Radu Grosu

Radu Grosu
TU Wien | TU Wien · Faculty of Informatics

Dr.rer.nat, TU München

About

296
Publications
47,898
Reads
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4,234
Citations
Introduction
I conduct research on the modelling, analysis, and control of cyber-physical and biological systems. I am interested in Internet of Things architectures in engineered and biological systems. For the latter, I consider neuronal and myocyte networks.
Additional affiliations
March 2012 - present
TU Wien
Position
  • Head of Department
March 2012 - present
TU Wien
Position
  • Professor (Full)
Education
September 1990 - October 1994
Technische Universität München
Field of study
  • Computer Science

Publications

Publications (296)
Article
We introduce a new statistical verification algorithm that formally quantifies the behavioral robustness of any time-continuous process formulated as a continuous-depth model. Our algorithm solves a set of global optimization (Go) problems over a given time horizon to construct a tight enclosure (Tube) of the set of all process executions starting...
Preprint
Modern tourism in the 21st century is facing numerous challenges. One of these challenges is the rapidly growing number of tourists in space limited regions such as historical city centers, museums or geographical bottlenecks like narrow valleys. In this context, a proper and accurate prediction of tourism volume and tourism flow within a certain a...
Preprint
Full-text available
Residual mappings have been shown to perform representation learning in the first layers and iterative feature refinement in higher layers. This interplay, combined with their stabilizing effect on the gradient norms, enables them to train very deep networks. In this paper, we take a step further and introduce entangled residual mappings to general...
Conference Paper
World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become practicable on standard RL benchmarks and some games, their effectiveness in real-world robotics applications has no...
Preprint
Full-text available
In this paper, we present a novel sensitivity-based filter pruning algorithm (SbF-Pruner) to learn the importance scores of filters of each layer end-to-end. Our method learns the scores from the filter weights, enabling it to account for the correlations between the filters of each layer. Moreover, by training the pruning scores of all layers simu...
Preprint
Full-text available
We introduce the novel concept of Spatial Predictive Control (SPC) to solve the following problem: given a collection of agents (e.g., drones) with positional low-level controllers (LLCs) and a mission-specific distributed cost function, how can a distributed controller achieve and maintain cost-function minimization without a plant model and only...
Chapter
Open and adaptive living systems share many of their underlying principles with artificial rational agents. Control theory and artificial intelligence drew and continue drawing, therefore, inspiration form nature. For example, we have shown that a biophysical model of neurons can reduce the size of a lane-keeping neural network by a factor of 100 i...
Chapter
We present the Distributed Simplex Architecture (DSA), a new runtime assurance technique that provides safety guarantees for multi-agent systems (MASs). DSA is inspired by the Simplex control architecture of Sha et al., but with some significant differences. The traditional Simplex approach is limited to single-agent systems or a MAS with a central...
Preprint
Full-text available
Despite the great success of convolutional neural networks (CNN) in 3D medical image segmentation tasks, the methods currently in use are still not robust enough to the different protocols utilized by different scanners, and to the variety of image properties or artefacts they produce. To this end, we introduce OOCS-enhanced networks, a novel archi...
Preprint
Full-text available
The automatic synthesis of neural-network controllers for autonomous agents through reinforcement learning has to simultaneously optimize many, possibly conflicting, objectives of various importance. This multi-objective optimization task is reflected in the shape of the reward function, which is most often the result of an ad-hoc and crafty-like a...
Chapter
Full-text available
The Distributed Simplex Architecture (DSA) extends the Simplex control architecture of Sha et al. to provide runtime safety assurance for multi-agent systems under distributed control. In this paper, we show how DSA can be used to ensure collision-free 3D flocking behavior, such that agents avoid colliding with each other and with cuboid-shaped obs...
Preprint
Formal methods provide very powerful tools and techniques for the design and analysis of complex systems. Their practical application remains however limited, due to the widely accepted belief that formal methods require extensive expertise and a steep learning curve. Writing correct formal specifications in form of logical formulas is still consid...
Chapter
The assumption of perfect knowledge of rate parameters in continuous-time Markov chains (CTMCs) is undermined when confronted with reality, where they may be uncertain due to lack of information or because of measurement noise. In this paper we consider uncertain CTMCs, where rates are assumed to vary non-deterministically with time from bounded co...
Preprint
Full-text available
We introduce a new stochastic verification algorithm that formally quantifies the behavioral robustness of any time-continuous process formulated as a continuous-depth model. The algorithm solves a set of global optimization (Go) problems over a given time horizon to construct a tight enclosure (Tube) of the set of all process executions starting f...
Preprint
Full-text available
Robustness to variations in lighting conditions is a key objective for any deep vision system. To this end, our paper extends the receptive field of convolutional neural networks with two residual components, ubiquitous in the visual processing system of vertebrates: On-center and off-center pathways, with excitatory center and inhibitory surround;...
Chapter
This paper provides a short overview on methods and technologies necessary to build smart and sustainable Internet-of-Things (IoT). It observes IoT systems in a close relation with data centered intelligence and its application in cyber-physical systems. With the current rate of growth IoT devices and supporting CPS infrastructure will reach extrem...
Preprint
Adversarial training is an effective method to train deep learning models that are resilient to norm-bounded perturbations, with the cost of nominal performance drop. While adversarial training appears to enhance the robustness and safety of a deep model deployed in open-world decision-critical applications, counterintuitively, it induces undesired...
Preprint
Full-text available
World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become practicable on standard RL benchmarks and some games, their effectiveness in real-world robotics applications has no...
Preprint
We present Distributed Simplex Architecture (DSA), a new runtime assurance technique that provides safety guarantees for multi-agent systems (MASs). DSA is inspired by the Simplex control architecture of Sha et al., but with some significant differences. The traditional Simplex approach is limited to single-agent systems or a MAS with a centralized...
Preprint
Full-text available
We show that Neural ODEs, an emerging class of time-continuous neural networks, can be verified by solving a set of global-optimization problems. For this purpose, we introduce Stochastic Lagrangian Reachability (SLR), an abstraction-based technique for constructing a tight Reachtube (an over-approximation of the set of reachable states over a give...
Preprint
Full-text available
We introduce LRT-NG, a set of techniques and an associated toolset that computes a reachtube (an over-approximation of the set of reachable states over a given time horizon) of a nonlinear dynamical system. LRT-NG significantly advances the state-of-the-art Langrangian Reachability and its associated tool LRT. From a theoretical perspective, LRT-NG...
Article
Full-text available
A central goal of artificial intelligence in high-stakes decision-making applications is to design a single algorithm that simultaneously expresses generalizability by learning coherent representations of their world and interpretable explanations of its dynamics. Here, we combine brain-inspired neural computation principles and scalable deep learn...
Chapter
Full-text available
We present the Neural Simplex Architecture (NSA), a new approach to runtime assurance that provides safety guarantees for neural controllers (obtained e.g. using reinforcement learning) of autonomous and other complex systems without unduly sacrificing performance. NSA is inspired by the Simplex control architecture of Sha et al., but with some sig...
Preprint
We introduce a new class of time-continuous recurrent neural network models. Instead of declaring the nonlinearity of a learning system by neurons, we impose specialized nonlinearities on the network connections. The obtained models realize dynamical systems with varying (i.e., \emph{liquid}) time-constants coupled to their hidden state, and output...
Preprint
Full-text available
We show how a high-performing, fully distributed and symmetric neural V-formation controller can be synthesized from a Centralized MPC (Model Predictive Control) controller using Deep Learning. This result is significant as we also establish that under very reasonable conditions, it is impossible to achieve V-formation using a deterministic, distri...
Chapter
Full-text available
We show how a symmetric and fully distributed flocking controller can be synthesized using Deep Learning from a centralized flocking controller. Our approach is based on Supervised Learning, with the centralized controller providing the training data, in the form of trajectories of state-action pairs. We use Model Predictive Control (MPC) for the c...
Preprint
Full-text available
We present recent results that demonstrate the power of viewing the problem of V-formation in a flock of birds as one of Model Predictive Control (MPC). The V-formation-MPC marriage can be understood in terms of the problem of synthesizing an optimal plan for a continuous-space and continuous-time Markov decision process (MDP), where the goal is to...
Preprint
Full-text available
As the availability and importance of temporal interaction data--such as email communication--increases, it becomes increasingly important to understand the underlying structure that underpins these interactions. Often these interactions form a multigraph, where we might have multiple interactions between two entities. Such multigraphs tend to be s...
Preprint
Full-text available
We show how a distributed flocking controller can be synthesized using deep learning from a centralized controller which generates the trajectories of the flock. Our approach is based on supervised learning, with the centralized controller providing the training data to the learning agent, i.e., the synthesized distributed controller. We use Model...
Preprint
Full-text available
We present the Neural Simplex Architecture (NSA), a new approach to runtime assurance that provides safety guarantees for neural controllers (obtained e.g. using reinforcement learning) of complex autonomous and other cyber-physical systems without unduly sacrificing performance. NSA is inspired by the Simplex control architecture of Sha et al., bu...
Article
Full-text available
This paper studies an intelligent technique for the healthmonitoring and prognostics of common rotary machine components, with regards to bearings in particular. During a run-to-failure experiment, rich unsupervised features from vibration sensory data are extracted by a trained sparse autoencoder. Then, the correlation of the initial samples (pres...
Chapter
The CPS/IoT Ecosystem project aims to build an IoT infrastructure that will be used as a platform for research and education in multiple disciplines related to CPS and IoT. The main objective is to provide a real-world infrastructure, and allow students and researchers explore its capabilities on actual use cases.
Article
In this paper, we introduce a novel method to interpret recurrent neural networks (RNNs), particularly long short-term memory networks (LSTMs) at the cellular level. We propose a systematic pipeline for interpreting individual hidden state dynamics within the network using response characterization methods. The ranked contribution of individual cel...
Conference Paper
The Internet of Things (IoT) connects millions of devices of different cyber-physical systems (CPSs) providing the CPSs additional (implicit) redundancy during runtime. However, the increasing level of dynamicity, heterogeneity, and complexity adds to the system’s vulnerability, and challenges its ability to react to faults. Self-healing is an incr...
Preprint
Interaction graphs, such as those recording emails between individuals or transactions between institutions, tend to be sparse yet structured, and often grow in an unbounded manner. Such behavior can be well-captured by structured, nonparametric edge-exchangeable graphs. However, such exchangeable models necessarily ignore temporal dynamics in the...
Conference Paper
Full-text available
Model checking of hybrid systems is usually expressed in terms of the following reachability problem for hybrid automata (HA) [6]: given an HA M, a set of initial states I, and a set of unsafe states U, determine whether there exists a trajectory of M starting in an initial state and ending in an unsafe state. The time-bounded version of this probl...
Conference Paper
Full-text available
We present DAMPC, a distributed, adaptive-horizon and adaptive-neighborhood algorithm for solving the stochastic reachability problem in multi-agent systems, in particular, flocking modeled as a Markov decision process. At each time step, every agent first calls a centralized, adaptive-horizon model-predictive control (AMPC) algorithm to obtain an...
Preprint
Full-text available
The Internet of Things (IoT) connects millions of devices of different cyber-physical systems (CPSs) providing the CPSs additional (implicit) redundancy during runtime. However, the increasing level of dynamicity, heterogeneity, and complexity adds to the system's vulnerability, and challenges its ability to react to faults. Self-healing is an incr...
Article
Full-text available
The Internet of Things (IoT) is a ubiquitous system connecting many different devices – the things – which can be accessed from the distance. The cyber-physical systems (CPS) monitor and control the things from the distance. As a result, the concepts of dependability and security get deeply intertwined. The increasing level of dynamicity, heterogen...
Chapter
The large scale of toady’s real-world networks makes development of distributed algorithms for network science applications of great importance. These algorithms require a node to only have local interactions with its immediate neighbors. This is due to the fact that the whole network topology is usually unknown to each individual node. Detecting k...
Book
This Festschrift is in honor of Scott A. Smolka, Professor in the Stony Brook University, USA, on the occasion of his 65th birthday. Scott A. Smolka made fundamental research contributions in a number of areas, including process algebra, model checking, probabilistic processes, runtime verification, and the modeling and analysis of cardiac cells, n...
Chapter
We highlight the contributions made in the field of Statistical Model Checking (SMC) since its inception in 2002. As the formal setting, we use a very general model of Stochastic Systems (an SS is simply a family of time-indexed random variables), and Bounded LTL (BLTL) as the temporal logic. Let S be an SS and \(\varphi \) a BLTL formula. Our surv...
Article
Implantable medical devices are safety-critical systems whose incorrect operation can jeopardize a patient's health, and whose algorithms must meet tight platform constraints like memory consumption and runtime. In particular, we consider here the case of implantable cardioverter defibrillators, where peak detection algorithms and various others di...
Preprint
In this paper, we introduce the notion of liquid time-constant (LTC) recurrent neural networks (RNN)s, a subclass of continuous-time RNNs, with varying neuronal time-constant realized by their nonlinear synaptic transmission model. This feature is inspired by the communication principles in the nervous system of small species. It enables the model...
Article
Full-text available
The OpenWorm project has the ambitious goal of producing a highly detailed in silico model of the nematode Caenorhabditis elegans. A crucial part of this work will be a model of the nervous system encompassing all known cell types and connections. The appropriate level of biophysical detail required in the neuronal model to reproduce observed high-...
Preprint
Full-text available
The Internet of Things (IoT) is an ubiquitous system connecting many different devices -- the things -- which can be accessed from the distance. With the possibility to monitor and control the physical environment from the distance, that is the IoT contains cyber-physical systems (CPS), the two concepts of dependability and security get deeply inte...
Conference Paper
Full-text available
The CPS/IoT Ecosystem project aims to build an IoT infrastructure that will be used as a platform for research and education in multiple disciplines related to CPS and IoT. The main objective is to provide a real-world infrastructure, and allow students and researchers explore its capabilities on actual use cases.
Chapter
Full-text available
We introduce the State Classification Problem (SCP) for hybrid systems, and present Neural State Classification (NSC) as an efficient solution technique. SCP generalizes the model checking problem as it entails classifying each state s of a hybrid automaton as either positive or negative, depending on whether or not s satisfies a given time-bounded...
Preprint
Full-text available
We introduce continuous Lagrangian reachability (CLRT), a new algorithm for the computation of a tight and continuous-time reachtube for the solution flows of a nonlinear, time-variant dynamical system. CLRT employs finite strain theory to determine the deformation of the solution set from time $t_i$ to time $t_{i+1}$. We have developed simple expl...
Preprint
In this paper, we introduce a novel method to interpret recurrent neural networks (RNNs), particularly long short-term memory networks (LSTMs) at the cellular level. We propose a systematic pipeline for interpreting individual hidden state dynamics within the network using response characterization methods. The ranked contribution of individual cel...