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

In this paper, we consider the data-driven discovery of stable dynamical models with a single equilibrium. The proposed approach uses a basis-function parameterization of the differential equations and the associated Lyapunov function. This…

Designing controllers that achieve task objectives while ensuring safety is a key challenge in control systems. This work introduces Opt-ODENet, a Neural ODE framework with a differentiable Quadratic Programming (QP) optimization layer to…

While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…

Numerical simulation of ordinary differential equations (ODEs) can be challenging when the system exhibits high accelerations and rapidly changing dynamics. Under these conditions the ODE solver often needs to take very small time steps in…

Neural ordinary differential equations (ODEs) have been attracting increasing attention in various research domains recently. There have been some works studying optimization issues and approximation capabilities of neural ODEs, but their…

Graph Neural Networks (GNNs) are highly vulnerable to adversarial perturbations in both topology and features, making the learning of robust representations a critical challenge. In this work, we bridge GNNs with control theory to introduce…

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…

Learning for control of dynamical systems with formal guarantees remains a challenging task. This paper proposes a learning framework to simultaneously stabilize an unknown nonlinear system with a neural controller and learn a neural…

We explore in detail a method to solve ordinary differential equations using feedforward neural networks. We prove a specific loss function, which does not require knowledge of the exact solution, to be a suitable standard metric to…

We introduce a method for learning provably stable deep neural network based dynamic models from observed data. Specifically, we consider discrete-time stochastic dynamic models, as they are of particular interest in practical applications…

We present a novel approach (DyNODE) that captures the underlying dynamics of a system by incorporating control in a neural ordinary differential equation framework. We conduct a systematic evaluation and comparison of our method and…

Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…

In this paper, we describe a lightweight Python framework that provides integrated learning and verification of neural Lyapunov functions for stability analysis. The proposed tool, named LyZNet, learns neural Lyapunov functions using…

Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus primarily on tracking error convergence, often neglecting the…

Despite significant advancements in out-of-distribution (OOD) detection, existing methods still struggle to maintain robustness against adversarial attacks, compromising their reliability in critical real-world applications. Previous…

Deep equilibrium (DEQ) models have emerged as a promising class of implicit layer models, which abandon traditional depth by solving for the fixed points of a single nonlinear layer. Despite their success, the stability of the fixed points…

In addition to providing high-profile successes in computer vision and natural language processing, neural networks also provide an emerging set of techniques for scientific problems. Such data-driven models, however, typically ignore…

The highly non-linear nature of deep neural networks causes them to be susceptible to adversarial examples and have unstable gradients which hinders interpretability. However, existing methods to solve these issues, such as adversarial…

Although ordinary differential equations (ODEs) provide insights for designing network architectures, its relationship with the non-residual convolutional neural networks (CNNs) is still unclear. In this paper, we present a novel ODE model…

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…