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

This paper is concerned with the computation of the local Lipschitz constant of feedforward neural networks (FNNs) with activation functions being rectified linear units (ReLUs). The local Lipschitz constant of an FNN for a target input is…

This paper studies the data-driven reconstruction of firing rate dynamics of brain activity described by linear-threshold network models. Identifying the system parameters directly leads to a large number of variables and a highly…

We present a data-driven modeling strategy to overcome improperly modeled dynamics for systems exhibiting complex spatio-temporal behaviors. We propose a Deep Learning framework to resolve the differences between the true dynamics of the…

We address the problem of learning to control an unknown nonlinear dynamical system through sequential interactions. Motivated by high-stakes applications in which mistakes can be catastrophic, such as robotics and healthcare, we study…

Neural networks are often highly sensitive to input and weight perturbations. This sensitivity has been linked to pathologies such as vulnerability to adversarial examples, divergent training, and overfitting. To combat these problems, past…

We consider the problem of learning a realization of a partially observed dynamical system with linear state transitions and bilinear observations. Under very mild assumptions on the process and measurement noises, we provide a finite time…

We propose a neural network based approach for extracting models from dynamic data using ordinary and partial differential equations. In particular, given a time-series or spatio-temporal dataset, we seek to identify an accurate governing…

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…

Predictive uncertainty estimation is essential for deploying Deep Neural Networks in real-world autonomous systems. However, most successful approaches are computationally intensive. In this work, we attempt to address these challenges in…

Empirical studies have widely demonstrated that neural networks are highly sensitive to small, adversarial perturbations of the input. The worst-case robustness against these so-called adversarial examples can be quantified by the Lipschitz…

The aim of this work is to investigate the use of Incrementally Input-to-State Stable ($\delta$ISS) deep Long Short Term Memory networks (LSTMs) for the identification of nonlinear dynamical systems. We show that suitable sufficient…

Neural network models become increasingly popular as dynamic modeling tools in the control community. They have many appealing features including nonlinear structures, being able to approximate any functions. While most researchers hold…

This paper proposes a sparse Bayesian treatment of deep neural networks (DNNs) for system identification. Although DNNs show impressive approximation ability in various fields, several challenges still exist for system identification…

The identification of a nonlinear dynamic model is an open topic in control theory, especially from sparse input-output measurements. A fundamental challenge of this problem is that very few to zero prior knowledge is available on both the…

This paper investigates a subgradient-based algorithm to solve the system identification problem for linear time-invariant systems with non-smooth objectives. This is essential for robust system identification in safety-critical…

Deep learning is a topic of considerable current interest. The availability of massive data collections and powerful software resources has led to an impressive amount of results in many application areas that reveal essential but hidden…

Nonlinear dynamical systems such as Lorenz63 equations are known to be chaotic in nature and sensitive to initial conditions. As a result, a small perturbation in the initial conditions results in deviation in state trajectory after a few…

Lipschitz continuity characterizes the worst-case sensitivity of neural networks to small input perturbations; yet its dynamics (i.e. temporal evolution) during training remains under-explored. We present a rigorous mathematical framework…

Robustness of neural networks is commonly quantified via local or global Lipschitz constants. However, Lipschitz continuity can be overly coarse or overly restrictive as global robustness measure, failing to capture nuanced, data-dependent…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…