Related papers: Reservoir Predictive Path Integral Control for Unk…

The growing prevalence of inverter-based resources (IBRs) for renewable energy integration and electrification greatly challenges power system dynamic analysis. To account for both synchronous generators (SGs) and IBRs, this work presents…

Uncertainty quantification is crucial for building reliable and trustable machine learning systems. We propose to estimate uncertainty in recurrent neural networks (RNNs) via stochastic discrete state transitions over recurrent timesteps.…

This paper investigates adaptive model predictive control (MPC) for a class of constrained linear systems with unknown model parameters. This is also posed as the dual control problem consisting of system identification and regulation. We…

We consider the problem of designing a machine learning-based model of an unknown dynamical system from a finite number of (state-input)-successor state data points, such that the model obtained is also suitable for optimal control design.…

At the heart of time-series forecasting (TSF) lies a fundamental challenge: how can models efficiently and effectively capture long-range temporal dependencies across ever-growing sequences? While deep learning has brought notable progress,…

Inference and forecast problems of the nonlinear dynamical system have arisen in a variety of contexts. Reservoir computing and deep sequential models, on the one hand, have demonstrated efficient, robust, and superior performance in…

There is a wave of interest in using unsupervised neural networks for solving differential equations. The existing methods are based on feed-forward networks, {while} recurrent neural network differential equation solvers have not yet been…

Reservoir Computing is a class of simple yet efficient Recurrent Neural Networks where internal weights are fixed at random and only a linear output layer is trained. In the large size limit, such random neural networks have a deep…

Reservoir computing is a recently introduced, highly efficient bio-inspired approach for processing time dependent data. The basic scheme of reservoir computing consists of a non linear recurrent dynamical system coupled to a single input…

In this paper, we present a novel guidance scheme based on model-based deep reinforcement learning (RL) technique. With model-based deep RL method, a deep neural network is trained as a predictive model of guidance dynamics which is…

This paper aims to discuss and analyze the potentialities of Recurrent Neural Networks (RNN) in control design applications. The main families of RNN are considered, namely Neural Nonlinear AutoRegressive eXogenous, (NNARX), Echo State…

Making accurate predictions of chaotic time series is a complex challenge. Reservoir computing, a neuromorphic-inspired approach, has emerged as a powerful tool for this task. It exploits the memory and nonlinearity of dynamical systems…

This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach refines the parameter estimates…

The study of deep recurrent neural networks (RNNs) and, in particular, of deep Reservoir Computing (RC) is gaining an increasing research attention in the neural networks community. The recently introduced Deep Echo State Network (DeepESN)…

Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directly applying MPPI to legged robotic systems presents several…

Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…

Reservoir computing (RC) can efficiently process time-series data by transferring the input signal to randomly connected recurrent neural networks (RNNs), which are referred to as a reservoir. The high-dimensional representation of…

In this paper, we open up new avenues for visual servoing systems built upon the Path Integral (PI) optimal control theory, in which the non-linear partial differential equation (PDE) can be transformed into an expectation over all possible…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed to handle rapidly shifting multimodal optimal action…