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Verifying Learning-Based Robotic Navigation Systems

26 May 2022

Papers citing "Verifying Learning-Based Robotic Navigation Systems"

50 / 55 papers shown

Title
Shield Synthesis for LTL Modulo Theories Andoni Rodríguez Guy Amir Davide Corsi César Sánchez Guy Katz 101 7 0 17 Feb 2025
Reinfier and Reintrainer: Verification and Interpretation-Driven Safe Deep Reinforcement Learning Frameworks Zixuan Yang Jiaqi Zheng Guihai Chen OffRL 83 0 0 19 Oct 2024
veriFIRE: Verifying an Industrial, Learning-Based Wildfire Detection System Guy Amir Ziv Freund Guy Katz Elad Mandelbaum Idan Refaeli 91 13 0 06 Dec 2022
Constrained Reinforcement Learning for Robotics via Scenario-Based Programming Davide Corsi Raz Yerushalmi Guy Amir Alessandro Farinelli D. Harel Guy Katz 66 20 0 20 Jun 2022
Neural Network Verification with Proof Production Omri Isac Clark W. Barrett Hao Fei Guy Katz AAML 78 20 0 01 Jun 2022
Efficient Neural Network Analysis with Sum-of-Infeasibilities Haoze Wu Aleksandar Zeljić Guy Katz Clark W. Barrett AAML 90 31 0 19 Mar 2022
Verification-Aided Deep Ensemble Selection Guy Amir Tom Zelazny Guy Katz Michael Schapira AAML 91 18 0 08 Feb 2022
An Abstraction-Refinement Approach to Verifying Convolutional Neural Networks Matan Ostrovsky Clark W. Barrett Guy Katz 82 26 0 06 Jan 2022
Curriculum Learning for Safe Mapless Navigation Luca Marzari Davide Corsi Enrico Marchesini Alessandro Farinelli 59 15 0 23 Dec 2021
Direct Behavior Specification via Constrained Reinforcement Learning Julien Roy Roger Girgis Joshua Romoff Pierre-Luc Bacon C. Pal 54 36 0 22 Dec 2021
Benchmarking Safe Deep Reinforcement Learning in Aquatic Navigation Enrico Marchesini Davide Corsi Alessandro Farinelli 58 19 0 16 Dec 2021
Minimal Multi-Layer Modifications of Deep Neural Networks Idan Refaeli Guy Katz KELM AAML 59 15 0 18 Oct 2021
Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery Ameya Pore Davide Corsi Enrico Marchesini Diego DallÁlba A. Casals Alessandro Farinelli Paolo Fiorini 63 42 0 06 Sep 2021
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning Lukas Brunke Melissa Greeff Adam W. Hall Zhaocong Yuan Siqi Zhou Jacopo Panerati Angela P. Schoellig OffRL 63 629 0 13 Aug 2021
Pruning and Slicing Neural Networks using Formal Verification O. Lahav Guy Katz 58 21 0 28 May 2021
Towards Scalable Verification of Deep Reinforcement Learning Guy Amir Michael Schapira Guy Katz OffRL 65 47 0 25 May 2021
Neural Network Robustness as a Verification Property: A Principled Case Study Marco Casadio Ekaterina Komendantskaya M. Daggitt Wen Kokke Guy Katz Guy Amir Idan Refaeli OOD AAML 61 41 0 03 Apr 2021
An SMT-Based Approach for Verifying Binarized Neural Networks Guy Amir Haoze Wu Clark W. Barrett Guy Katz 43 58 0 05 Nov 2020
Sample Efficient Reinforcement Learning with REINFORCE Junzi Zhang Jongho Kim Brendan O'Donoghue Stephen P. Boyd 79 107 0 22 Oct 2020
Global Optimization of Objective Functions Represented by ReLU Networks Christopher A. Strong Haoze Wu Aleksandar Zeljić Kyle D. Julian Guy Katz Clark W. Barrett Mykel J. Kochenderfer AAML 45 33 0 07 Oct 2020
Safe Reinforcement Learning in Constrained Markov Decision Processes Akifumi Wachi Yanan Sui 58 151 0 15 Aug 2020
Responsive Safety in Reinforcement Learning by PID Lagrangian Methods Adam Stooke Joshua Achiam Pieter Abbeel 81 300 0 08 Jul 2020
Parallelization Techniques for Verifying Neural Networks Haoze Wu Alex Ozdemir Aleksandar Zeljić A. Irfan Kyle D. Julian D. Gopinath Sadjad Fouladi Guy Katz C. Păsăreanu Clark W. Barrett 54 59 0 17 Apr 2020
Verifying Recurrent Neural Networks using Invariant Inference Y. Jacoby Clark W. Barrett Guy Katz 27 45 0 06 Apr 2020
Fastened CROWN: Tightened Neural Network Robustness Certificates Zhaoyang Lyu Ching-Yun Ko Zhifeng Kong Ngai Wong Dahua Lin Luca Daniel 137 67 0 02 Dec 2019
An Abstraction-Based Framework for Neural Network Verification Y. Elboher Justin Emile Gottschlich Guy Katz 104 127 0 31 Oct 2019
IPO: Interior-point Policy Optimization under Constraints Yongshuai Liu J. Ding Xin Liu 87 182 0 21 Oct 2019
Quantitative Verification of Neural Networks And its Security Applications Teodora Baluta Shiqi Shen Shweta Shinde Kuldeep S. Meel P. Saxena AAML 61 105 0 25 Jun 2019
MoËT: Mixture of Expert Trees and its Application to Verifiable Reinforcement Learning Marko Vasic Andrija Petrović Kaiyuan Wang Mladen Nikolic Rishabh Singh S. Khurshid OffRL MoE 63 24 0 16 Jun 2019
Long Range Neural Navigation Policies for the Real World Ayzaan Wahid Alexander Toshev Marek Fiser T. Lee 97 17 0 23 Mar 2019
Formal Verification of Neural Network Controlled Autonomous Systems Xiaowu Sun Haitham Khedr Yasser Shoukry 79 139 0 31 Oct 2018
Learning Navigation Behaviors End-to-End with AutoRL H. Chiang Aleksandra Faust Marek Fiser Anthony G. Francis 124 235 0 26 Sep 2018
Unity: A General Platform for Intelligent Agents Arthur Juliani Vincent-Pierre Berges Esh Vckay Andrew Cohen Jonathan Harper ... Chris Goy Yuan Gao Hunter Henry Marwan Mattar Danny Lange 85 820 0 07 Sep 2018
Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations Mark Pfeiffer Samarth Shukla M. Turchetta Cesar Cadena Andreas Krause Roland Siegwart Juan I. Nieto 64 159 0 18 May 2018
Formal Security Analysis of Neural Networks using Symbolic Intervals Shiqi Wang Kexin Pei Justin Whitehouse Junfeng Yang Suman Jana AAML 84 478 0 28 Apr 2018
Curiosity-driven Exploration for Mapless Navigation with Deep Reinforcement Learning Oleksii Zhelo Jingwei Zhang L. Tai Ming-Yuan Liu Wolfram Burgard 64 104 0 02 Apr 2018
Toward Scalable Verification for Safety-Critical Deep Networks L. Kuper Guy Katz Justin Emile Gottschlich Kyle D. Julian Clark W. Barrett Mykel Kochenderfer 95 40 0 18 Jan 2018
Safe Reinforcement Learning via Shielding Mohammed Alshiekh Roderick Bloem Rüdiger Ehlers Bettina Könighofer S. Niekum Ufuk Topcu 82 691 0 29 Aug 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 532 19,265 0 20 Jul 2017
An approach to reachability analysis for feed-forward ReLU neural networks A. Lomuscio Lalit Maganti 65 359 0 22 Jun 2017
Constrained Policy Optimization Joshua Achiam David Held Aviv Tamar Pieter Abbeel 126 1,331 0 30 May 2017
Formal Verification of Piece-Wise Linear Feed-Forward Neural Networks Rüdiger Ehlers 104 626 0 03 May 2017
Virtual-to-real Deep Reinforcement Learning: Continuous Control of Mobile Robots for Mapless Navigation L. Tai Giuseppe Paolo Ming-Yuan Liu 87 711 0 01 Mar 2017
Reluplex: An Efficient SMT Solver for Verifying Deep Neural Networks Guy Katz Clark W. Barrett D. Dill Kyle D. Julian Mykel Kochenderfer AAML 318 1,874 0 03 Feb 2017
Deep Reinforcement Learning: An Overview Yuxi Li OffRL VLM 229 1,542 0 25 Jan 2017
Deep Reinforcement Learning with Successor Features for Navigation across Similar Environments Jingwei Zhang Jost Tobias Springenberg Joschka Boedecker Wolfram Burgard 74 295 0 16 Dec 2016
Universal adversarial perturbations Seyed-Mohsen Moosavi-Dezfooli Alhussein Fawzi Omar Fawzi P. Frossard AAML 148 2,533 0 26 Oct 2016
Safety Verification of Deep Neural Networks Xiaowei Huang Marta Kwiatkowska Sen Wang Min Wu AAML 236 944 0 21 Oct 2016
Adversarial examples in the physical world Alexey Kurakin Ian Goodfellow Samy Bengio SILM AAML 545 5,909 0 08 Jul 2016
End to End Learning for Self-Driving Cars Mariusz Bojarski D. Testa Daniel Dworakowski Bernhard Firner B. Flepp ... Urs Muller Jiakai Zhang Xin Zhang Jake Zhao Karol Zieba SSL 100 4,175 0 25 Apr 2016