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Multiple Plans are Better than One: Diverse Stochastic Planning

Dec 31, 2020
Mahsa Ghasemi, Evan Scope Crafts, Bo Zhao, Ufuk Topcu

* Mahsa Ghasemi and Evan Scope Crafts have contributed equally to the manuscript 

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Towards online monitoring and data-driven control: a study of segmentation algorithms for infrared images of the powder bed

Nov 18, 2020
Alexander Nettekoven, Scott Fish, Joseph Beaman, Ufuk Topcu


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Assured Autonomy: Path Toward Living With Autonomous Systems We Can Trust

Oct 27, 2020
Ufuk Topcu, Nadya Bliss, Nancy Cooke, Missy Cummings, Ashley Llorens, Howard Shrobe, Lenore Zuck

* A Computing Community Consortium (CCC) workshop report, 28 pages 

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Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations

Sep 24, 2020
Tichakorn Wongpiromsarn, Konstantin Slutsky, Emilio Frazzoli, Ufuk Topcu


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Robust Finite-State Controllers for Uncertain POMDPs

Sep 24, 2020
Murat Cubuktepe, Nils Jansen, Sebastian Junges, Ahmadreza Marandi, Marnix Suilen, Ufuk Topcu


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BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning

Sep 05, 2020
Binghan He, Jaemin Lee, Ufuk Topcu, Luis Sentis

* 6 pages, 5 figures. Accepted for publication in IEEE Conference on Decision and Control (CDC) copyright 2020 IEEE 

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Near-Optimal Reactive Synthesis Incorporating Runtime Information

Jul 31, 2020
Suda Bharadwaj, Abraham P. Vinod, Rayna Dimitrova, Ufuk Topcu

* Presented at ICRA2020 

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Reward Machines for Cooperative Multi-Agent Reinforcement Learning

Jul 03, 2020
Cyrus Neary, Zhe Xu, Bo Wu, Ufuk Topcu


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Temporal-Logic-Based Reward Shaping for Continuing Learning Tasks

Jul 03, 2020
Yuqian Jiang, Sudarshanan Bharadwaj, Bo Wu, Rishi Shah, Ufuk Topcu, Peter Stone


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Active Finite Reward Automaton Inference and Reinforcement Learning Using Queries and Counterexamples

Jun 28, 2020
Zhe Xu, Bo Wu, Daniel Neider, Ufuk Topcu


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Scalable Synthesis of Minimum-Information Linear-Gaussian Control by Distributed Optimization

Apr 11, 2020
Murat Cubuktepe, Takashi Tanaka, Ufuk Topcu

* Submitted to 2020 CDC 

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Verifiable RNN-Based Policies for POMDPs Under Temporal Logic Constraints

Feb 13, 2020
Steven Carr, Nils Jansen, Ufuk Topcu

* 8 pages, 5 figures, 1 table 

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Adaptive Teaching of Temporal Logic Formulas to Learners with Preferences

Jan 27, 2020
Zhe Xu, Yuxin Chen, Ufuk Topcu

* 25 pages 

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Active Task-Inference-Guided Deep Inverse Reinforcement Learning

Jan 24, 2020
Farzan Memarian, Zhe Xu, Bo Wu, Min Wen, Ufuk Topcu


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Learning and Planning for Time-Varying MDPs Using Maximum Likelihood Estimation

Nov 29, 2019
Melkior Ornik, Ufuk Topcu


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Strategy Synthesis for Surveillance-Evasion Games with Learning-Enabled Visibility Optimization

Nov 18, 2019
Suda Bharadwaj, Louis Ly, Bo Wu, Richard Tsai, Ufuk Topcu


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Decentralized Runtime Synthesis of Shields for Multi-Agent Systems

Oct 23, 2019
Dhananjay Raju, Suda Bharadwaj, Ufuk Topcu


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Online Active Perception for Partially Observable Markov Decision Processes with Limited Budget

Oct 04, 2019
Mahsa Ghasemi, Ufuk Topcu

* Accepted for publication in Conference on Decision and Control (CDC) Proceedings, 2019 

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Differentially Private Controller Synthesis With Metric Temporal Logic Specifications

Sep 29, 2019
Zhe Xu, Kasra Yazdani, Matthew T. Hale, Ufuk Topcu


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Identifying Low-Dimensional Structures in Markov Chains: A Nonnegative Matrix Factorization Approach

Sep 27, 2019
Mahsa Ghasemi, Abolfazl Hashemi, Haris Vikalo, Ufuk Topcu


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Controller Synthesis for Multi-Agent Systems With Intermittent Communication: A Metric Temporal Logic Approach

Sep 22, 2019
Zhe Xu, Federico M. Zegers, Bo Wu, Warren Dixon, Ufuk Topcu


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Joint Inference of Reward Machines and Policies for Reinforcement Learning

Sep 12, 2019
Zhe Xu, Ivan Gavran, Yousef Ahmad, Rupak Majumdar, Daniel Neider, Ufuk Topcu, Bo Wu


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Transfer of Temporal Logic Formulas in Reinforcement Learning

Sep 10, 2019
Zhe Xu, Ufuk Topcu

* IJCAI'19 

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An Encoder-Decoder Based Approach for Anomaly Detection with Application in Additive Manufacturing

Jul 26, 2019
Baihong Jin, Yingshui Tan, Alexander Nettekoven, Yuxin Chen, Ufuk Topcu, Yisong Yue, Alberto Sangiovanni Vincentelli


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Synthesis of Provably Correct Autonomy Protocols for Shared Control

May 15, 2019
Murat Cubuktepe, Nils Jansen, Mohammed Alsiekh, Ufuk Topcu

* Submitted to IEEE Transactions of Automatic Control 

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Reward-Based Deception with Cognitive Bias

Apr 25, 2019
Bo Wu, Murat Cubuktepe, Suda Bharadwaj, Ufuk Topcu

* Submitted to CDC 2019 

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Counterexample-Guided Strategy Improvement for POMDPs Using Recurrent Neural Networks

Mar 21, 2019
Steven Carr, Nils Jansen, Ralf Wimmer, Alexandru C. Serban, Bernd Becker, Ufuk Topcu


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Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions

Mar 04, 2019
Rachel Schlossman, Minkyu Kim, Ufuk Topcu, Luis Sentis


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Distributed Synthesis of Surveillance Strategies for Mobile Sensors

Feb 06, 2019
Suda Bharadwaj, Rayna Dimitrova, Ufuk Topcu

* 2018 IEEE Conference on Decision and Control (CDC), FL, USA, 2018, pp. 3335-3342 

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Fairness with Dynamics

Jan 24, 2019
Min Wen, Osbert Bastani, Ufuk Topcu


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