相关论文: Globally Stable Neural Imitation Policies

Stability certification and identifying a safe and stabilizing initial set are two important concerns in ensuring operational safety, stability, and robustness of dynamical systems. With the advent of machine-learning tools, these issues…

We study the problem of imitating an expert demonstrator in a discrete-time, continuous state-and-action control system. We show that, even if the dynamics satisfy a control-theoretic property called exponential stability (i.e. the effects…

We propose a policy search approach to learn controllers from specifications given as Signal Temporal Logic (STL) formulae. The system model, which is unknown but assumed to be an affine control system, is learned together with the control…

Neural networks (NNs) can achieved high performance in various fields such as computer vision, and natural language processing. However, deploying NNs in resource-constrained safety-critical systems has challenges due to uncertainty in the…

Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…

World Models have emerged as a powerful paradigm for learning compact, predictive representations of environment dynamics, enabling agents to reason, plan, and generalize beyond direct experience. Despite recent interest in World Models,…

This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable ($\delta$-ISS). In this context, the notion of $\delta$-ISS control Lyapunov function…

Learning-based control of linear systems received a lot of attentions recently. In popular settings, the true dynamical models are unknown to the decision-maker and need to be interactively learned by applying control inputs to the systems.…

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…

This paper proposes a novel approach to improve the performance of distributed nonlinear control systems while preserving stability by leveraging Deep Neural Networks (DNNs). We build upon the Neural System Level Synthesis (Neur-SLS)…

Cortical networks can maintain memories for decades despite the short lifetime of synaptic strength. Can a neural network store long-lasting memories in unstable synapses? Here, we study the effects of random noise on the stability of…

We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…

Simulation-Grounded Neural Networks (SGNNs) are predictive models trained entirely on synthetic data from mechanistic simulations. They have achieved state-of-the-art performance in domains where real-world labels are limited or unobserved,…

In this paper, the application of imitation learning in caregiving robotics is explored, aiming at addressing the increasing demand for automated assistance in caring for the elderly and disabled. Leveraging advancements in deep learning…

Safety is critical in autonomous robotic systems. A safe control law ensures forward invariance of a safe set (a subset in the state space). It has been extensively studied regarding how to derive a safe control law with a control-affine…

This paper proposes a class of neural ordinary differential equations parametrized by provably input-to-state stable continuous-time recurrent neural networks. The model dynamics are defined by construction to be input-to-state stable (ISS)…

Inspired by the brain's hierarchical processing and energy efficiency, this paper presents a Spiking Neural Network (SNN) architecture for lifelong Network Intrusion Detection System (NIDS). The proposed system first employs an efficient…

This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynamics. Leveraging the concept of dwell time, we derive…

Feed-forward neural networks (FNNs) work as standard building blocks in applying artificial intelligence (AI) to the physical world. They allow learning the dynamics of unknown physical systems (e.g., biological and chemical) {to predict…

This paper addresses stochastic stabilization in case where implementation of control policies is digital, i. e., when the dynamical system is treated continuous, whereas the control actions are held constant in predefined time steps. In…