Publications (24)
Learning-based Inverse Perception Contracts and Applications
Dawei Sun, Benjamin C. Yang, Sayan Mitra
Perception modules are integral in many modern autonomous systems, but their accuracy can be subject to the vagaries of the environment. In this paper, we propose a learning-based…
Human Behavior Modeling via Identification of Task Objective and Variability
Sooyung Byeon, Dawei Sun, Inseok Hwang
Human behavior modeling is important for the design and implementation of human-automation interactive control systems. In this context, human behavior refers to a human's control…
Learning Two-View Correspondences and Geometry Using Order-Aware Network
Jiahui Zhang, Dawei Sun, Zixin Luo +6
Establishing correspondences between two images requires both local and global spatial context. Given putative correspondences of feature points in two views, in this paper, we pro…
Learning Certifiably Robust Controllers Using Fragile Perception
Dawei Sun, Negin Musavi, Geir Dullerud +2
Advances in computer vision and machine learning enable robots to perceive their surroundings in powerful new ways, but these perception modules have well-known fragilities. We con…
Control Protocol Design and Analysis for Unmanned Aircraft System Traffic Management
Jiazhen Zhou, Dawei Sun, Inseok Hwang +1
Due to the rapid development technologies for small unmanned aircraft systems (sUAS), the supply and demand market for sUAS is expanding globally. With the great number of sUAS rea…
PentestAgent: Incorporating LLM Agents to Automated Penetration Testing
Xiangmin Shen, Lingzhi Wang, Zhenyuan Li +5
Penetration testing is a critical technique for identifying security vulnerabilities, traditionally performed manually by skilled security specialists. This complex process involve…
Verification and Parameter Synthesis for Stochastic Systems using Optimistic Optimization
Negin Musavi, Dawei Sun, Sayan Mitra +2
We present an algorithm for formal verification and parameter synthesis of continuous state-space Markov chains. This class of problems captures the design and analysis of a wide v…
Enabling Embedded Inference Engine with ARM Compute Library: A Case Study
Dawei Sun, Shaoshan Liu, Jean-Luc Gaudiot
When you need to enable deep learning on low-cost embedded SoCs, is it better to port an existing deep learning framework or should you build one from scratch? In this paper, we sh…
On Attack Detection and Identification for the Cyber-Physical System using Lifted System Model
Dawei Sun, Minhyun Cho, Inseok Hwang
Motivated by the safety and security issues related to cyber-physical systems with potentially multi-rate, delayed, and nonuniformly sampled measurements, we investigate the attack…
A Novel Approach to Set-Membership Observer for Systems with Unknown Exogenous Inputs
Marvin Jesse, Dawei Sun, Inseok Hwang
Motivated by the increasing need to monitor safety-critical systems subject to uncertainties, a novel set-membership approach is proposed to estimate the state of a dynamical syste…
Multi-agent Motion Planning from Signal Temporal Logic Specifications
Dawei Sun, Jingkai Chen, Sayan Mitra +1
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonh…
SABLAS: Learning Safe Control for Black-box Dynamical Systems
Zengyi Qin, Dawei Sun, Chuchu Fan
Control certificates based on barrier functions have been a powerful tool to generate probably safe control policies for dynamical systems. However, existing methods based on barri…
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Jingkai Chen, Jiaoyang Li, Yijiang Huang +7
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs.…
Uncertainty-aware Safe Exploratory Planning using Gaussian Process and Neural Control Contraction Metric
Dawei Sun, Mohammad Javad Khojasteh, Shubhanshu Shekhar +1
In this paper, we consider the problem of using a robot to explore an environment with an unknown, state-dependent disturbance function while avoiding some forbidden areas. The goa…
DistPro: Searching A Fast Knowledge Distillation Process via Meta Optimization
Xueqing Deng, Dawei Sun, Shawn Newsam +1
Recent Knowledge distillation (KD) studies show that different manually designed schemes impact the learned results significantly. Yet, in KD, automatically searching an optimal di…
Knowledge Transfer via Dense Cross-Layer Mutual-Distillation
Anbang Yao, Dawei Sun
Knowledge Distillation (KD) based methods adopt the one-way Knowledge Transfer (KT) scheme in which training a lower-capacity student network is guided by a pre-trained high-capaci…
WHALE: A Scalable Unified Model for Recommendation with Wukong-HSTU Architecture
Renqin Cai, Dawei Sun, Yuanjun Yao +8
As scalability becomes increasingly important in recommendation modeling, recent architectures have advanced the modeling of two broad sources of ranking signals along separate pat…
RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
Weijia Liufu, Xiaoyu Guo, Ruiyi Chen +16
Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while…
Deeply-supervised Knowledge Synergy
Dawei Sun, Anbang Yao, Aojun Zhou +1
Convolutional Neural Networks (CNNs) have become deeper and more complicated compared with the pioneering AlexNet. However, current prevailing training scheme follows the previous…
Learning Density Distribution of Reachable States for Autonomous Systems
Yue Meng, Dawei Sun, Zeng Qiu +2
State density distribution, in contrast to worst-case reachability, can be leveraged for safety-related problems to better quantify the likelihood of the risk for potentially hazar…
Target-Aware Early Stage Ranking
Juhee Hong, Meng Liu, Shengzhi Wang +18
Early Stage Ranking (ESR) in large-scale recommendation systems is dominated by ''user--item decoupling'' Two Tower architectures, which scale efficiently but cannot capture fine-g…
Learning Certified Control using Contraction Metric
Dawei Sun, Susmit Jha, Chuchu Fan
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired referenc…
AEAS: Actionable Exploit Assessment System
Xiangmin Shen, Wenyuan Cheng, Yan Chen +6
Security practitioners face growing challenges in exploit assessment, as public vulnerability repositories are increasingly populated with inconsistent and low-quality exploit arti…
Learn-Memorize-Recall-Reduce A Robotic Cloud Computing Paradigm
Shaoshan Liu, Bolin Ding, Jie Tang +4
The rise of robotic applications has led to the generation of a huge volume of unstructured data, whereas the current cloud infrastructure was designed to process limited amounts o…