You need to log in to edit.

You can create a new account if you don't have one.

Or, discuss a change on Slack.

You can create a new account if you don't have one.

Or, discuss a change on Slack.

no code implementations • ICML 2020 • Mahsa Ghasemi, Erdem Bulgur, Ufuk Topcu

Furthermore, as new data arrive, the belief over the atomic propositions evolves and, subsequently, the planning strategy adapts accordingly.

no code implementations • 25 May 2022 • Yunhao Yang, Parham Gohari, Ufuk Topcu

We study the privacy risks that are associated with training a neural network's weights with self-supervised learning algorithms.

no code implementations • 20 Apr 2022 • Christos Verginis, Cevahir Koprulu, Sandeep Chinchali, Ufuk Topcu

We develop a reinforcement-learning algorithm that infers a reward machine that encodes the underlying task while learning how to execute it, despite the uncertainties of the propositions' truth values.

no code implementations • 2 Apr 2022 • Steven Carr, Nils Jansen, Sebastian Junges, Ufuk Topcu

Reinforcement learning (RL) in safety-critical environments requires an agent to avoid decisions with catastrophic consequences.

no code implementations • 5 Mar 2022 • Michael Hibbard, Abraham P. Vinod, Jesse Quattrociocchi, Ufuk Topcu

We introduce the Safely motion planner, a receding-horizon control framework, that simultaneously synthesizes both a trajectory for the robot to follow as well as a sensor selection strategy that prescribes trajectory-relevant obstacles to measure at each time step while respecting the sensing constraints of the robot.

no code implementations • 10 Feb 2022 • Niklas Lauffer, Mahsa Ghasemi, Abolfazl Hashemi, Yagiz Savas, Ufuk Topcu

The regret of the proposed learning algorithm is independent of the size of the state space and polynomial in the rest of the parameters of the game.

no code implementations • 26 Jan 2022 • Chenyu You, Ruihan Zhao, Fenglin Liu, Siyuan Dong, Sandeep Chinchali, Ufuk Topcu, Lawrence Staib, James S. Duncan

In this work, we present CASTformer, a novel type of generative adversarial transformers, for 2D medical image segmentation.

1 code implementation • 17 Jan 2022 • Mustafa O. Karabag, Cyrus Neary, Ufuk Topcu

In this work, we develop joint policies for cooperative multiagent systems that are robust to potential losses in communication.

1 code implementation • 14 Jan 2022 • Franck Djeumou, Cyrus Neary, Eric Goubault, Sylvie Putot, Ufuk Topcu

Neural ordinary differential equations (NODEs) -- parametrizations of differential equations using neural networks -- have shown tremendous promise in learning models of unknown continuous-time dynamical systems from data.

no code implementations • 11 Oct 2021 • Christos K. Verginis, Zhe Xu, Ufuk Topcu

Most existing algorithms either assume certain parametric forms for the unknown dynamic terms or resort to unnecessarily large control inputs in order to provide theoretical guarantees.

no code implementations • 6 Oct 2021 • Yunhao Yang, Parham Gohari, Ufuk Topcu

We study the privacy implications of deploying recurrent neural networks (RNNs) in machine learning models.

1 code implementation • 14 Sep 2021 • Franck Djeumou, Cyrus Neary, Eric Goubault, Sylvie Putot, Ufuk Topcu

The physics-informed constraints are enforced via the augmented Lagrangian method during the model's training.

no code implementations • 14 Sep 2021 • Yagiz Savas, Christos K. Verginis, Ufuk Topcu

We study the design of autonomous agents that are capable of deceiving outside observers about their intentions while carrying out tasks in stochastic, complex environments.

no code implementations • 10 Sep 2021 • Michael Hibbard, Takashi Tanaka, Ufuk Topcu

Although perception is an increasingly dominant portion of the overall computational cost for autonomous systems, only a fraction of the information perceived is likely to be relevant to the current task.

no code implementations • 30 Jun 2021 • Farzan Memarian, Abolfazl Hashemi, Scott Niekum, Ufuk Topcu

We explore methodologies to improve the robustness of generative adversarial imitation learning (GAIL) algorithms to observation noise.

1 code implementation • 30 Jun 2021 • Murat Cubuktepe, Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, Ufuk Topcu

The parameter synthesis problem is to compute an instantiation of these unspecified parameters such that the resulting MDP satisfies the temporal logic specification.

no code implementations • 29 Jun 2021 • Franck Djeumou, Zhe Xu, Murat Cubuktepe, Ufuk Topcu

Specifically, we study a setting in which the agents move along the nodes of a graph, and the high-level task specifications for the swarm are expressed in a recently-proposed language called graph temporal logic (GTL).

no code implementations • 19 Jun 2021 • Franck Djeumou, Ufuk Topcu

We develop a learning-based control algorithm for unknown dynamical systems under very severe data limitations.

1 code implementation • 16 Jun 2021 • Anish Acharya, Abolfazl Hashemi, Prateek Jain, Sujay Sanghavi, Inderjit S. Dhillon, Ufuk Topcu

Geometric median (\textsc{Gm}) is a classical method in statistics for achieving a robust estimation of the uncorrupted data; under gross corruption, it achieves the optimal breakdown point of 0. 5.

Ranked #17 on Image Classification on MNIST (Accuracy metric)

1 code implementation • 7 Jun 2021 • Cyrus Neary, Christos Verginis, Murat Cubuktepe, Ufuk Topcu

We propose a framework for verifiable and compositional reinforcement learning (RL) in which a collection of RL subsystems, each of which learns to accomplish a separate subtask, are composed to achieve an overall task.

no code implementations • 28 May 2021 • Franck Djeumou, Murat Cubuktepe, Craig Lennon, Ufuk Topcu

Nevertheless, the resulting formulation is still nonconvex due to the intrinsic nonconvexity of the so-called forward problem, i. e., computing an optimal policy given a reward function, in POMDPs.

1 code implementation • 24 May 2021 • Nasim Baharisangari, Jean-Raphaël Gaglione, Daniel Neider, Ufuk Topcu, Zhe Xu

In this paper, we first investigate the uncertainties associated with trajectories of a system and represent such uncertainties in the form of interval trajectories.

no code implementations • 13 May 2021 • Christos K. Verginis, Franck Djeumou, Ufuk Topcu

We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics.

no code implementations • 5 May 2021 • František Blahoudek, Petr Novotný, Melkior Ornik, Pranay Thangeda, Ufuk Topcu

We consider qualitative strategy synthesis for the formalism called consumption Markov decision processes.

no code implementations • 4 May 2021 • Murat Cubuktepe, František Blahoudek, Ufuk Topcu

We develop an algorithm that solves this graph problem in time that is \emph{polynomial} in the number of agents, target locations, and size of the consumption Markov decision process.

no code implementations • 30 Apr 2021 • Jean-Raphaël Gaglione, Daniel Neider, Rajarshi Roy, Ufuk Topcu, Zhe Xu

Our first algorithm infers minimal LTL formulas by reducing the inference problem to a problem in maximum satisfiability and then using off-the-shelf MaxSAT solvers to find a solution.

no code implementations • 6 Apr 2021 • Aris Kanellopoulos, Filippos Fotiadis, Chuangchuang Sun, Zhe Xu, Kyriakos G. Vamvoudakis, Ufuk Topcu, Warren E. Dixon

In this paper, we develop safe reinforcement-learning-based controllers for systems tasked with accomplishing complex missions that can be expressed as linear temporal logic specifications, similar to those required by search-and-rescue missions.

1 code implementation • 8 Mar 2021 • Farzan Memarian, Wonjoon Goo, Rudolf Lioutikov, Scott Niekum, Ufuk Topcu

We introduce Self-supervised Online Reward Shaping (SORS), which aims to improve the sample efficiency of any RL algorithm in sparse-reward environments by automatically densifying rewards.

1 code implementation • 4 Mar 2021 • Abolfazl Hashemi, Hayden Schaeffer, Robert Shi, Ufuk Topcu, Giang Tran, Rachel Ward

In particular, we provide generalization bounds for functions in a certain class (that is dense in a reproducing kernel Hilbert space) depending on the number of samples and the distribution of features.

no code implementations • 28 Feb 2021 • Yagiz Savas, Abolfazl Hashemi, Abraham P. Vinod, Brian M. Sadler, Ufuk Topcu

In such a setting, we develop a periodic transmission strategy, i. e., a sequence of joint beamforming gain and artificial noise pairs, that prevents the adversaries from decreasing their uncertainty on the information sequence by eavesdropping on the transmission.

no code implementations • 18 Feb 2021 • Parham Gohari, Bo Chen, Bo Wu, Matthew Hale, Ufuk Topcu

We then develop a kickstarted deep reinforcement learning algorithm for the student that is privacy-aware because we calibrate its objective with the parameters of the teacher's privacy mechanism.

no code implementations • 5 Feb 2021 • Yue Yu, Shahriar Talebi, Henk J. van Waarde, Ufuk Topcu, Mehran Mesbahi, Behçet Açıkmeşe

Willems' fundamental lemma asserts that all trajectories of a linear time-invariant system can be obtained from a finite number of measured ones, assuming that controllability and a persistency of excitation condition hold.

no code implementations • 27 Jan 2021 • Ingy Elsayed-Aly, Suda Bharadwaj, Christopher Amato, Rüdiger Ehlers, Ufuk Topcu, Lu Feng

Multi-agent reinforcement learning (MARL) has been increasingly used in a wide range of safety-critical applications, which require guaranteed safety (e. g., no unsafe states are ever visited) during the learning process. Unfortunately, current MARL methods do not have safety guarantees.

no code implementations • 31 Dec 2020 • Mahsa Ghasemi, Evan Scope Crafts, Bo Zhao, Ufuk Topcu

In planning problems, it is often challenging to fully model the desired specifications.

no code implementations • 7 Dec 2020 • Rudrajit Das, Anish Acharya, Abolfazl Hashemi, Sujay Sanghavi, Inderjit S. Dhillon, Ufuk Topcu

We propose \texttt{FedGLOMO}, a novel federated learning (FL) algorithm with an iteration complexity of $\mathcal{O}(\epsilon^{-1. 5})$ to converge to an $\epsilon$-stationary point (i. e., $\mathbb{E}[\|\nabla f(\bm{x})\|^2] \leq \epsilon$) for smooth non-convex functions -- under arbitrary client heterogeneity and compressed communication -- compared to the $\mathcal{O}(\epsilon^{-2})$ complexity of most prior works.

no code implementations • 18 Nov 2020 • Alexander Nettekoven, Scott Fish, Joseph Beaman, Ufuk Topcu

The identified algorithms can be readily applied to the laser powder bed fusion machines to address each of the above limitations and thus, significantly improve process control.

no code implementations • 11 Nov 2020 • Franck Djeumou, Abraham P. Vinod, Eric Goubault, Sylvie Putot, Ufuk Topcu

Besides, $\texttt{DaTaControl}$ achieves near-optimal control and is suitable for real-time control of such systems.

no code implementations • 27 Oct 2020 • Ufuk Topcu, Nadya Bliss, Nancy Cooke, Missy Cummings, Ashley Llorens, Howard Shrobe, Lenore Zuck

The second workshop held in February 2020, focused on existing capabilities, current research, and research trends that could address the challenges and problems identified in workshop.

no code implementations • 27 Sep 2020 • Franck Djeumou, Abraham P. Vinod, Eric Goubault, Sylvie Putot, Ufuk Topcu

We investigate the problem of data-driven, on-the-fly control of systems with unknown nonlinear dynamics where data from only a single finite-horizon trajectory and possibly side information on the dynamics are available.

no code implementations • 24 Sep 2020 • Murat Cubuktepe, Nils Jansen, Sebastian Junges, Ahmadreza Marandi, Marnix Suilen, Ufuk Topcu

(3) We linearize this dual problem and (4) solve the resulting finite linear program to obtain locally optimal solutions to the original problem.

no code implementations • 1 Aug 2020 • Bo Wu, Steven Carr, Suda Bharadwaj, Zhe Xu, Ufuk Topcu

We study the problem of distributed hypothesis testing over a network of mobile agents with limited communication and sensing ranges to infer the true hypothesis collaboratively.

no code implementations • 31 Jul 2020 • Suda Bharadwaj, Abraham P. Vinod, Rayna Dimitrova, Ufuk Topcu

We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric.

1 code implementation • 16 Jul 2020 • Yagiz Savas, Vijay Gupta, Ufuk Topcu

We model the agent's behavior as a Markov decision process, express its intrinsic motivation as a reward function, which belongs to a finite set of possible reward functions, and consider the incentives as additional rewards offered to the agent.

Optimization and Control

2 code implementations • 3 Jul 2020 • Cyrus Neary, Zhe Xu, Bo Wu, Ufuk Topcu

In cooperative multi-agent reinforcement learning, a collection of agents learns to interact in a shared environment to achieve a common goal.

no code implementations • 3 Jul 2020 • Yuqian Jiang, Sudarshanan Bharadwaj, Bo Wu, Rishi Shah, Ufuk Topcu, Peter Stone

Reward shaping is a common approach for incorporating domain knowledge into reinforcement learning in order to speed up convergence to an optimal policy.

no code implementations • 28 Jun 2020 • Zhe Xu, Bo Wu, Aditya Ojha, Daniel Neider, Ufuk Topcu

We compare our algorithm with the state-of-the-art RL algorithms for non-Markovian reward functions, such as Joint Inference of Reward machines and Policies for RL (JIRP), Learning Reward Machine (LRM), and Proximal Policy Optimization (PPO2).

no code implementations • 27 Mar 2020 • Erfaun Noorani, Yagiz Savas, Alec Koppel, John Baras, Ufuk Topcu, Brian M. Sadler

In particular, we formulate a discrete optimization problem to choose only a subset of agents to transmit the message signal so that the variance of the signal-to-noise ratio (SNR) received by the base station is minimized while the expected SNR exceeds a desired threshold.

no code implementations • 13 Feb 2020 • Steven Carr, Nils Jansen, Ufuk Topcu

Recurrent neural networks (RNNs) have emerged as an effective representation of control policies in sequential decision-making problems.

no code implementations • 27 Jan 2020 • Zhe Xu, Yuxin Chen, Ufuk Topcu

In the context of teaching temporal logic formulas, an exhaustive search even for a myopic solution takes exponential time (with respect to the time span of the task).

no code implementations • 29 Nov 2019 • Melkior Ornik, Ufuk Topcu

This paper proposes a formal approach to online learning and planning for agents operating in a priori unknown, time-varying environments.

no code implementations • 23 Oct 2019 • Dhananjay Raju, Suda Bharadwaj, Ufuk Topcu

In this approach, which is fundamentally decentralized, the shield on every agent has two components: a pathfinder that corrects the behavior of the agent and an ordering mechanism that dynamically modifies the priority of the agent.

no code implementations • 4 Oct 2019 • Mahsa Ghasemi, Ufuk Topcu

In applications in which the agent does not have prior knowledge about the available information sources, it is crucial to synthesize active perception strategies at runtime.

no code implementations • 27 Sep 2019 • Mahsa Ghasemi, Abolfazl Hashemi, Haris Vikalo, Ufuk Topcu

We formulate the task of representation learning as that of mapping the state space of the model to a low-dimensional state space, called the kernel space.

no code implementations • 12 Sep 2019 • Zhe Xu, Ivan Gavran, Yousef Ahmad, Rupak Majumdar, Daniel Neider, Ufuk Topcu, Bo Wu

The experiments show that learning high-level knowledge in the form of reward machines can lead to fast convergence to optimal policies in RL, while standard RL methods such as q-learning and hierarchical RL methods fail to converge to optimal policies after a substantial number of training steps in many tasks.

no code implementations • 10 Sep 2019 • Zhe Xu, Ufuk Topcu

Transferring high-level knowledge from a source task to a target task is an effective way to expedite reinforcement learning (RL).

no code implementations • 26 Jul 2019 • Baihong Jin, Yingshui Tan, Alexander Nettekoven, Yuxin Chen, Ufuk Topcu, Yisong Yue, Alberto Sangiovanni Vincentelli

We show that the encoder-decoder model is able to identify the injected anomalies in a modern manufacturing process in an unsupervised fashion.

no code implementations • 15 May 2019 • Murat Cubuktepe, Nils Jansen, Mohammed Alsiekh, Ufuk Topcu

We design the autonomy protocol to ensure that the resulting robot behavior satisfies given safety and performance specifications in probabilistic temporal logic.

no code implementations • ICLR 2019 • Mahsa Ghasemi, Ufuk Topcu

However, in a variety of real-world scenarios the agent has an active role in its perception by selecting which observations to receive.

no code implementations • 25 Apr 2019 • Bo Wu, Murat Cubuktepe, Suda Bharadwaj, Ufuk Topcu

In this paper, we consider deceiving adversaries with bounded rationality and in terms of expected rewards.

no code implementations • 20 Mar 2019 • Steven Carr, Nils Jansen, Ralf Wimmer, Alexandru C. Serban, Bernd Becker, Ufuk Topcu

The particular problem is to determine strategies that provably adhere to (probabilistic) temporal logic constraints.

no code implementations • 6 Feb 2019 • Suda Bharadwaj, Rayna Dimitrova, Ufuk Topcu

We study the problem of synthesizing strategies for a mobile sensor network to conduct surveillance in partnership with static alarm triggers.

1 code implementation • 24 Jan 2019 • Min Wen, Osbert Bastani, Ufuk Topcu

It has recently been shown that if feedback effects of decisions are ignored, then imposing fairness constraints such as demographic parity or equality of opportunity can actually exacerbate unfairness.

no code implementations • NeurIPS 2018 • Min Wen, Ufuk Topcu

We show that the asymptotic behavior of the proposed algorithm can be almost-surely described by that of an ordinary differential equation.

no code implementations • 28 Sep 2018 • Mohamadreza Ahmadi, Murat Cubuktepe, Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, Ufuk Topcu

Then, the deception problem is to compute a strategy for the deceiver that minimizes the expected cost of deception against all strategies of the infiltrator.

no code implementations • 9 Jul 2018 • Yagiz Savas, Melkior Ornik, Murat Cubuktepe, Mustafa O. Karabag, Ufuk Topcu

Such a policy minimizes the predictability of the paths it generates, or dually, maximizes the exploration of different paths in an MDP while ensuring the satisfaction of a temporal logic specification.

no code implementations • 8 May 2018 • Melkior Ornik, Ufuk Topcu

In this paper, we consider an adversarial scenario where one agent seeks to achieve an objective and its adversary seeks to learn the agent's intentions and prevent the agent from achieving its objective.

no code implementations • 23 Mar 2018 • Lu Feng, Mahsa Ghasemi, Kai-Wei Chang, Ufuk Topcu

Automated techniques such as model checking have been used to verify models of robotic mission plans based on Markov decision processes (MDPs) and generate counterexamples that may help diagnose requirement violations.

no code implementations • 5 Mar 2018 • Murat Cubuktepe, Nils Jansen, Sebastian Junges, Joost-Pieter Katoen, Ufuk Topcu

This paper considers parametric Markov decision processes (pMDPs) whose transitions are equipped with affine functions over a finite set of parameters.

no code implementations • 28 Feb 2018 • Murat Cubuktepe, Ufuk Topcu

We develop a method for computing policies in Markov decision processes with risk-sensitive measures subject to temporal logic constraints.

no code implementations • 27 Feb 2018 • Steven Carr, Nils Jansen, Ralf Wimmer, Jie Fu, Ufuk Topcu

The efficient verification of this MC gives quantitative insights into the quality of the inferred human strategy by proving or disproving given system specifications.

no code implementations • 29 Sep 2017 • Krishnendu Chatterjee, Martin Chmelik, Ufuk Topcu

Partially observable Markov decision processes (POMDPs) are widely used in probabilistic planning problems in which an agent interacts with an environment using noisy and imprecise sensors.

no code implementations • 14 Sep 2017 • Melkior Ornik, Arie Israel, Ufuk Topcu

This paper focuses on developing a strategy for control of systems whose dynamics are almost entirely unknown.

1 code implementation • 29 Aug 2017 • Mohammed Alshiekh, Roderick Bloem, Ruediger Ehlers, Bettina Könighofer, Scott Niekum, Ufuk Topcu

In the first one, the shield acts each time the learning agent is about to make a decision and provides a list of safe actions.

no code implementations • 14 Aug 2017 • Leonore Winterer, Sebastian Junges, Ralf Wimmer, Nils Jansen, Ufuk Topcu, Joost-Pieter Katoen, Bernd Becker

We study synthesis problems with constraints in partially observable Markov decision processes (POMDPs), where the objective is to compute a strategy for an agent that is guaranteed to satisfy certain safety and performance specifications.

no code implementations • 14 Apr 2017 • Michael L. Littman, Ufuk Topcu, Jie Fu, Charles Isbell, Min Wen, James Macglashan

We propose a new task-specification language for Markov decision processes that is designed to be an improvement over reward functions by being environment independent.

1 code implementation • 28 Oct 2016 • Sebastian Junges, Nils Jansen, Joost-Pieter Katoen, Ufuk Topcu

Probabilistic model checking is used to predict the human's behavior.

no code implementations • 26 Oct 2016 • Nils Jansen, Murat Cubuktepe, Ufuk Topcu

We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications.

no code implementations • 7 Jan 2016 • Daniel Neider, Ufuk Topcu

We propose a method to construct finite-state reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration two-player games over (possibly) infinite graphs.

no code implementations • 5 Mar 2015 • Min Wen, Ruediger Ehlers, Ufuk Topcu

We establish both correctness (with respect to the temporal logic specifications) and optimality (with respect to the a priori unknown performance criterion) of this two-step technique for a fragment of temporal logic specifications.

no code implementations • 1 Oct 2014 • Jie Fu, Ufuk Topcu

We show that by alternating between the observation-based strategy and the active sensing strategy, under a mild technical assumption of the set of sensors in the system, the given temporal logic specification can be satisfied with probability 1.

no code implementations • 28 Apr 2014 • Jie Fu, Ufuk Topcu

We model the interaction between the system and its environment as a Markov decision process (MDP) with initially unknown transition probabilities.

Cannot find the paper you are looking for? You can
Submit a new open access paper.

Contact us on:
hello@paperswithcode.com
.
Papers With Code is a free resource with all data licensed under CC-BY-SA.