相关论文: On the design of regularized explicit predictive c…

Operator inference learns low-dimensional dynamical-system models with polynomial nonlinear terms from trajectories of high-dimensional physical systems (non-intrusive model reduction). This work focuses on the large class of physical…

We propose a method for learning linear models whose predictive performance is robust to causal interventions on unobserved variables, when noisy proxies of those variables are available. Our approach takes the form of a regularization term…

In this paper we study the problem of learning minimum-energy controls for linear systems from heterogeneous data. Specifically, we consider datasets comprising input, initial and final state measurements collected using experiments with…

The design of controllers from data for nonlinear systems is a challenging problem. In a recent paper, De Persis, Rotulo and Tesi, "Learning controllers from data via approximate nonlinearity cancellation," IEEE Transactions on Automatic…

The recent emergence of machine-learning based generative models for speech suggests a significant reduction in bit rate for speech codecs is possible. However, the performance of generative models deteriorates significantly with the…

We formalize and analyze a new problem in formal language theory termed control improvisation. Given a specification language, the problem is to produce an improviser, a probabilistic algorithm that randomly generates words in the language,…

The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…

This work explores the trade-off between the number of samples required to accurately build models of dynamical systems and the degradation of performance in various control objectives due to a coarse approximation. In particular, we show…

Overfitting is one of the most critical challenges in deep neural networks, and there are various types of regularization methods to improve generalization performance. Injecting noises to hidden units during training, e.g., dropout, is…

We propose a robust and efficient data-driven predictive control (eDDPC) scheme which is more sample efficient (requires less offline data) compared to existing schemes, and is also computationally efficient. This is done by leveraging an…

Dropout is a widely used regularization technique in deep learning, but its effects are typically realized through stochastic masking rather than explicit optimization objectives. We propose a deterministic formulation that expresses…

Data-enabled predictive control (DeePC) leverages system measurements in characterizing system dynamics for optimal control. The performance of DeePC relies on optimizing its hyperparameters, especially in noisy systems where the optimal…

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…

Model-based reinforcement learning could enable sample-efficient learning by quickly acquiring rich knowledge about the world and using it to improve behaviour without additional data. Learned dynamics models can be directly used for…

Inverse optimization refers to the inference of unknown parameters of an optimization problem based on knowledge of its optimal solutions. This paper considers inverse optimization in the setting where measurements of the optimal solutions…

We propose a novel data-dependent structured gradient regularizer to increase the robustness of neural networks vis-a-vis adversarial perturbations. Our regularizer can be derived as a controlled approximation from first principles,…

The design of data-driven formulations for machine learning and decision-making with good out-of-sample performance is a key challenge. The observation that good in-sample performance does not guarantee good out-of-sample performance is…

This paper presents uniform-in-time finite-sample bounds for regularized linear regression with vector-valued outputs and conditionally zero-mean subgaussian noise. By revisiting classical self-normalized martingale arguments, we obtain…

Managing noisy data is a central challenge in direct data-driven control design. We propose an approach for synthesizing model-reference controllers for linear time-invariant (LTI) systems using noisy state-input data, employing novel noise…

We present a methodology to learn explicit Model Predictive Control (eMPC) laws from sample data points with tunable complexity. The learning process is cast in a special Neural Network setting where the coefficients of two linear layers…