相关论文: Application-Driven Learning: A Closed-Loop Predict…

When the underlying conditional density is known, conditional expectations can be computed analytically or numerically. When, however, such knowledge is not available and instead we are given a collection of training data, the goal of this…

Recent advances in autonomous driving research towards motion planners that are robust, safe, and adaptive. However, existing rule-based and data-driven planners lack adaptability to long-tail scenarios, while knowledge-driven methods offer…

Data driven models of dynamical systems help planners and controllers to provide more precise and accurate motions. Most model learning algorithms will try to minimize a loss function between the observed data and the model's predictions.…

This study proposes the application of a backcasting approach to a mobility model with the aim of defining an optimal decarbonization roadmap. The selected decision variable is the introduction of a fleet of shared autonomous vehicles. The…

This paper considers the problem of adapting a predesigned policy, represented by a parameterized function class, from a solution that minimizes a given original cost function to a trade-off solution between minimizing the original…

Important classes of active matter systems can be modeled using kinetic theories. However, kinetic theories can be high dimensional and challenging to simulate. Reduced-order representations based on tracking only low-order moments of the…

Resource-constrained classification tasks are common in real-world applications such as allocating tests for disease diagnosis, hiring decisions when filling a limited number of positions, and defect detection in manufacturing settings…

Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…

Decision-focused learning (DFL) has emerged as a powerful end-to-end alternative to conventional predict-then-optimize (PTO) pipelines by directly optimizing predictive models through downstream decision losses. Existing DFL frameworks are…

Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by…

With the increasing proportion of renewable energy in the generation side, it becomes more difficult to accurately predict the power generation and adapt to the large deviations between the optimal dispatch scheme and the day-ahead…

We present a novel data-driven nested optimization framework that addresses the problem of coupling between plant and controller optimization. This optimization strategy is tailored towards instances where a closed-form expression for the…

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…

This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…

For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…

Reinforcement learning has traditionally focused on learning state-dependent policies to solve optimal control problems in a closed-loop fashion. In this work, we introduce the paradigm of open-loop reinforcement learning where a fixed…

Autonomous driving has a natural bi-level structure. The goal of the upper behavioural layer is to provide appropriate lane change, speeding up, and braking decisions to optimize a given driving task. However, this layer can only indirectly…

We study the problem of learning a function that maps context observations (input) to parameters of a submodular function (output). Our motivating case study is a specific type of vehicle routing problem, in which a team of Unmanned Ground…

The travel demand forecasting model plays a crucial role in evaluating large-scale infrastructure projects, such as the construction of new roads or transit lines. While combined modeling approaches have been explored as a solution to…

Deep learning models are widely used in decision-making and recommendation systems, where they typically rely on the assumption of a static data distribution between training and deployment. However, real-world deployment environments often…