相关论文: Iterative Learning Control -- Deep Dive

The control approaches generally resort to the tools from the mathematics, but whether and how the mathematics can benefit from the control approaches is unclear. This paper aims to bring the "control design" idea into the mathematics by…

In this paper, we present the combined learning-and-control (CLC) approach, which is a new way to solve optimal control problems with unknown dynamics by unifying model-based control and data-driven learning. The key idea is simple: we…

Asynchronous execution is essential for scaling reinforcement learning (RL) to modern large model workloads, including large language models and AI agents, but it can fundamentally alter RL optimization behavior. While prior work on…

In this paper we address imbalanced binary classification (IBC) tasks. Applying resampling strategies to balance the class distribution of training instances is a common approach to tackle these problems. Many state-of-the-art methods find…

Model Predictive Control (MPC) is a popular technology to operate industrial systems. It refers to a class of control algorithms that use an explicit model of the system to obtain the control action by minimizing a cost function. At each…

TPC (Three-Phase Consolidation) is here introduced as a simple but effective approach to continually learn new classes (and/or instances of known classes) while controlling forgetting of previous knowledge. Each experience (a.k.a. task) is…

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

Most of the real-time implementations of the stabilizing optimal control actions suffer from the necessity to provide high computational effort. This paper presents a cutting-edge approach for real-time evaluation of linear-quadratic model…

In the Monte Carlo (MC) method statistical noise is usually present. Statistical noise may become dominant in the calculation of a distribution, usually by iteration, but is less Important in calculating integrals. The subject of the…

Iterative self-correction is increasingly deployed in agentic LLM systems, yet whether repeated refinement improves or degrades performance remains inconsistent across models. We recast self-correction as a closed-loop feedback-control…

Transformer-based multimodal large language models often exhibit in-context learning (ICL) abilities. Motivated by this phenomenon, we ask: how do transformers learn to associate information across modalities from in-context examples? We…

This paper studies the robustness of reinforcement learning algorithms to errors in the learning process. Specifically, we revisit the benchmark problem of discrete-time linear quadratic regulation (LQR) and study the long-standing open…

For a sequence of classification tasks that arrive over time, it is common that tasks are evolving in the sense that consecutive tasks often have a higher similarity. The incremental learning of a growing sequence of tasks holds promise to…

Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…

Reinforcement learning (RL) has had its fair share of success in contact-rich manipulation tasks but it still lags behind in benefiting from advances in robot control theory such as impedance control and stability guarantees. Recently, the…

Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve tracking accuracy, this paper proposes an adaptive…

A supervised learning framework is proposed to approximate a model predictive controller (MPC) with reduced computational complexity and guarantees on stability and constraint satisfaction. The framework can be used for a wide class of…

Large language models (LLMs) can adapt to new tasks via in-context learning (ICL) without parameter updates, making them powerful learning engines for fast adaptation. While extensive research has examined ICL as a few-shot learner, whether…

$L_1$ adaptive control ($L_1$AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-progress abstract, we discuss how existing formal…

Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, IL is sensitive to compounding errors induced by distribution…