相关论文: Iterative Learning Control -- Deep Dive

This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…

Adaptive optimal control using value iteration initiated from a stabilizing control policy is theoretically analyzed in terms of stability of the system during the learning stage without ignoring the effects of approximation errors. This…

Copositive linear Lyapunov functions are used along with dissipativity theory for stability analysis and control of uncertain linear positive systems. Unlike usual results on linear systems, linear supply-rates are employed here for…

Safety-critical autonomous systems must satisfy hard state constraints under tight computational and sensing budgets, yet learning-based controllers are often far more complex than safe operation requires. To formalize this gap, we study…

Iterative self-improvement fine-tunes an autoregressive large language model (LLM) on reward-verified outputs generated by the LLM itself. In contrast to the empirical success of self-improvement, the theoretical foundation of this…

Human beings learn and accumulate hierarchical knowledge over their lifetime. This knowledge is associated with previous concepts for consolidation and hierarchical construction. However, current incremental learning methods lack the…

Iterative-based methods have become mainstream in stereo matching due to their high performance. However, these methods heavily rely on labeled data and face challenges with unlabeled real-world data. To this end, we propose a…

For data-driven iterative learning control (ILC) methods, both the model estimation and controller design problems are converted to parameter estimation problems for some chosen model structures. It is well-known that if the model order is…

Imitation learning (IL) aims to learn an optimal policy from demonstrations. However, such demonstrations are often imperfect since collecting optimal ones is costly. To effectively learn from imperfect demonstrations, we propose a novel…

Model Predictive Control (MPC) offers rigorous safety and performance guarantees but is computationally intensive. Approximate MPC (AMPC) aims to circumvent this drawback by learning a computationally cheaper surrogate policy. Common…

Iterative algorithms solve problems by taking steps until a solution is reached. Models in the form of Deep Thinking (DT) networks have been demonstrated to learn iterative algorithms in a way that can scale to different sized problems at…

We propose an algorithm for incremental learning of classifiers. The proposed method enables an ensemble of classifiers to learn incrementally by accommodating new training data. We use an effective mechanism to overcome the…

The theory of integral quadratic constraints (IQCs) allows verification of stability and gain-bound properties of systems containing nonlinear or uncertain elements. Gain bounds often imply exponential stability, but it can be challenging…

This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

Class incremental learning (CIL) algorithms aim to continually learn new object classes from incrementally arriving data while not forgetting past learned classes. The common evaluation protocol for CIL algorithms is to measure the average…

Accurate and reliable probability predictions are essential for multi-class supervised learning tasks, where well-calibrated models enable rational decision-making. While isotonic regression has proven effective for binary calibration, its…

Calibration of machine learning classifiers is necessary to obtain reliable and interpretable predictions, bridging the gap between model confidence and actual probabilities. One prominent technique, isotonic regression (IR), aims at…

The combination of learning methods with Model Predictive Control (MPC) has attracted a significant amount of attention in the recent literature. The hope of this combination is to reduce the reliance of MPC schemes on accurate models, and…

In-context learning (ICL) has emerged as a powerful paradigm for easily adapting Large Language Models (LLMs) to various tasks. However, our understanding of how ICL works remains limited. We explore a simple model of ICL in a controlled…