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In this paper, we propose a new Soft Confidence-Weighted (SCW) online learning scheme, which enables the conventional confidence-weighted learning method to handle non-separable cases. Unlike the previous confidence-weighted learning…
Tensegrity robots, composed of rigid rods and flexible cables, are difficult to accurately model and control given the presence of complex dynamics and high number of DoFs. Differentiable physics engines have been recently proposed as a…
A common problem in data analysis is the separation of signal and background. We revisit and generalise the so-called $sWeights$ method, which allows one to calculate an empirical estimate of the signal density of a control variable using a…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
Though robot learning is often formulated in terms of discrete-time Markov decision processes (MDPs), physical robots require near-continuous multiscale feedback control. Machines operate on multiple asynchronous sensing modalities, each…
Topolectrical circuits provide a versatile platform for exploring and simulating modern physical models. However, existing approaches suffer from incomplete programmability and ineffective feature prediction and control mechanisms,…
Stochastic neural networks are a prototypical computational device able to build a probabilistic representation of an ensemble of external stimuli. Building on the relationship between inference and learning, we derive a synaptic plasticity…
Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…
The high energy consumption of buildings presents a critical need for advanced control strategies like Demand Response (DR). Differentiable Predictive Control (DPC) has emerged as a promising method for learning explicit control policies,…
Distributed Distributional DrQ is a model-free and off-policy RL algorithm for continuous control tasks based on the state and observation of the agent, which is an actor-critic method with the data-augmentation and the distributional…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
In order to avoid conventional controlling methods which created obstacles due to the complexity of systems and intense demand on data density, developing modern and more efficient control methods are required. In this way, reinforcement…
The last decade has witnessed significant attention on networked control systems (NCS) due to their ubiquitous presence in industrial applications, and, in the particular case of wireless NCS, because of their architectural flexibility and…
Learning time-dependent partial differential equations (PDEs) that govern evolutionary observations is one of the core challenges for data-driven inference in many fields. In this work, we propose to capture the essential dynamics of…
In this paper, we introduce a new class of parameterized controllers, drawing inspiration from Model Predictive Control (MPC). The controller resembles a Quadratic Programming (QP) solver of a linear MPC problem, with the parameters of the…
Data-Enabled Predictive Control (DeePC) bypasses the need for system identification by directly leveraging raw data to formulate optimal control policies. However, the size of the optimization problem in DeePC grows linearly with respect to…
Graph Neural Networks (GNNs) have achieved remarkable success across diverse applications, yet they remain limited by oversmoothing and poor performance on heterophilic graphs. To address these challenges, we introduce a novel framework…
The quantum circuit model is the most commonly used model for implementing quantum computers and quantum neural networks whose essential tasks are to realize certain unitary operations. Here we propose an alternative approach; we use a…
Over the last decade, data-driven methods have surged in popularity, emerging as valuable tools for control theory. As such, neural network approximations of control feedback laws, system dynamics, and even Lyapunov functions have attracted…
A key motivation in the development of Distributed Model Predictive Control (DMPC) is to accelerate centralized Model Predictive Control (MPC) for large-scale systems. DMPC has the prospect of scaling well by parallelizing computations…