相关论文: Learning Region of Attraction for Nonlinear System…

Learning long-term dynamics models is the key to understanding physical common sense. Most existing approaches on learning dynamics from visual input sidestep long-term predictions by resorting to rapid re-planning with short-term models.…

Low-Rank Adaptation (LoRA) is a widely adopted parameter-efficient fine-tuning (PEFT) method validated across NLP and CV domains. However, LoRA faces an inherent low-rank bottleneck: narrowing its performance gap with full finetuning…

This paper considers a wide class of smooth continuous dynamic nonlinear systems (control objects) with a measurable vector of state. The problem is to find a special function (Lyapunov function), which in the framework of the second…

Polyhedral Lyapunov functions can approximate any norm arbitrarily well. Because of this, they are used to study the stability of linear time varying and linear parameter varying systems without being conservative. However, the…

State estimation is key to both analyzing physical mechanisms and enabling real-time control of fluid flows. A common estimation approach is to relate sensor measurements to a reduced state governed by a reduced-order model (ROM). (When…

We study the problem of Reinforcement Learning (RL) with linear function approximation, i.e. assuming the optimal action-value function is linear in a known $d$-dimensional feature mapping. Unfortunately, however, based on only this…

This paper presents a deep reinforcement learning (DRL) algorithm for orientation estimation using inertial sensors combined with magnetometer. The Lyapunov method in control theory is employed to prove the convergence of orientation…

As more inverter-connected renewable resources are integrated into the grid, frequency stability may degrade because of the reduction in mechanical inertia and damping. A common approach to mitigate this degradation in performance is to use…

Reinforcement learning (RL) is promising for complicated stochastic nonlinear control problems. Without using a mathematical model, an optimal controller can be learned from data evaluated by certain performance criteria through…

Designing control policies for stabilization tasks with provable guarantees is a long-standing problem in nonlinear control. A crucial performance metric is the size of the resulting region of attraction, which essentially serves as a…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…

This work describes simple and efficient algorithms for interactively learning non-binary concepts in the learning from random counter-examples (LRC) model. Here, learning takes place from random counter-examples that the learner receives…

We use recent advances in the machine learning area known as 'reservoir computing' to formulate a method for model-free estimation from data of the Lyapunov exponents of a chaotic process. The technique uses a limited time series of…

We study the sample complexity of online reinforcement learning in the general \hzyrev{non-episodic} setting of nonlinear dynamical systems with continuous state and action spaces. Our analysis accommodates a large class of dynamical…

We propose a piecewise learning framework for controlling nonlinear systems with unknown dynamics. While model-based reinforcement learning techniques in terms of some basis functions are well known in the literature, when it comes to more…

Inverse reinforcement learning (IRL) is an imitation learning approach to learning reward functions from expert demonstrations. Its use avoids the difficult and tedious procedure of manual reward specification while retaining the…

Deep networks realize complex mappings that are often understood by their locally linear behavior at or around points of interest. For example, we use the derivative of the mapping with respect to its inputs for sensitivity analysis, or to…

This study covers an analytical approach to calculate positively invariant sets of dynamical systems. Using Lyapunov techniques and quantifier elimination methods, an automatic procedure for determining bounds in the state space as an…

We introduce a theoretical framework for the rational approximation of optical response functions in resonant photonic systems. The framework is based on the AAA algorithm and further allows to solve the underlying nonlinear eigenproblems…