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.
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.
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.
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.
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.
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. 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.
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.
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.
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 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.
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.
A mathematical model describes deforming manifolds with precise vectors and fields.
problem Modeling and describing the deformation of complex manifolds in practical applications.
method Proposes a modified differential dynamic model with constraints on spatial and temporal continuity, presenting deforming vector and field.
result Demonstrates the effectiveness of an autonomous deforming field in data dimension reduction tasks.
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.
Deep RL for multi-agent autonomous driving in dynamic environments.
problem Adapting to dynamic, multi-agent driving environments.
method Formulated Partially Observable Markov Games (POSG) for multi-agent learning.
result Demonstrated successful training of multi-agent control policies.
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.
New curvature-dimension condition for Lagrangians on manifolds.
problem Establishing a curvature-dimension condition for autonomous Lagrangians.
method Generalizing Klartag's needle decomposition technique to Lagrangian setting.
result Equivalence of curvature-dimension condition to displacement convexity of entropy.
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.
Proposes a new model for predicting future motion of road actors in autonomous vehicles.
problem Forecasting the long-term future motion of road actors for safe autonomous driving.
method Recurrent graph-based attentional approach with interpretable geometric and social relationships.
result Can produce diverse predictions conditioned on hypothetical or 'what-if' scenarios.
Enhanced Neural ODEs outperform traditional models in image classification and video prediction.
problem Efficiently modeling time-varying dynamics in neural networks.
method Proposed a novel family of non-autonomous Neural ODEs with time-varying weights.
result Outperformed previous Neural ODE variants in speed and representational capacity.
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.
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
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…
Proposes CTSDG model for better vehicle intention prediction across domains.
problem Domain generalization for vehicle intention prediction in dynamic environments.
method Structural causal model with recurrent latent variable integration.
result Consistent improvement in prediction accuracy compared to state-of-the-art methods.
We provide a variational description of any Liouville (i.e. volume preserving) autonomous vector fields on a smooth manifold. This is obtained via a ``maximal degree'' variational principle; critical sections for this are integral manifolds for the Liouville vector field. We work in coordinates and provide explicit for…
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.
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…
Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to achieve goals. Yet, reward functions that evoke desirable behavior are often difficul…
The paper extends Vlasov kinetic theory to time-dependent dynamics using cosymplectic and cocontact manifolds.
problem Extending Vlasov kinetic theory to time-dependent dynamics.
method Introducing geometric kinetic theories within cosymplectic and cocontact manifolds.
result Alternative realizations of cosymplectic and cocontact kinetic theories linked via Poisson/momentum maps.
AI-Trader benchmarks LLMs in live financial markets, revealing poor trading performance.
problem Challenges in real-time financial decision-making by autonomous agents.
method Fully automated, live evaluation benchmark with minimal human intervention.
result General intelligence does not translate to effective trading, highlighting limitations.
A hybrid model combines Q-learning and PID controller for continuous vehicle control.
problem Learning unsatisfactory results with discrete action space in autonomous driving.
method Combining Q-learning and PID controller, using Quadratic Q-function approximation and action network.
result Autonomous vehicle successfully learns smooth and efficient driving behavior.
Data-efficient reinforcement learning (RL) in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. We consider a particularly important instance of this challenge, the pixels-to-torques problem, where an RL agent learns a closed-loop con…
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.
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…
Stable deep models learn dynamical systems with formal stability guarantees.
problem Difficulties in making formal claims about stability of deep network dynamics models.
method Jointly learning a dynamics model and Lyapunov function to ensure non-expansiveness.
result Proposes an approach for stable deep learning of dynamical systems.
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.
Risk measures applied to dynamic Markov processes with varying risk aversion.
problem Investigating dynamic risk measures in Markov decision processes with varying risk aversion.
method Distributional viewpoint on law-invariant convex risk measures, applied to Markov decision processes with latent costs and random actions.
result Existence of optimal policies in finite and infinite time horizons under mild assumptions.
SANE improves exploration of noisy, multimodal functions by finding multiple optima.
problem Finding multiple optima in noisy, non-differentiable functions.
method Strategic Autonomous Non-Smooth Exploration (SANE) with a cost-driven acquisition function and human knowledge gate.
result SANE outperforms classical Bayesian optimization in discovering multiple optima.
New dynamic curves improve cryptocurrency exchange liquidity.
problem Low liquidity and arbitrage opportunities in existing AMMs.
method Dynamic curves adjust AMM function based on market prices.
result Maintains liquidity and total LP value over wide market price ranges.
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…
Fast risk assessment for autonomous vehicles using learned agent futures.
problem Risk assessment for autonomous vehicles given probabilistic predictions of other agents' futures.
method Non-sampling based methods using deep neural networks for probabilistic predictions, with Gaussian and non-Gaussian mixture models for agent positions and controls.
result Effective risk assessment for low probability events using learned models of agent futures.
The paper reviews machine learning safety techniques for autonomous vehicles.
problem Challenges in machine learning safety for autonomous vehicles.
method Organizes practical safety techniques to complement engineering safety.
result Enhances dependability and safety of machine learning algorithms in autonomous vehicles.
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.
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.
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.
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.