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In this paper, we consider the problem of automatically designing a Rectified Linear Unit (ReLU) Neural Network (NN) architecture (number of layers and number of neurons per layer) with the assurance that it is sufficiently parametrized to…

In this paper, we consider the problem of repairing a data-trained Rectified Linear Unit (ReLU) Neural Network (NN) controller for a discrete-time, input-affine system. That is we assume that such a NN controller is available, and we seek…

In this paper, we consider the problem of automatically designing a Rectified Linear Unit (ReLU) Neural Network (NN) architecture that is sufficient to implement the optimal Model Predictive Control (MPC) strategy for an LTI system with…

We consider a neural network architecture with randomized features, a sign-splitter, followed by rectified linear units (ReLU). We prove that our architecture exhibits robustness to the input perturbation: the output feature of the neural…

Recent years have witnessed a resurgence in using ReLU neural networks (NNs) to represent model predictive control (MPC) policies. However, determining the required network complexity to ensure closed-loop performance remains a fundamental…

This paper presents a novel approach to ensure the safety of continuous-time linear dynamical systems controlled by a neural network (NN) based state-feedback. Our method capitalizes on the use of continuous piece-wise affine (PWA)…

In this paper, we consider the problem of training neural network (NN) controllers for nonlinear dynamical systems that are guaranteed to satisfy safety and liveness (e.g., reach-avoid) properties. Our approach is to combine model-based…

Lipschitz-constrained neural networks have several advantages over unconstrained ones and can be applied to a variety of problems, making them a topic of attention in the deep learning community. Unfortunately, it has been shown both…

We consider the design of fast and reliable neural network (NN)-based approximations of traditional stabilizing controllers for linear systems with polytopic uncertainty, including control laws with variable structure and those based on a…

We present a general variational framework for the training of freeform nonlinearities in layered computational architectures subject to some slope constraints. The regularization that we add to the traditional training loss penalizes the…

In this paper, we consider the computational complexity of formally verifying the behavior of Rectified Linear Unit (ReLU) Neural Networks (NNs), where verification entails determining whether the NN satisfies convex polytopic…

Neural networks (NNs) have emerged as a state-of-the-art method for modeling nonlinear systems in model predictive control (MPC). However, the robustness of NNs, in terms of sensitivity to small input perturbations, remains a critical…

There exist many problem domains where the interpretability of neural network models is essential for deployment. Here we introduce a recurrent architecture composed of input-switched affine transformations - in other words an RNN without…

We study training of Convolutional Neural Networks (CNNs) with ReLU activations and introduce exact convex optimization formulations with a polynomial complexity with respect to the number of data samples, the number of neurons, and data…

We develop exact representations of training two-layer neural networks with rectified linear units (ReLUs) in terms of a single convex program with number of variables polynomial in the number of training samples and the number of hidden…

Rectifier (ReLU) deep neural networks (DNN) and their connection with piecewise affine (PWA) functions is analyzed. The paper is an effort to find and study the possibility of representing explicit state feedback policy of model predictive…

A common problem affecting neural network (NN) approximations of model predictive control (MPC) policies is the lack of analytical tools to assess the stability of the closed-loop system under the action of the NN-based controller. We…

Today, it is more important than ever before for users to have trust in the models they use. As Machine Learning models fall under increased regulatory scrutiny and begin to see more applications in high-stakes situations, it becomes…

Neural networks (NN) have been successfully applied to approximate various types of complex control laws, resulting in low-complexity NN-based controllers that are fast to evaluate. However, when approximating control laws using NN,…

We present new families of continuous piecewise linear (CPWL) functions in Rn having a number of affine pieces growing exponentially in $n$. We show that these functions can be seen as the high-dimensional generalization of the triangle…