Related papers: Machine learning based iterative learning control …

Autonomous robotic systems require advanced control frameworks to achieve complex temporal objectives that extend beyond conventional stability and trajectory tracking. Signal Temporal Logic (STL) provides a formal framework for specifying…

In this paper we present a framework for risk-averse model predictive control (MPC) of linear systems affected by multiplicative uncertainty. Our key innovation is to consider time-consistent, dynamic risk metrics as objective functions to…

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…

Modern Large Language Models (LLMs) have shown rapid improvements in reasoning capabilities, driven largely by reinforcement learning (RL) with verifiable rewards. Here, we ask whether these LLMs can self-improve without the need for…

Neural network controllers increasingly demand millions of parameters, and language model approaches push into the billions. For embedded aerospace systems with strict power and latency constraints, this scaling is prohibitive. We present…

While Large Language Models (LLMs) have exhibited remarkable emergent capabilities through extensive pre-training, they still face critical limitations in generalizing to specialized domains and handling diverse linguistic variations, known…

In this paper, a continuous-time adaptive actor-critic reinforcement learning (RL) controller is developed for drift-free nonlinear systems. Practical examples of such systems are image-based visual servoing (IBVS) and wheeled mobile robots…

A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…

Iterative reweighted algorithms, as a class of algorithms for sparse signal recovery, have been found to have better performance than their non-reweighted counterparts. However, for solving the problem of multiple measurement vectors…

Impulsive noise poses a significant challenge to the reliability of wireless communication systems, necessitating accurate estimation of its statistical parameters for effective mitigation. This paper introduces a multitask learning (MTL)…

Model-based reinforcement learning (RL) has shown great promise due to its sample efficiency, but still struggles with long-horizon sparse-reward tasks, especially in offline settings where the agent learns from a fixed dataset. We…

Test-time adaptation enables large language models (LLMs) to modify their behavior at inference without updating model parameters. A common approach is many-shot prompting, where large numbers of in-context learning (ICL) examples are…

By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…

In this paper, we address the problem of reference tracking for uncertain nonlinear systems. Since collecting data from the target system (i.e., the system of interest) is often challenging, our objective is to design optimal controllers…

Multi-task learning (MTL) aims to improve estimation and prediction performance by sharing common information among related tasks. One natural assumption in MTL is that tasks are classified into clusters based on their characteristics.…

This work improves the positioning precision of lightweight robots with series elastic actuators (SEAs). Lightweight SEA robots, along with low-impedance control, can maneuver without causing damage in uncertain, confined spaces such as…

Unlike for Linear Time-Invariant (LTI) systems, for nonlinear systems, there exists no general framework for systematic convex controller design which incorporates performance shaping. The Linear Parameter-Varying (LPV) framework sought to…

Multimodal irregular time series (MITS) consist of asynchronous and irregularly sampled observations from heterogeneous numerical and textual channels. In healthcare, for example, patients' electronic health records (EHR) include irregular…

In this paper we consider the machine learning (ML) task of predicting tipping point transitions and long-term post-tipping-point behavior associated with the time evolution of an unknown (or partially unknown), non-stationary, potentially…

Visual tracking fundamentally involves regressing the state of the target in each frame of a video. Despite significant progress, existing regression-based trackers still tend to experience failures and inaccuracies. To enhance the…