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DTSTART;TZID=America/New_York:20230927T120000
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SUMMARY:ASSET Seminar: "Safety through Agility - Safe and Performant Control for Learning-Enabled Autonomous Systems" (Mangharam\, Penn)
DESCRIPTION:ABSTRACT:  \nWe present three approaches to combine formal methods\, control theory\, and machine learning for safe and performant autonomous systems.  \n\nSafe control for learning-enabled systems: We present our recent progress on how to learn safe adaptive behavior for highly interactive multi-agent systems. We will introduce how to quantify the uncertainty of closed-loop control systems using a frequentist method called conformal prediction and incorporate the uncertainty for safe perception-based control.\nLearning Introspective Control: Oftentimes the systems that we control operate under different conditions due to changing environments\, varying system parameters or changes in payload. As such\, we strive to develop computationally efficient\, data-driven system models that allow predictive controllers to adapt to changes in the environment in real-time. We focus on using Gaussian Processes as models to study the problem in the context of driving on surfaces with changing friction coefficients. \nDifferentiable Predictive Control: Finally\, we discuss the application of differentiable predictive control for large-scale urban road networks.\n\n  \n 
URL:https://seasevents.nmsdev7.com/event/asset-seminar-safe-control-for-learning-enabled-autonomous-systems-rahul-mangharam-penn/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
ORGANIZER;CN="AI-enabled Systems%3A Safe%2C Explainable%2C and Trustworthy (ASSET) Center":MAILTO:asset-info@seas.upenn.edu
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