相关论文: LyaNet: A Lyapunov Framework for Training Neural O…

Neural Ordinary Differential Equations (Neural ODEs), as a novel category of modeling big data methods, cleverly link traditional neural networks and dynamical systems. However, it is challenging to ensure the dynamics system reaches a…

Deep neural networks are increasingly used as an effective parameterization of control policies in various learning-based control paradigms. For continuous-time optimal control problems (OCPs), which are central to many decision-making…

Despite Neural Ordinary Differential Equations (Neural ODEs) exhibiting intrinsic robustness, existing methods often impose Lyapunov stability for formal guarantees. However, these methods still face a fundamental accuracy-robustness…

Handling regime shifts and non-stationary time series in deep learning systems presents a significant challenge. In the case of online learning, when new information is introduced, it can disrupt previously stored data and alter the model's…

In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…

This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…

Pretraining methods gain increasing attraction recently for solving PDEs with neural operators. It alleviates the data scarcity problem encountered by neural operator learning when solving single PDE via training on large-scale datasets…

Learning stable dynamical systems from data is crucial for safe and reliable robot motion planning and control. However, extending stability guarantees to trajectories defined on Riemannian manifolds poses significant challenges due to the…

Learning control strategies with provable stability guarantees continues to be a challenging problem. In this work, we examine a family of training-time behaviors exhibited by existing neural Lyapunov control methods under specific…

Learning solution operators for differential equations with neural networks has shown great potential in scientific computing, but ensuring their stability under input perturbations remains a critical challenge. This paper presents a robust…

We develop a versatile deep neural network architecture, called Lyapunov-Net, to approximate Lyapunov functions of dynamical systems in high dimensions. Lyapunov-Net guarantees positive definiteness, and thus it can be easily trained to…

While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy.…

In this paper, we introduce a novel class of neural differential equation, which are intrinsically Lyapunov stable, exponentially stable or passive. We take a recently proposed Polyak Lojasiewicz network (PLNet) as an Lyapunov function and…

Deep neural networks (DNNs) are well-known to be vulnerable to adversarial attacks, where malicious human-imperceptible perturbations are included in the input to the deep network to fool it into making a wrong classification. Recent…

The objective of this paper is to enhance the optimization process for neural networks by developing a dynamic learning rate algorithm that effectively integrates exponential decay and advanced anti-overfitting strategies. Our primary…

System identification in control theory aims to approximate dynamical systems from trajectory data. While neural networks have demonstrated strong predictive accuracy, they often fail to preserve critical physical properties such as…

Training deep neural networks, particularly in computer vision tasks, often suffers from noisy gradients and unstable convergence, which hinder performance and generalization. In this paper, we propose LyAm, a novel optimizer that…

We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and…

Neural ordinary differential equations (NODE) have been proposed as a continuous depth generalization to popular deep learning models such as Residual networks (ResNets). They provide parameter efficiency and automate the model selection…

When neural networks are used to model dynamics, properties such as stability of the dynamics are generally not guaranteed. In contrast, there is a recent method for learning the dynamics of autonomous systems that guarantees global…