2 papers
cs.RO2025
A Counterfactual Reasoning Framework for Fault Diagnosis in Robot Perception Systems
Haeyoon Han, Mahdi Taheri, Soon-Jo Chung +1
Perception systems provide a rich understanding of the environment for autonomous systems, shaping decisions in all downstream modules. Hence, accurate detection and isolation of f…
eess.SY2025
Closing the Loop Inside Neural Networks: Causality-Guided Layer Adaptation for Fault Recovery Control
Mahdi Taheri, Soon-Jo Chung, Fred Y. Hadaegh
This paper studies the problem of real-time fault recovery control for nonlinear control-affine systems subject to actuator loss of effectiveness faults and external disturbances.…