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This paper presents a framework for bounding the approximation error in imitation model predictive controllers utilizing neural networks. Leveraging the Lipschitz properties of these neural networks, we derive a bound that guides dataset…

Systems and Control · Electrical Eng. & Systems 2026-03-27 Hendrik Alsmeier , Lukas Theiner , Anton Savchenko , Ali Mesbah , Rolf Findeisen

Scaling model performance typically requires increasing model size. Looped Transformer offers a compelling alternative by iteratively reusing the same Transformer blocks, trading additional computation for improved performance without…

Machine Learning · Computer Science 2026-05-26 Rao Fu , Zixuan Yang , Jiankun Zhang , Jing Ma , Hechang Chen , Yu Li , Yi Chang

Deep learning employs multi-layer neural networks trained via the backpropagation algorithm. This approach has achieved success across many domains and relies on adaptive gradient methods such as the Adam optimizer. Sequence modeling…

Machine Learning · Computer Science 2025-07-16 Esmail Gumaan

Training neural networks under a strict Lipschitz constraint is useful for provable adversarial robustness, generalization bounds, interpretable gradients, and Wasserstein distance estimation. By the composition property of Lipschitz…

Machine Learning · Computer Science 2019-06-12 Cem Anil , James Lucas , Roger Grosse

In this article we present the Durrmeyer variant of generalized Bernstein operators that preserve the constant functions involving non-negative parameter ?. We derive the approximation behaviour of these operators including global…

Classical Analysis and ODEs · Mathematics 2018-08-07 Arun Kajla , Meenu Goyal

Recently there were proposed some innovative convex optimization concepts, namely, relative smoothness [1] and relative strong convexity [2,3]. These approaches have significantly expanded the class of applicability of gradient-type methods…

Optimization and Control · Mathematics 2024-04-19 Fedor Stonyakin , Alexander Titov , Mohammad Alkousa , Oleg Savchuk , Alexander Gasnikov

Certified robustness is a critical property for deploying neural networks (NN) in safety-critical applications. A principle approach to achieving such guarantees is to constrain the global Lipschitz constant of the network. However,…

Machine Learning · Computer Science 2025-07-01 Zain ul Abdeen , Vassilis Kekatos , Ming Jin

Transformers are a widespread and successful model architecture, particularly in Natural Language Processing (NLP) and Computer Vision (CV). The essential innovation of this architecture is the Attention Mechanism, which solves the problem…

Machine Learning · Computer Science 2024-11-25 Bernhard Bermeitinger , Tomas Hrycej , Massimo Pavone , Julianus Kath , Siegfried Handschuh

We establish a general, non-asymptotic error analysis framework for understanding the effects of incremental approximations made by practical approaches for Bayesian sequential learning (BSL) on their long-term inference performance. Our…

Statistics Theory · Mathematics 2025-07-29 Liliang Wang , Alex A. Gorodetsky

Despite their central role in the success of foundational models and large-scale language modeling, the theoretical foundations governing the operation of Transformers remain only partially understood. Contemporary research has largely…

Machine Learning · Computer Science 2025-06-02 Sagar Ghosh , Kushal Bose , Swagatam Das

Central to the success of Transformers is the attention block, which effectively models global dependencies among input tokens associated to a dataset. However, we theoretically demonstrate that standard attention mechanisms in transformers…

Machine Learning · Computer Science 2026-03-31 Hemanth Saratchandran

Operator learning based on neural operators has emerged as a promising paradigm for the data-driven approximation of operators, mapping between infinite-dimensional Banach spaces. Despite significant empirical progress, our theoretical…

Machine Learning · Computer Science 2024-07-04 Samuel Lanthaler

This paper presents, in a unified fashion, deterministic as well as statistical Lagrangian-verification techniques. They formally quantify the behavioral robustness of any time-continuous process, formulated as a continuous-depth model. To…

Machine Learning · Computer Science 2023-08-24 Sophie A. Neubauer , Radu Grosu

Self-attention and masked self-attention are at the heart of Transformers' outstanding success. Still, our mathematical understanding of attention, in particular of its Lipschitz properties - which are key when it comes to analyzing…

Machine Learning · Computer Science 2024-06-05 Valérie Castin , Pierre Ablin , Gabriel Peyré

Despite the widespread success of Transformers across various domains, their optimization guarantees in large-scale model settings are not well-understood. This paper rigorously analyzes the convergence properties of gradient flow in…

Machine Learning · Statistics 2024-11-01 Cheng Gao , Yuan Cao , Zihao Li , Yihan He , Mengdi Wang , Han Liu , Jason Matthew Klusowski , Jianqing Fan

A supervised learning framework is proposed to approximate a model predictive controller (MPC) with reduced computational complexity and guarantees on stability and constraint satisfaction. The framework can be used for a wide class of…

Systems and Control · Computer Science 2018-06-13 Michael Hertneck , Johannes Köhler , Sebastian Trimpe , Frank Allgöwer

Incremental flow-based denoising models have reshaped generative modelling, but their empirical advantage still lacks a rigorous approximation-theoretic foundation. We show that incremental generation is necessary and sufficient for…

Machine Learning · Computer Science 2025-12-22 Hossein Rouhvarzi , Anastasis Kratsios

Transformers enable powerful content-based global routing via self-attention, but they lack an explicit local geometric prior along the sequence axis. As a result, the placement of locality-inducing modules in hybrid architectures has…

Machine Learning · Computer Science 2026-02-17 Yukun Zhang , Xueqing Zhou

Previous work on the learnability of transformers \textemdash\ focused primarily on examining their ability to approximate specific algorithmic patterns through training \textemdash\ has largely been data-driven, offering only probabilistic…

Machine Learning · Computer Science 2026-04-23 Debanjan Dutta , Anish Chakrabarty , Faizanuddin Ansari , Swagatam Das

Universal approximation theorems establish the expressive capacity of neural network architectures. For dynamical systems, existing results are limited to finite time horizons or systems with a globally stable equilibrium, leaving…

Dynamical Systems · Mathematics 2026-02-12 Abel Sagodi , Il Memming Park