Related papers: Safe Interactive Model-Based Learning

Breaking safety constraints in control systems can lead to potential risks, resulting in unexpected costs or catastrophic damage. Nevertheless, uncertainty is ubiquitous, even among similar tasks. In this paper, we develop a novel adaptive…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…

Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcement Learning (SBSRL), a model-based RL algorithm that…

Ensuring Large Language Model (LLM) safety remains challenging due to the absence of universal standards and reliable content validators, making it difficult to obtain effective training signals. We discover that aligned models already…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

This paper develops a novel machine learning-based framework using Semi-Supervised Multi-Task Learning (SS-MTL) for power system dynamic security assessment that is accurate, reliable, and aware of topological changes. The learning…

This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…

Machine Learning~(ML) has provided promising results in recent years across different applications and domains. However, in many cases, qualities such as reliability or even safety need to be ensured. To this end, one important aspect is to…

Iterative learning control (ILC) improves the performance of a repetitive system by learning from previous trials. ILC can be combined with Model Predictive Control (MPC) to mitigate non-repetitive disturbances, thus improving overall…

The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…

Design of process control scheme is critical for quality assurance to reduce variations in manufacturing systems. Taking semiconductor manufacturing as an example, extensive literature focuses on control optimization based on certain…

Reinforcement learning (RL) has proven to be particularly effective in solving complex decision-making problems for a wide range of applications. Safe reinforcement learning refers to a class of constrained problems where the constraint…

Iterative Learning Control (ILC) enables high control performance through learning from measured data, using only limited model knowledge in the form of a nominal parametric model. Robust stability requires robustness to modeling errors,…

Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL directly on real systems, while simulation-based training…

Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…

In this paper, we consider the problem of reference tracking in uncertain nonlinear systems. A neural State-Space Model (NSSM) is used to approximate the nonlinear system, where a deep encoder network learns the nonlinearity from data, and…

Within the framework of Sliding Mode Control, safety critical control looks at two problems of theoretical significance: construct a sliding manifold that does not intersect a given unsafe set of the state space, and design a robust…

This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…

Symbolic models or abstractions are known to be powerful tools for the control design of cyber-physical systems (CPSs) with logic specifications. In this paper, we investigate a novel learning-based approach to the construction of symbolic…