相关论文: Invariant Set Estimation for Piecewise Affine Dyna…
In this paper, a systematic framework is presented for determining piecewise affine PWA barrier functions and their corresponding invariant sets for dynamical systems identified via Rectified Linear Unit (ReLU) neural networks or their…
This paper presents a novel approach to ensure the safety of continuous-time linear dynamical systems controlled by a neural network (NN) based state-feedback. Our method capitalizes on the use of continuous piece-wise affine (PWA)…
PieceWise Affine (PWA) approximations for nonlinear functions have been extensively used for tractable, computationally efficient control of nonlinear systems. However, reaching a desired approximation accuracy without prior information…
Certifying safety for nonlinear systems with polytopic input constraints is challenging because CBF synthesis must ensure control admissibility under saturation. We propose an approximation--verification pipeline that performs convex…
This paper presents a novel framework for constructing the Region of Attraction (RoA) for dynamics derived either from Piecewise Affine (PWA) functions or from Neural Networks (NNs) with Rectified Linear Units (ReLU) activation function.…
We propose a piecewise learning framework for controlling nonlinear systems with unknown dynamics. While model-based reinforcement learning techniques in terms of some basis functions are well known in the literature, when it comes to more…
Infinite-horizon optimal control of constrained piecewise affine (PWA) systems has been approximately addressed by hybrid model predictive control (MPC), which, however, has computational limitations, both in offline design and online…
We present a method for representing the closed-loop dynamics of piecewise affine (PWA) systems with bounded additive disturbances and neural network-based controllers as mixed-integer (MI) linear constraints. We show that such…
Rectifier (ReLU) deep neural networks (DNN) and their connection with piecewise affine (PWA) functions is analyzed. The paper is an effort to find and study the possibility of representing explicit state feedback policy of model predictive…
Barrier functions (BFs) characterize safe sets of dynamical systems, where hard constraints are never violated as the system evolves over time. Computing a valid safe set and BF for a nonlinear (and potentially unmodeled), non-autonomous…
The choice of activation functions is crucial for modern deep neural networks. Popular hand-designed activation functions like Rectified Linear Unit(ReLU) and its variants show promising performance in various tasks and models. Swish, the…
We investigate the problem of fitting piecewise affine functions (PWA) to data. Our algorithm divides the input domain into finitely many polyhedral regions whose shapes are specified using a user-defined template such that the data points…
Nonlinear expressions are often approximated by piecewise affine (PWA) functions to simplify analysis or reduce computational costs. To reduce computational complexity, multivariate functions can be represented as compositions of functions…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control methods have poor scalability with respect to the number of…
Neural networks (NN) have been successfully applied to approximate various types of complex control laws, resulting in low-complexity NN-based controllers that are fast to evaluate. However, when approximating control laws using NN,…
In this work, the reachable set estimation and safety verification problems for a class of piecewise linear systems equipped with neural network controllers are addressed. The neural network is considered to consist of Rectified Linear Unit…
In this paper, we consider the problem of automatically designing a Rectified Linear Unit (ReLU) Neural Network (NN) architecture (number of layers and number of neurons per layer) with the assurance that it is sufficiently parametrized to…
The activation function is at the heart of a deep neural networks nonlinearity; the choice of the function has great impact on the success of training. Currently, many practitioners prefer the Rectified Linear Unit (ReLU) due to its…
Neural networks are increasingly used in robotics as policies, state transition models, state estimation models, or all of the above. With these components being learned from data, it is important to be able to analyze what behaviors were…