{"id":385,"date":"2025-01-12T21:38:11","date_gmt":"2025-01-12T21:38:11","guid":{"rendered":"https:\/\/yingkeli.me\/?page_id=385"},"modified":"2025-08-24T22:27:27","modified_gmt":"2025-08-24T22:27:27","slug":"acc-2025-workshop-for-optimizing-across-scales","status":"publish","type":"page","link":"http:\/\/yingkeli.me\/index.php\/acc-2025-workshop-for-optimizing-across-scales\/","title":{"rendered":"ACC 2025 Workshop"},"content":{"rendered":"\n<div class=\"wp-block-cover\"><span aria-hidden=\"true\" class=\"wp-block-cover__background has-background-dim\"><\/span><img decoding=\"async\" loading=\"lazy\" width=\"1920\" height=\"1080\" class=\"wp-block-cover__image-background wp-image-401\" alt=\"\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/background3.jpg\" data-object-fit=\"cover\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/background3.jpg 1920w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/background3-300x169.jpg 300w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/background3-1024x576.jpg 1024w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/background3-768x432.jpg 768w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/background3-1536x864.jpg 1536w\" sizes=\"(max-width: 1920px) 100vw, 1920px\" \/><div class=\"wp-block-cover__inner-container\">\n<p class=\"has-text-align-center has-large-font-size\"><strong>Optimizing Across Scales:<\/strong><br><strong>Multi-Fidelity, Multi-Modality, and Multi-Objective Approaches for Complex Systems<\/strong><\/p>\n\n\n\n<h3 class=\"has-text-align-center\" id=\"h.qavj7mpo90lc_l\">Date: July 7th, Monday, 2025<\/h3>\n\n\n\n<h3 class=\"has-text-align-center\" id=\"h.4jbopzwq4h2t_l\">Time: 8:30 &#8211; 17:00, Mountain Standard Time<\/h3>\n\n\n\n<h3 class=\"has-text-align-center\" id=\"h.3cne34au65dh_l\">Location: Denver, Colorado, USA<\/h3>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-qi-blocks-call-to-action qodef-block-container qodef-block-2e8e72ae\"><div class=\"qi-block-call-to-action qodef-block qodef-m qodef-layout--standard\"><div class=\"qodef-m-inner\"><div class=\"qodef-m-content\"><h4 class=\"qodef-m-title\">Remote participation available!<\/h4><div class=\"qodef-m-text\">Register to receive Zoom link and materials.<\/div><\/div><div class=\"qodef-m-button\">\n<div class=\"wp-block-qi-blocks-button qodef-block-container qodef-block-68b92ef9\"><a class=\"qi-block-button qodef-block qodef-m qodef-layout--filled qodef-type--standard qodef-size--large qodef-hover--icon-move-horizontal-short\" href=\"https:\/\/docs.google.com\/forms\/d\/e\/1FAIpQLScxFG1AZBHf7rThByymVCRrEtJeWjQfhmZMPi_YKLlHdBDAdw\/viewform?usp=sharing&amp;ouid=116933815359651297437\"><span class=\"qodef-m-text\">Register Here<\/span><\/a><\/div>\n<\/div><\/div><\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2><strong>Abstract<\/strong><\/h2>\n\n\n\n<p>As robotics systems scale in complexity\u2014from single agents to large autonomous fleets\u2014they must navigate an intricate landscape of&nbsp;<strong>trade-offs across multiple dimensions<\/strong>, balancing accuracy and efficiency, adaptability and robustness, and competing objectives in real-time decision-making. This workshop explores how&nbsp;<strong>multi-scale optimization strategies<\/strong>&nbsp;can address these challenges and achieve a \u201c<strong>sweet spot<\/strong>\u201d of those trade-offs, enabling robotics and intelligent systems to operate seamlessly across scales. Through&nbsp;<strong>cross-disciplinary perspectives spanning&nbsp;control, robotics, and bio-inspired engineering<\/strong>, attendees will gain insights into how to navigate&nbsp;<strong>real-world trade-offs<\/strong>, bridging&nbsp;<strong>theoretical advancements with practical deployment in<\/strong> robotics and beyond.<\/p>\n\n\n\n<p>Optimization across scales is a fundamental aspect of intelligence, balancing trade-offs across various dimensions\u2014from <strong>learning<\/strong> to <strong>synthesis<\/strong> to <strong>decision-making<\/strong>. For <strong>learning<\/strong>, the trade-off between <strong>accuracy and efficiency<\/strong> can be managed by leveraging models with <strong>multiple fidelity levels<\/strong>, ensuring effective usage of computational resources. In <strong>synthesis<\/strong>, achieving a balance between <strong>consistency and variability<\/strong> is critical when extracting and integrating information from <strong>multiple modalities<\/strong>. For <strong>decision-making<\/strong>, compromises among<strong> multiple objectives<\/strong> are often unavoidable due to conflicting goals, demanding <strong>ethical<\/strong> considerations. These multi-scale optimization strategies are prerequisites to unlocking the full potential of intelligent systems, enabling them to generate emergent forms of intelligence at higher, more complex levels.<\/p>\n\n\n\n<p>Therefore, this workshop aims to explore <strong>multi-fidelity, multi-modality, and multi-objective optimization approaches<\/strong>, with a focus on how these methods can enhance efficiency, accuracy, consistency, variability, and ethicality. More specifically, tracking complex problems that involve:<\/p>\n\n\n\n<ul>\n<li><strong>Multi-fidelity learning<\/strong>: Using both low-cost, approximate models and high-fidelity, resource-intensive models to efficiently explore solutions.<\/li>\n\n\n\n<li><strong>Multi-modality integration<\/strong>: Combining diverse data sources, such as sensor data, imagery, and text, to inform decision-making processes.<\/li>\n\n\n\n<li><strong>Multi-objective decision-making<\/strong>: Balancing conflicting objectives, such as speed versus accuracy or performance versus energy consumption.<\/li>\n<\/ul>\n\n\n\n<p>By integrating insights from diverse fields\u2014such as autonomous systems, smart cities, production lines and bioinformatics\u2014we will discuss innovative ways to optimize across different scales, bridging the gap between theory and real-world applications.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" loading=\"lazy\" width=\"720\" height=\"405\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide4-08-20-25_15-41-35-225-1.png\" alt=\"\" class=\"wp-image-525\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide4-08-20-25_15-41-35-225-1.png 720w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide4-08-20-25_15-41-35-225-1-300x169.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" loading=\"lazy\" width=\"720\" height=\"405\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide5-08-20-25_15-41-35-237.png\" alt=\"\" class=\"wp-image-516\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide5-08-20-25_15-41-35-237.png 720w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide5-08-20-25_15-41-35-237-300x169.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img decoding=\"async\" loading=\"lazy\" width=\"720\" height=\"405\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide6-08-20-25_15-41-35-249.png\" alt=\"\" class=\"wp-image-517\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide6-08-20-25_15-41-35-249.png 720w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/08\/Slide6-08-20-25_15-41-35-249-300x169.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure><\/div>\n\n\n<h2><strong>Objectives<\/strong><\/h2>\n\n\n\n<p>The workshop will provide a platform for researchers and practitioners to share methods, tools, and case studies that demonstrate the synergy between fidelity, modalities, and objectives. Attendees will learn how to apply these approaches to complex systems, where balancing trade-offs is critical to achieving robust, scalable solutions.<\/p>\n\n\n\n<p>This workshop aims to:<\/p>\n\n\n\n<ol type=\"1\" start=\"1\">\n<li>Showcase recent advances in multi-fidelity, multi-modality, and multi-objective approaches across disciplines.<\/li>\n\n\n\n<li>Demonstrate how these optimization strategies can improve the scalability, efficiency, and effectiveness of real-world systems.<\/li>\n\n\n\n<li>Encourage collaboration between researchers and practitioners from different fields, including robotics, industry, bioengineering, and computer science.<\/li>\n<\/ol>\n\n\n\n<h2><strong>Topics Covered<\/strong><\/h2>\n\n\n\n<p>The workshop will feature topics including (but not limited to):<\/p>\n\n\n\n<ul>\n<li>Multi-fidelity modelling techniques for robotic systems and control applications<\/li>\n\n\n\n<li>Multi-modality data fusion for autonomous systems and human-robot interaction<\/li>\n\n\n\n<li>Multi-objective trade-offs in energy-efficient control, path planning, and decision-making<\/li>\n\n\n\n<li>Case studies on optimization in production lines, bioinformatics, smart cities, and transportation systems<\/li>\n\n\n\n<li>Tools and frameworks for multi-fidelity, multi-modality and multi-objective optimization<\/li>\n<\/ul>\n\n\n\n<h2><strong>Schedule<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>Time<\/td><td>Speaker<\/td><td>Title<\/td><\/tr><tr><td>8:30 \u2013 8:50<\/td><td>Workshop Organizers<\/td><td>Welcome and opening remarks<\/td><\/tr><tr><td>8:50 \u2013 9:30<\/td><td>John Doyle<\/td><td>Optimization and architecture: From Bacteria to Brains, Language, Technology, Sports, and Society<\/td><\/tr><tr><td>9:30 \u2013 10:00<\/td><td>Coffee break <\/td><td><\/td><\/tr><tr><td>10:00 \u2013 10:40<\/td><td>Jonathan How<\/td><td>Scalable Approaches to Learning-Based Planning and Control in Robotics<\/td><\/tr><tr><td>10:40 \u2013 11:20<\/td><td>Dimitra Panagou<\/td><td>How to Enable Concurrent Safety and Resilience in Multi-Robot Networks?<\/td><\/tr><tr><td>11:20 \u2013 12:00<\/td><td>Nisar Ahmed<\/td><td>Multi-modal Data Fusion with Humans on the Loop<\/td><\/tr><tr><td>12:00 \u2013 13:00<\/td><td>Lunch break<\/td><td><\/td><\/tr><tr><td>13:00 \u2013 13:40<\/td><td>Andrew Clark<\/td><td>Control-Theoretic Approaches to Safety and Resilience of Learning-Enabled Autonomous Systems<\/td><\/tr><tr><td>13:40 \u2013 14:20<\/td><td>Ran Dai<\/td><td>Tensor-based Koopman Operator for Optimal Control<\/td><\/tr><tr><td>14:20 \u2013 15:00<\/td><td>Mengxue Hou<\/td><td>Assured Abstraction for Hierarchical Robotic Planning&nbsp;<\/td><\/tr><tr><td>15:00 \u2013 15:30<\/td><td>Coffee break <\/td><td><\/td><\/tr><tr><td>15:30 \u2013 16:10<\/td><td>Yongxin Chen<\/td><td>Safety Assurance of Stochastic Systems<\/td><\/tr><tr><td>16:10 \u2013 16:50<\/td><td>Panel discussion (John Doyle, Dimitra Panagou, Nisar Ahmed, Andrew Clark, Ran Dai)<\/td><td>Where is the boundary of scales?&nbsp;Navigating Limits in Learning, Decision, and System Design <\/td><\/tr><tr><td>16:50 \u2013 17:00<\/td><td>Workshop Organizers<\/td><td>Conclusion and closing remarks<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2>Invited Speakers<\/h2>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile has-medium-font-size\" style=\"grid-template-columns:15% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"225\" height=\"339\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/s_jon2.gif\" alt=\"\" class=\"wp-image-386 size-full\"\/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"http:\/\/www.mit.edu\/~JHOW\/\">Jonathan How<\/a><\/strong><\/p>\n\n\n\n<p>Massachusetts Institute of Technology<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> Scalable Approaches to Learning-Based Planning and Control in Robotics<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> TBD<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:15% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"576\" height=\"764\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-05-41-John-Doyle-Division-of-Engineering-and-Applied-Science.png\" alt=\"\" class=\"wp-image-387 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-05-41-John-Doyle-Division-of-Engineering-and-Applied-Science.png 576w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-05-41-John-Doyle-Division-of-Engineering-and-Applied-Science-226x300.png 226w\" sizes=\"(max-width: 576px) 100vw, 576px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/doyle.caltech.edu\/Main_Page\">John Doyle<\/a><\/strong><\/p>\n\n\n\n<p>California Institute of Technology (Retired)<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> Optimization and architecture: From Bacteria to Brains, Language, Technology, Sports, and Society<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> <\/p>\n\n\n\n<p>The human brain\u2019s evolution, enabling language, technology, medicine, and society, encompasses bewilderingly diverse details and systems. Yet, all these advancements are facilitated by a shared Universal L* Architecture (ULA) where L*= layers, levels, laws. ULAs are pervasive in tech because virtualization allows builders and users, including scientists and engineers, to grasp only fragments, while the architecture itself can persist, evolve, and propagate (and crash).&nbsp;Control theorists have long designed algorithms for boxes in architectures designed by others, typically with little or no theory, and often with deep flaws.&nbsp; This must change.<\/p>\n\n\n\n<p>The first known ULA is in bacteria, where it enabled evolvability to include brains, language, society, and technology. At the heart of the theory of ULA is Layering As Optimization (LAO) where balancing constraints on robust efficient system performance with constraints on hardware lead naturally to constrained optimization across scales, levels, and layers.&nbsp; This holds when designing architectures, or the specific systems they enable, and for forward engineering tech and reverse engineering biology and brains.<\/p>\n\n\n\n<p>While ULAs usher in remarkable triumphs, they also harbor catastrophic vulnerabilities, such as hijacking by pathogens, cancer, patriarchy, and the resulting pandemics and wars. ULAs thus remain perilously misunderstood and our design strategies inadequate, but potentially fixable.&nbsp; Beginning with sensorimotor control from bacteria thru humans, this talk will outline ULA concepts such as Diversity-Enabled Sweet Spots (DeSS) and \u201cconstraints that deconstrain\u201d (CDT) via layers, levels, stages, the bowtie and hourglass models, and new laws on efficiency and robustness.&nbsp;&nbsp;<\/p>\n\n\n\n<p>Theory, experiments, and field studies demonstrate that ULAs are necessary in overcoming biology\u2019s and technology\u2019s hardware layer constraints on sensing, communications, computing, and actions\u2014such as sparsity, locality, saturation, and delays.&nbsp; This theory also suggests enhancements in both understanding and design of ULAs. Positive examples range from cellular to tech to societal scales, including successful animal models of social architectures from which humans could derive valuable lessons.&nbsp;&nbsp;<\/p>\n\n\n\n<p>While ULA, CDT, DeSS, and LAO may be unfamiliar terms, the concepts will be familiar because they are present in almost everything in our world.&nbsp; What may be less familiar are the new theoretical frontiers needed to help fix our world of the hijacked and unsustainable, and build on the potential for control, LAO, and new tech to address this.&nbsp;<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:17% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"820\" height=\"1024\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/yongxin-820x1024.jpg\" alt=\"\" class=\"wp-image-389 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/yongxin-820x1024.jpg 820w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/yongxin-240x300.jpg 240w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/yongxin-768x959.jpg 768w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/yongxin-1230x1536.jpg 1230w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/yongxin-1639x2048.jpg 1639w\" sizes=\"(max-width: 820px) 100vw, 820px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/yongxin.ae.gatech.edu\/\">Yongxin Chen<\/a><\/strong><\/p>\n\n\n\n<p>Georgia Institute of Technology<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> Safety Assurance of Stochastic Systems<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> Safety is a critical requirement for real-world systems, including autonomous vehicles, robots, power grids and more. Over the past decades, many methods have been developed for safety verification and safe control design in deterministic systems. However, real-world applications often involve not only worst-case deterministic disturbances but also stochastic uncertainties, rendering deterministic methods insufficient. In this talk, I will present an effective framework that address this challenge by decoupling the effects of stochastic and deterministic disturbances. At the heart of this framework is a novel technique that provides probabilistic bounds on the deviation between the trajectories of stochastic systems and their deterministic counterparts with high confidence. This approach yields a tight probabilistic bound that is applicable to both continuous-time and discrete-time systems. By leveraging this bound, the safety verification problem for stochastic systems can be reduced to a deterministic one, enabling the use of existing deterministic methods to solve problems involving stochastic uncertainties. I will demonstrate the effectiveness of this framework through several safety verification and safe control tasks.&nbsp;<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:19% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"225\" height=\"225\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/DimitraPanagou.jpg\" alt=\"\" class=\"wp-image-390 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/DimitraPanagou.jpg 225w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/DimitraPanagou-150x150.jpg 150w\" sizes=\"(max-width: 225px) 100vw, 225px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/public.websites.umich.edu\/~dpanagou\/\">Dimitra Panagou<\/a><\/strong><\/p>\n\n\n\n<p>University of Michigan<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> How to Enable Concurrent Safety and Resilience in Multi-Robot Networks?<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> The proliferation of cyberattacks in today\u2019s world has sparked significant interest during recent years in the resilience of networked systems against failures and attacks. A plethora of distributed estimation and control approaches have been developed, that often focus on either attacks that target the &#8220;cyber&#8221; domain (e.g., the information shared via communication or acquired via sensing), or on attacks that target the &#8220;physical&#8221; domain (e.g., the actuators or the entire plant\/network). Despite tremendous progress, there are still open problems, including but not limited to how we can obtain less conservative models of the attacks (beyond worst-case assumptions), and how we can ensure the safe operation of the agents despite the effects of the attacks. This talk presents an overview of our recent work on resilient multi-robot networks against &#8220;cyber&#8221; adversaries (Byzantine agents) and &#8220;physical&#8221; adversaries (risk-averse and risk-taking agents), and some highlights of our ongoing work on learning and counteracting adversarial behavior in multi-agent\/multi-robot systems.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:23% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"650\" height=\"500\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-21-07-Andrew-Clark-WashU-McKelvey-School-of-Engineering.png\" alt=\"\" class=\"wp-image-391 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-21-07-Andrew-Clark-WashU-McKelvey-School-of-Engineering.png 650w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-21-07-Andrew-Clark-WashU-McKelvey-School-of-Engineering-300x231.png 300w\" sizes=\"(max-width: 650px) 100vw, 650px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/engineering.washu.edu\/faculty\/Andrew-Clark.html\">Andrew Clark<\/a><\/strong><\/p>\n\n\n\n<p>Washington University in St. Louis<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> Control-Theoretic Approaches to Safety and Resilience of Learning-Enabled Autonomous Systems<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> Autonomous systems in applications including robotics, manufacturing, and driverless vehicles are required to perform complex missions while also ensuring safety of the systems, supporting infrastructures, and human bystanders. While learning-based methods have shown substantial progress in achieving these objectives, they face challenges including scalability to high-dimensional systems, the need for verifiable safety, and robustness and resilience to naturally-occurring faults, deliberate adversarial attacks, and deviations between training and operational environments. This talk will present recent research advances towards addressing these challenges. First, we will present a control-theoretic framework for safety verification of learning-enabled autonomous systems. This framework utilizes techniques from algebraic geometry and set-theoretic methods in control to provide scalable and exact safety and reachability criteria for neural network controllers. Second, we will extend our framework to provide safety and performance of systems that experience sensor and actuation failures.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:17% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"683\" height=\"1024\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-23-13-Nisar-Ahmed-Ann-and-H.J.-Smead-Aerospace-Engineering-Sciences-University-of-Colorado-Boulder-683x1024.png\" alt=\"\" class=\"wp-image-392 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-23-13-Nisar-Ahmed-Ann-and-H.J.-Smead-Aerospace-Engineering-Sciences-University-of-Colorado-Boulder-683x1024.png 683w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-23-13-Nisar-Ahmed-Ann-and-H.J.-Smead-Aerospace-Engineering-Sciences-University-of-Colorado-Boulder-200x300.png 200w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/Screenshot-2025-01-12-at-16-23-13-Nisar-Ahmed-Ann-and-H.J.-Smead-Aerospace-Engineering-Sciences-University-of-Colorado-Boulder.png 712w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/www.colorado.edu\/aerospace\/nisar-ahmed\">Nisar Ahmed<\/a><\/strong><\/p>\n\n\n\n<p>University of Colorado Boulder<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> Multi-modal Data Fusion with Humans on the Loop<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> From the development of foundational state space estimation tools like the Kalman filter to state of the art machine learning methods for sensor fusion and decision making, probabilistic models and reasoning algorithms are the \u201clingua franca\u201d for modern robotics and autonomous systems. Probabilistic AI and learning have evolved in new and exciting ways to tackle fundamental research questions for current and future systems that require multimodal data fusion, including with human information sources. I will highlight recent work on human-machine\/robot interaction for collaborative information gathering and reasoning, using probabilistic state estimation and decision-making algorithms. These methods plug seamlessly into existing multimodal data fusion architectures and can exploit the capabilities of human collaborators to provide information-rich semantic data via user-friendly interfaces that are typically \u201cout of band\u201d for autonomous platforms. Moreover, these methods come with built-in probabilistic mechanisms that allow them to stay robust against erroneous or unexpected human inputs. This leads to generalizations of probabilistic data association techniques that can be extended to human input modalities like semantic data or hand-drawn sketches. Applications to aerospace applications such as integrated surveillance\/reconnaissance, wilderness search and rescue, and remote space exploration will be demonstrated and discussed.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:17% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"450\" height=\"600\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/image243163.jpg\" alt=\"\" class=\"wp-image-393 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/image243163.jpg 450w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/image243163-225x300.jpg 225w\" sizes=\"(max-width: 450px) 100vw, 450px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/engineering.purdue.edu\/AAE\/people\/ptProfile?resource_id=243160\">Ran Dai<\/a><\/strong><\/p>\n\n\n\n<p>Purdue University<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> Tensor-based Koopman Operator for Optimal Control<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> Koopman operator theory serves as a comprehensive linearization mechanism for analyzing and controlling complex nonlinear systems by projecting them into a higher-dimensional functional space. In practice, this involves the finite-dimensional approximation of the inherently infinite-dimensional Koopman operator using a selected set of observable functions. The efficacy of this method relies on the precision of these approximations, which typically enhances with the inclusion of more observables. However, such expansions greatly increase the storage demands and computational load, especially for systems with high dimensionality, thus impeding practical implementations. Our research addresses these challenges by employing tensor-based approaches to reconfigure the Koopman operator, effectively mitigating the curse of dimensionality. This leads to a robust linear prediction model that utilizes our tensor-structured Koopman operator. Additionally, we introduce an innovative optimal control strategy derived from this tensor-based Koopman linearization model. This strategy converts the nonlinear dynamics and constraints into a linear framework, which allows for employing state-of-the-art convex optimization to facilitate real-time computation.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:21% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"270\" height=\"270\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/avatar_hue51ff895a95b8218c00e29cfb882bdc5_5277694_270x270_fill_q75_lanczos_center.jpg\" alt=\"\" class=\"wp-image-394 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/avatar_hue51ff895a95b8218c00e29cfb882bdc5_5277694_270x270_fill_q75_lanczos_center.jpg 270w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/avatar_hue51ff895a95b8218c00e29cfb882bdc5_5277694_270x270_fill_q75_lanczos_center-150x150.jpg 150w\" sizes=\"(max-width: 270px) 100vw, 270px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/www.mengxuehou.com\/\">Mengxue Hou<\/a><\/strong><\/p>\n\n\n\n<p>University of Notre Dame<\/p>\n<\/div><\/div>\n\n\n\n<p><strong>Title:<\/strong> Assured Abstraction for Hierarchical Robotic Planning&nbsp;<\/p>\n\n\n\n<p><strong>Abstract:<\/strong> To enable a smart and autonomous system to be cognizant, taskable, and adaptive in exploring an unknown and unstructured environment, robotic decision-making relies on learning a parameterized knowledge representation. However, one fundamental challenge in deriving the parameterized representation is the undesirable trade-off between computation efficiency and model fidelity. This talk addresses this challenge in the context of underwater vehicle navigation in unknown marine environments. To improve fidelity of the reduced-order model, we develop a learning method to generate a non-Markovian reduced-order representation of the environmental dynamics. Such abstraction guarantees to improve the modeling accuracy. Further, taking advantage of the abstracted model, we develop a Large-Language-Model-guided hierarchical planner to translate human specified missions directly to a set of executable actions with low computation cost.<\/p>\n\n\n\n<h2><strong>Organizers<\/strong><\/h2>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:18% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"650\" height=\"650\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/1698107900638-650x650-1.jpg\" alt=\"\" class=\"wp-image-395 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/1698107900638-650x650-1.jpg 650w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/1698107900638-650x650-1-300x300.jpg 300w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/1698107900638-650x650-1-150x150.jpg 150w\" sizes=\"(max-width: 650px) 100vw, 650px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/yingkeli.me\/\">Yingke Li<\/a><\/strong><\/p>\n\n\n\n<p>Massachusetts Institute of Technology<\/p>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:18% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"768\" height=\"1024\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/ChuchuFan-042021-768x1024.jpg\" alt=\"\" class=\"wp-image-396 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/ChuchuFan-042021-768x1024.jpg 768w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/ChuchuFan-042021-225x300.jpg 225w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/ChuchuFan-042021.jpg 900w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/chuchu.mit.edu\/\">Chuchu Fan<\/a><\/strong><\/p>\n\n\n\n<p>Massachusetts Institute of Technology<\/p>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<div class=\"wp-block-media-text is-stacked-on-mobile\" style=\"grid-template-columns:18% auto\"><figure class=\"wp-block-media-text__media\"><img decoding=\"async\" loading=\"lazy\" width=\"260\" height=\"354\" src=\"https:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/106-eefumin-ZHANG-Fumin.jpg\" alt=\"\" class=\"wp-image-397 size-full\" srcset=\"http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/106-eefumin-ZHANG-Fumin.jpg 260w, http:\/\/yingkeli.me\/wp-content\/uploads\/2025\/01\/106-eefumin-ZHANG-Fumin-220x300.jpg 220w\" sizes=\"(max-width: 260px) 100vw, 260px\" \/><\/figure><div class=\"wp-block-media-text__content\">\n<p><strong><a href=\"https:\/\/ece.hkust.edu.hk\/eefumin\">Fumin Zhang<\/a><\/strong><\/p>\n\n\n\n<p>Hong Kong University of Science and Technology<\/p>\n<\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Abstract As robotics systems scale in complexity\u2014from single agents to large autonomous fleets\u2014they must navigate an intricate landscape of&nbsp;trade-offs across multiple dimensions, balancing accuracy and efficiency, adaptability and robustness, and competing objectives in real-time decision-making. This workshop explores how&nbsp;multi-scale optimization strategies&nbsp;can address these challenges and achieve a \u201csweet spot\u201d of those trade-offs, enabling robotics and [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_eb_attr":""},"_links":{"self":[{"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/pages\/385"}],"collection":[{"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/comments?post=385"}],"version-history":[{"count":18,"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/pages\/385\/revisions"}],"predecessor-version":[{"id":526,"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/pages\/385\/revisions\/526"}],"wp:attachment":[{"href":"http:\/\/yingkeli.me\/index.php\/wp-json\/wp\/v2\/media?parent=385"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}