Proves rigidity of 3D partially hyperbolic systems via autonomous dynamics.
problem Rigidity of partially hyperbolic diffeomorphisms in 3D.
method Introducing autonomous dynamical systems to prove rigidity.
result Rigidity of partially hyperbolic diffeomorphisms on 3-manifolds.
The Surprise index assesses autonomous systems' competency in uncertain environments.
problem Evaluating competency of autonomous systems in dynamic, uncertain environments.
method Surprise index, a measure that quantifies system performance based on available data.
result The Surprise index can be computed for dynamic systems with Gaussian marginal distributions.
This paper improves parameter estimation for autonomous systems with unmodeled dynamics.
problem Accurate parameter estimation for risk-aware autonomous systems with unmodeled dynamics.
method Spectral lines-based approach for estimating parameters of dynamic models, allowing deterministic unmodeled dynamics.
result The proposed method leads to non-asymptotic bounds on parameter estimation error, robust to unmodeled dynamics, and matches existing literature in ideal conditions.
Study learns dynamics of linear systems from multiple short trajectories.
problem Learning dynamics of autonomous linear systems from multiple short trajectories.
method Finite sample analysis for stable and unstable systems, adjusting trajectory length for marginally stable systems.
result Learning rate of O ( 1 N ) \mathcal{O}(\frac{1}{\sqrt{N}}) O ( N 1 ) for both stable and unstable systems. Studies geometric mechanics for autonomous and nonautonomous systems.
problem Understanding the geometric basis of mechanics.
method Geometric descriptions, Lagrangian, Hamiltonian, unified formalisms, symmetries, variational principles.
result Characterization of dynamical systems' properties and characteristics.
A method uses non-autonomous equations to classify time signals efficiently.
problem Time signal classification with minimal parameters and high accuracy.
method Develops a framework using non-autonomous dynamical equations to classify time signals.
result The method achieves comparable accuracy with fewer parameters than existing methods.
Study connects symmetries in dynamical systems to phase plane representations.
problem Understanding symmetries in dynamical systems and their phase plane realizations.
method Analysis of symmetries in differential equations and phase plane representations, establishing correspondence and lifting conditions.
result Every symmetry generator in one formulation corresponds uniquely to a generator in the other, with a lifting condition to solve.
This work develops agents to learn generalizable policies for dynamic network environments.
problem Real-world network topologies change due to attackers, defenders, or system failures, leading to failures in adaptive ACD systems.
method Developing agents to learn generalizable policies across dynamic network environments.
result Agents can learn robust policies for dynamic network topologies and diverse attackers.
Bayesian reflex models AI learning like the autonomic nervous system.
problem Online learning in dynamic AI environments.
method Bayesian online algorithms with belief maintenance, sequential updating, and uncertainty-driven action balancing.
result Unified framework for adaptive AI learning.
Bayesian inference models failure distributions in autonomous systems.
problem Estimating the distribution of failures in complex systems.
method Bayesian inference using system dynamics rollouts and gradient computation.
result Improves sample efficiency and parameter space coverage in autonomous systems.
Paper unifies subspace identification and DMD for dynamical systems.
problem Estimating dynamical models from data.
method Unified optimization and regression problems for SID and DMD.
result Proves equivalence of SID and DMD for optimal model construction.
RL policy tracks dynamic targets in partially known environments robustly.
problem Active target tracking in partially known environments.
method Deep reinforcement learning (RL) approach for in-sight tracking, navigation, and exploration.
result Unified RL policy shows robust behavior for agile and anomalous targets.
Bayesian optimization identifies optimal alloy formulations.
problem Accelerated discovery in materials science with autonomous systems.
method Bayesian optimization over problem formulation space.
result Framework converges on optimal alloy formulations.
A Gaussian Process Ordinary Differential Equation framework for large continuous dynamical systems
problem Forecasting complex dynamical systems
method Kernel autonomous ODE approach based on Gaussian Processes and Quadratic Order Model Reduction
result Full model outperforms ROM methods in terms of accuracy or computational costs
Deep networks are commonly used to model dynamical systems, predicting how the state of a system will evolve over time (either autonomously or in response to control inputs). Despite the predictive power of these systems, it has been difficult to make formal claims about the basic properties of the learned systems. In …
Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop a novel simulation environment that emulates these challenges and train a deep r…
Paper proposes deep learning for operators in semigroups, improving dynamical system modeling.
problem Modeling unknown autonomous dynamical systems using time series data at varying time lags.
method Novel deep learning approach embedding semigroup property into data-driven learning process.
result Framework reduces data dependency, improves accuracy, robustness, and stability for long-time prediction.
This paper explores formal verification for autonomous systems, identifying limitations and proposing improvements.
problem Ensuring safety of autonomous systems like self-driving cars and drones.
method Formal verification techniques based on formal methods, analyzing three assumptions and their limitations.
result Preliminary work to improve the strength of evidence provided by formal verification.
Generalizes energy-momentum method for non-autonomous Hamiltonian systems.
problem Stability analysis of non-autonomous Hamiltonian systems with symmetries.
method Develops a new approach to relative equilibrium points and stability conditions for non-autonomous systems.
result Conditions ensuring stability of relative equilibrium points in non-autonomous Hamiltonian systems.
New method models complex dynamics using a base variable.
problem Modeling complex high-frequency dynamics from time series.
method Constructing a joint model with a base variable and a target variable.
result Successfully models chaotic behavior and reconstructs statistical properties.
Efficient inference for multimodal Gaussian mixture models of interacting dynamical systems.
problem Efficient inference for multimodal distributions in stochastic dynamical systems.
method Graph neural networks with moment matching for sample-free inference and structured covariance approximations.
result Sample-free inference with improved efficiency and stability compared to Monte Carlo alternatives.
The study explores autonomous systems and their connections to contact geometry and Frobenius manifolds.
problem Understanding the connections between autonomous systems and geometric structures.
method Investigation of the Darboux-Halphen-Ramanujan system, contact geometry, and Frobenius manifolds.
result Highlighting the role of contact geometry in autonomous systems.
New approach uses dynamic programming to efficiently discover failures in autonomous vehicle simulations.
problem Efficiently discovering rare failure events in autonomous vehicle simulations.
method Approximate dynamic programming and scene decomposition to estimate failure distribution.
result Increased number of failures discovered compared to baseline approaches.
Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous reinforcement learning (RL) approaches typically require many interactions with the system t…
PAC-Bayesian bounds for stochastic LTI systems derived.
problem Error bounds for stochastic LTI systems.
method PAC-Bayesian theory applied to autonomous stochastic LTI models.
result Error bounds for stochastic LTI systems derived.
KOMET identifies Koopman operators from model parameter trajectories to adapt to evolving data distributions.
problem Adaptation of parametric models to non-stationary environments.
method Data-driven framework using Koopman operator identification and Extended Dynamic Mode Decomposition (EDMD).
result KOMET achieves high autonomous-rollout accuracies of 0.981 to 1.000 over 100 time steps on various drifting datasets.
The study improves deep learning models for safer autonomous vehicles.
problem Robustness of deep neural network models in autonomous driving.
method Analyzes and proposes solutions for deep learning model robustness.
result Enhanced deep learning models for safer autonomous vehicles.
Safe learning of stochastic dynamics with safety constraints.
problem Learning controlled stochastic dynamics with safety constraints.
method Iterative expansion of a safe control set using kernel-based confidence bounds.
result The method ensures safe exploration and efficient estimation of system dynamics.
Breaks down complex nonlinear dynamics into simpler components.
problem Control of nonlinear dynamical systems remains challenging.
method Inspired by hybrid switching systems, decomposes dynamics into simpler stochastic switching linear dynamical systems.
result Extracts hierarchies of Markovian and auto-regressive locally linear controllers from nonlinear experts.
The Kosambi-Cartan-Chern (KCC) theory represents a powerful mathematical method for the investigation of the properties of dynamical systems. The KCC theory introduces a geometric description of the time evolution of a dynamical system, with the solution curves of the dynamical system described by methods inspired by t…
This work improves safety validation of autonomous vehicles by finding interpretable failures.
problem Finding interpretable failures of autonomous systems in simulation.
method Signal temporal logic expressions optimized for high likelihood and human interpretability.
result Our methodology finds more interpretable failures with higher likelihood compared to baseline approaches.
Next-gen reservoir computing models dynamical systems from time-series data.
problem Modeling dynamical systems from time-series data.
method Pseudorandom nonlinear projection of time-delay embedded inputs.
result Models remain stable over long rollouts and generalize beyond training data.
Machine-learning driven safety-critical autonomous systems, such as self-driving cars, must be able to detect situations where its trained model is not able to make a trustworthy prediction. Often viewed as a black-box, it is non-obvious to determine when a model will make a safe decision and when it will make an erron…
Develops a method to simulate rare dangerous events in autonomous systems.
problem Rare dangerous events in safety-critical systems are hard to test in real-world settings.
method Combines exploration, exploitation, and optimization techniques for rare-event simulation.
result Provides rigorous guarantees for the performance of the method.
Gemini uses inexpensive measurements to correct biases in expensive property evaluations.
problem Accurate estimation of materials properties using expensive measurements is hindered in scientific discovery campaigns.
method Gemini is a data-driven model that corrects systematic biases between property evaluation methods using inexpensive measurements.
result Gemini reduces the number of expensive evaluations needed for Bayesian optimization in materials discovery.
A new metriplectic system on contact manifolds is introduced for thermodynamic consistency.
problem Developing a thermodynamically consistent dynamical system on contact manifolds.
method Introducing a metriplectic dynamical system on the one-jet bundle J 1 N J^1N J 1 N . result The metriplectic system is thermodynamically consistent, with H ˙ = 0 \dot{H} = 0 H ˙ = 0 and S ˙ ≥ 0 \dot{S} \geq 0 S ˙ ≥ 0 . Graph neural networks learn decentralized controllers from data.
problem Finding optimal decentralized controllers for autonomous agents is challenging.
method Adapting graph neural networks to handle delayed communications and ensure scalability and transferability.
result Graph neural networks can learn decentralized controllers from data, addressing the scalability and practical implementation issues of centralized controllers.
This paper introduces Non-Autonomous Input-Output Stable Network(NAIS-Net), a very deep architecture where each stacked processing block is derived from a time-invariant non-autonomous dynamical system. Non-autonomy is implemented by skip connections from the block input to each of the unrolled processing stages and al…
The paper extends conformal prediction to MDP trajectories for autonomous systems.
problem Ensuring reliability of autonomous systems by providing probabilistic guarantees.
method Applying conformal corrections to quantile regression prediction intervals.
result Conformal prediction intervals ensure the observed trajectory lies inside with high probability.
We investigate the dynamics of growth models in terms of dynamical system theory. We analyse some forms of knowledge and its influence on economic growth. We assume that the rate of change of knowledge depends on both the rate of change of physical and human capital. First, we study model with constant savings. The mod…
A powerful mathematical method for the investigation of the properties of dynamical systems is represented by the Kosambi-Cartan-Chern (KCC) theory. In this approach the time evolution of a dynamical system is described in geometric terms, treating the solution curves of a dynamical system by geometrical methods inspir…
This paper presents a novel approach for automatic rule learning applicable to an autonomous driving system using real driving data.
Unified treatment of RC in stochastic and deterministic settings.
problem Understanding and generalizing reservoir computing in both deterministic and stochastic contexts.
method Investigation of state-space systems, analysis of fading memory and solution stability, introduction of stochastic echo states.
result Generality of fading memory and solution stability in state-space systems, even without the echo state property.
The paper certifies neural network-based control barrier functions efficiently.
problem Certifying neural network-based barrier functions for safety in autonomous systems.
method Combines NN reachability and hyperplane arrangement enumeration for efficient certification.
result Soundly finds regions where neural networks are certified as barrier functions.
End-to-end autonomous driving perception learns latent features for better performance.
problem Current autonomous driving systems are complex and require human engineering.
method Sequential latent representation learning for end-to-end perception.
result End-to-end perception model solves detection, tracking, localization, and mapping problems.
New model enables AI to learn autonomously.
problem Enabling AI to acquire domain knowledge.
method Hybrid model combining ontology, knowledge graph, and Logic Neural Network.
result System can enrich and extend its knowledge.
Data-efficient learning in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. In this paper, we consider one instance of this challenge, the pixels to torques problem, where an agent must learn a closed-loop control policy from pixel i…
Guaranteed reachable set for unknown nonlinear systems on manifolds.
problem Determining reachable set for unknown nonlinear systems on manifolds.
method Underapproximations of reachable set using local dynamics and bounds on dynamics rate of change.
result Guaranteed set of reachable states for systems on complete Riemannian manifolds.