pose a challenge to single agent reinforcemen...

0 Jennifer She, et al. ∙

research

∙ 10/10/2022

Generalized Optimality Guarantees for Solving Continuous Observation POMDPs through Particle Belief MDP Approximation

Partially observable Markov decision processes (POMDPs) provide a flexib...

0 Michael H. Lim, et al. ∙

research

∙ 10/03/2022

LOPR: Latent Occupancy PRediction using Generative Models

Environment prediction frameworks are essential for autonomous vehicles ...

0 Bernard Lange, et al. ∙

research

∙ 09/30/2022

Prioritizing emergency evacuations under compounding levels of uncertainty

Well-executed emergency evacuations can save lives and reduce suffering....

0 Lisa J. Einstein, et al. ∙

research

∙ 09/28/2022

Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems

The increasing prevalence of neural networks (NNs) in safety-critical ap...

0 Nicholas Rober, et al. ∙

research

∙ 09/27/2022

Collaborative Decision Making Using Action Suggestions

The level of autonomy is increasing in systems spanning multiple domains...

0 Dylan M. Asmar, et al. ∙

research

∙ 09/16/2022

Sequential Bayesian Optimization for Adaptive Informative Path Planning with Multimodal Sensing

Adaptive Informative Path Planning with Multimodal Sensing (AIPPMS) cons...

0 Joshua Ott, et al. ∙

research

∙ 09/15/2022

Multi-Objective Policy Gradients with Topological Constraints

Multi-objective optimization models that encode ordered sequential const...

0 Kyle Hollins Wray, et al. ∙

research

∙ 09/12/2022

Risk-aware Meta-level Decision Making for Exploration Under Uncertainty

Robotic exploration of unknown environments is fundamentally a problem o...

0 Joshua Ott, et al. ∙

research

∙ 07/11/2022

Uncertainty-Aware Online Merge Planning with Learned Driver Behavior

Safe and reliable autonomy solutions are a critical component of next-ge...

0 Liam A. Kruse, et al. ∙

research

∙ 05/21/2022

Risk-Driven Design of Perception Systems

Modern autonomous systems rely on perception modules to process complex ...

0 Anthony L. Corso, et al. ∙

research

∙ 04/29/2022

Collision Risk and Operational Impact of Speed Change Advisories as Aircraft Collision Avoidance Maneuvers

Aircraft collision avoidance systems have long been a key factor in keep...

0 Sydney M. Katz, et al. ∙

research

∙ 04/05/2022

SHAIL: Safety-Aware Hierarchical Adversarial Imitation Learning for Autonomous Driving in Urban Environments

Designing a safe and human-like decision-making system for an autonomous...

0 Arec Jamgochian, et al. ∙

research

∙ 03/30/2022

Model Predictive Optimized Path Integral Strategies

We generalize the derivation of model predictive path integral control (...

0 Dylan M. Asmar, et al. ∙

research

∙ 03/26/2022

How Do We Fail? Stress Testing Perception in Autonomous Vehicles

Autonomous vehicles (AVs) rely on environment perception and behavior pr...

0 Harrison Delecki, et al. ∙

research

∙ 03/11/2022

Deep Binary Reinforcement Learning for Scalable Verification

The use of neural networks as function approximators has enabled many ad...

0 Christopher Lazarus, et al. ∙

research

∙ 03/11/2022

A Mixed Integer Programming Approach for Verifying Properties of Binarized Neural Networks

Many approaches for verifying input-output properties of neural networks...

0 Christopher Lazarus, et al. ∙

research

∙ 03/06/2022

Recursive Reasoning Graph for Multi-Agent Reinforcement Learning

Multi-agent reinforcement learning (MARL) provides an efficient way for ...

0 Xiaobai Ma, et al. ∙

research

∙ 02/04/2022

Verifying Inverse Model Neural Networks

Inverse problems exist in a wide variety of physical domains from aerosp...

0 Chelsea Sidrane, et al. ∙

research

∙ 01/08/2022

Conditional Approximate Normalizing Flows for Joint Multi-Step Probabilistic Electricity Demand Forecasting

Some real-world decision-making problems require making probabilistic fo...

0 Arec Jamgochian, et al. ∙

research

∙ 01/08/2022

Multi-Vehicle Control in Roundabouts using Decentralized Game-Theoretic Planning

Safe navigation in dense, urban driving environments remains an open pro...

0 Arec Jamgochian, et al. ∙

research

∙ 12/07/2021

Dyadic Sex Composition and Task Classification Using fNIRS Hyperscanning Data

Hyperscanning with functional near-infrared spectroscopy (fNIRS) is an e...

0 Liam A. Kruse, et al. ∙

research

∙ 11/03/2021

Autonomous Attack Mitigation for Industrial Control Systems

Defending computer networks from cyber attack requires timely responses ...

0 John Mern, et al. ∙

research

∙ 10/27/2021

Evidential Softmax for Sparse Multimodal Distributions in Deep Generative Models

Many applications of generative models rely on the marginalization of th...

0 Phil Chen, et al. ∙

research

∙ 09/16/2021

Interpretable Local Tree Surrogate Policies

High-dimensional policies, such as those represented by neural networks,...

0 John Mern, et al. ∙

research

∙ 09/05/2021

Multi-Agent Variational Occlusion Inference Using People as Sensors

Autonomous vehicles must reason about spatial occlusions in urban enviro...

6 Masha Itkina, et al. ∙

research

∙ 08/03/2021

OVERT: An Algorithm for Safety Verification of Neural Network Control Policies for Nonlinear Systems

Deep learning methods can be used to produce control policies, but certi...

0 Chelsea Sidrane, et al. ∙

research

∙ 07/27/2021

Finding Failures in High-Fidelity Simulation using Adaptive Stress Testing and the Backward Algorithm

Validating the safety of autonomous systems generally requires the use o...

0 Mark Koren, et al. ∙

research

∙ 07/23/2021

3D Radar Velocity Maps for Uncertain Dynamic Environments

Future urban transportation concepts include a mixture of ground and air...

0 Ransalu Senanayake, et al. ∙

research

∙ 07/02/2021

Hierarchical Planning for Dynamic Resource Allocation in Smart and Connected Communities

Resource allocation under uncertainty is a classical problem in city-sca...

0 Geoffrey Pettet, et al. ∙

research

∙ 06/09/2021

Reinforcement Learning for Industrial Control Network Cyber Security Orchestration

Defending computer networks from cyber attack requires coordinating acti...

0 John Mern, et al. ∙

Mykel J. Kochenderfer

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