相关论文: Real-Time Safe Control of Neural Network Dynamic M…

Accessing high-quality video content can be challenging due to insufficient and unstable network bandwidth. Recent advances in neural enhancement have shown promising results in improving the quality of degraded videos through deep…

Worst-case dynamic PDN noise analysis is an essential step in PDN sign-off to ensure the performance and reliability of chips. However, with the growing PDN size and increasing scenarios to be validated, it becomes very time- and…

In this paper, we investigate the combination of synthesis, model-based learning, and online sampling techniques to obtain safe and near-optimal schedulers for a preemptible task scheduling problem. Our algorithms can handle Markov decision…

A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable…

This paper introduces the Deep Learning-based Nonlinear Model Predictive Controller with Scene Dynamics (DL-NMPC-SD) method for autonomous navigation. DL-NMPC-SD uses an a-priori nominal vehicle model in combination with a scene dynamics…

An important preliminary procedure in multi-sensor data fusion is \textit{sensor registration}, and the key step in this procedure is to estimate sensor biases from their noisy measurements. There are generally two difficulties in this bias…

Deep neural networks (DNNs) enable high performance across domains but remain vulnerable to adversarial perturbations, limiting their use in safety-critical settings. Here, we introduce two quantum-optimization-based models for robust…

Sound effects model design commonly uses digital signal processing techniques with full control ability, but it is difficult to achieve realism within a limited number of parameters. Recently, neural sound effects synthesis methods have…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…

Control of a dynamical system without the knowledge of dynamics is an important and challenging task. Modern machine learning approaches, such as deep neural networks (DNNs), allow for the estimation of a dynamics model from control inputs…

Safety-critical environments are inherently dynamic. Distribution shifts, emerging vulnerabilities, and evolving requirements demand continuous updates to machine learning models. Yet even benign parameter updates can have unintended…

Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…

We present a numerical algorithm that allows the approximation of optimal controls for stochastic reaction-diffusion equations with additive noise by first reducing the problem to controls of feedback form and then approximating the…

Feedback control synthesis for nonlinear, parameter-dependent fluid flow control problems is considered. The optimal feedback law requires the solution of the Hamilton-Jacobi-Bellman (HJB) PDE suffering the curse of dimensionality. This is…

This paper proposes a novel stable learning theory for recurrent neural networks (RNNs), so-called variational adaptive noise and dropout (VAND). As stabilizing factors for RNNs, noise and dropout on the internal state of RNNs have been…

In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a…

The autonomous driving industry is continuously dealing with safety-critical scenarios, and nonlinear model predictive control (NMPC) is a powerful control strategy for handling such situations. However, standard safety constraints are not…

We propose an active-learning method for nonlinear minimax regression. Given a nonlinear function that can be arbitrarily evaluated over a compact set, we fit a surrogate model, such as a feedforward neural network, by minimizing the…

This work presents a novel methodology for analysis and control of nonlinear fluid systems using neural networks. The approach is demonstrated on four different study cases being the Lorenz system, a modified version of the…