相关论文: Data-Efficient System Identification via Lipschitz…

As deep neural networks (DNNs) are increasingly deployed in sensitive applications, ensuring their security and robustness has become critical. A major threat to DNNs arises from adversarial attacks, where small input perturbations can lead…

This paper is concerned with fundamental limits on the approximation of nonlinear dynamical systems. Specifically, we show that recurrent neural networks (RNNs) can approximate nonlinear systems -- that satisfy a Lipschitz property and…

Lipschitz constrained networks have gathered considerable attention in the deep learning community, with usages ranging from Wasserstein distance estimation to the training of certifiably robust classifiers. However they remain commonly…

To improve the predictive capacity of system models in the input-output sense, this paper presents a framework for model updating via learning of modeling uncertainties in locally (and thus also in globally) Lipschitz nonlinear systems.…

While linear systems have been useful in solving problems across different fields, the need for improved performance and efficiency has prompted them to operate in nonlinear modes. As a result, nonlinear models are now essential for the…

Numerous state-feedback and observer designs for nonlinear dynamic systems (NDS) have been developed in the past three decades. These designs assume that NDS nonlinearities satisfy one of the following function set classifications: bounded…

To improve the robustness of deep classifiers against adversarial perturbations, many approaches have been proposed, such as designing new architectures with better robustness properties (e.g., Lipschitz-capped networks), or modifying the…

Viewing recurrent neural networks (RNNs) as continuous-time dynamical systems, we propose a recurrent unit that describes the hidden state's evolution with two parts: a well-understood linear component plus a Lipschitz nonlinearity. This…

Lipschitz-constrained neural networks have several advantages over unconstrained ones and can be applied to a variety of problems, making them a topic of attention in the deep learning community. Unfortunately, it has been shown both…

Ensuring neural network robustness is essential for the safe and reliable operation of robotic learning systems, especially in perception and decision-making tasks within real-world environments. This paper investigates the robustness of…

Optimizing deep neural networks is largely thought to be an empirical process, requiring manual tuning of several hyper-parameters, such as learning rate, weight decay, and dropout rate. Arguably, the learning rate is the most important of…

In this paper, we consider the data-driven model invalidation problem for Lipschitz continuous systems, where instead of given mathematical models, only prior noisy sampled data of the systems are available. We show that this data-driven…

This paper presents a framework for bounding the approximation error in imitation model predictive controllers utilizing neural networks. Leveraging the Lipschitz properties of these neural networks, we derive a bound that guides dataset…

This paper tackles the problem of Lipschitz regularization of Convolutional Neural Networks. Lipschitz regularity is now established as a key property of modern deep learning with implications in training stability, generalization,…

We consider the problem of designing a machine learning-based model of an unknown dynamical system from a finite number of (state-input)-successor state data points, such that the model obtained is also suitable for optimal control design.…

This work presents a control-oriented identification scheme for efficient control design and stability analysis of nonlinear systems. Neural networks are used to identify a discrete-time nonlinear state-space model to approximate…

This work is concerned with robust filtering of nonlinear sampled-data systems with and without exact discrete-time models. A linear matrix inequality (LMI) based approach is proposed for the design of robust $H_{\infty}$ observers for a…

While the identification of nonlinear dynamical systems is a fundamental building block of model-based reinforcement learning and feedback control, its sample complexity is only understood for systems that either have discrete states and…

Recurrent neural networks (RNNs) have many advantages over more traditional system identification techniques. They may be applied to linear and nonlinear systems, and they require fewer modeling assumptions. However, these neural network…

This paper deals with the problem of finite-time learning for unknown discrete-time nonlinear systems' dynamics, without the requirement of the persistence of excitation. Two finite-time concurrent learning methods are presented to…