3 papers
cs.LG2025
Universal Learning of Stochastic Dynamics for Exact Belief Propagation using Bernstein Normalizing Flows
Peter Amorese, Morteza Lahijanian
Predicting the distribution of future states in a stochastic system, known as belief propagation, is fundamental to reasoning under uncertainty. However, nonlinear dynamics often m…
math.OC2025
On Polynomial Stochastic Barrier Functions: Bernstein Versus Sum-of-Squares
Peter Amorese, Morteza Lahijanian
Stochastic Barrier Functions (SBFs) certify the safety of stochastic systems by formulating a functional optimization problem, which state-of-the-art methods solve using Sum-of-Squ…
cs.RO2024
Online Pareto-Optimal Decision-Making for Complex Tasks using Active Inference
Peter Amorese, Shohei Wakayama, Nisar Ahmed +1
When a robot autonomously performs a complex task, it frequently must balance competing objectives while maintaining safety. This becomes more difficult in uncertain environments w…