相关论文: Safety Filter for Robust Disturbance Rejection via…

We consider the problem of controlling an unknown linear dynamical system under adversarially changing convex costs and full feedback of both the state and cost function. We present the first computationally-efficient algorithm that attains…

We propose FAR-SIGN (Fully Asynchronous Robust optimization via SIGNed directional projections) for adversary-resilient learning in parameter-server--worker systems. FAR-SIGN achieves robustness through sign-based updates along carefully…

Generative models have recently demonstrated remarkable success across diverse domains, motivating their adoption as expressive policies in reinforcement learning (RL). While they have shown strong performance in offline RL, particularly…

Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which extends the well-established control barrier function (CBF)-based…

This paper studies online nonstochastic control problems with adversarial and static constraints. We propose online nonstochastic control algorithms that achieve both sublinear regret and sublinear adversarial constraint violation while…

Merely pursuing performance may adversely affect the safety, while a conservative policy for safe exploration will degrade the performance. How to balance the safety and performance in learning-based control problems is an interesting yet…

In this paper, online convex optimization is applied to the problem of controlling linear dynamical systems. An algorithm similar to online gradient descent, which can handle time-varying and unknown cost functions, is proposed. Then,…

In this paper, we consider the optimal controller design problem against data injection attacks on actuators for an uncertain control system. We consider attacks that aim at maximizing the attack impact while remaining stealthy in the…

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…

As learning-based methods for legged robots rapidly grow in popularity, it is important that we can provide safety assurances efficiently across different controllers and environments. Existing works either rely on a priori knowledge of the…

The high costs and risks involved in extensive environment interactions hinder the practical application of current online safe reinforcement learning (RL) methods. While offline safe RL addresses this by learning policies from static…

Regularized online learning is widely used in machine learning applications. In online learning, performing exact minimization ($i.e.,$ implicit update) is known to be beneficial to the numerical stability and structure of solution. In this…

Reinforcement Learning (RL) has shown exceptional performance across various applications, enabling autonomous agents to learn optimal policies through interaction with their environments. However, traditional RL frameworks often face…

In stochastic circuits, major sources of error are correlation errors, soft errors and random fluctuation errors that affect the accuracy and reliability of the circuit. The soft error has the effect of changing the correlation status and…

We study monotone submodular maximization under general matroid constraints in the online setting. We prove that online optimization of a large class of submodular functions, namely, weighted threshold potential functions, reduces to online…

Black-box zero-th order optimization is a central primitive for applications in fields as diverse as finance, physics, and engineering. In a common formulation of this problem, a designer sequentially attempts candidate solutions, receiving…

Safe reinforcement learning (RL) with hard constraint guarantees is a promising optimal control direction for multi-energy management systems. It only requires the environment-specific constraint functions itself a priori and not a complete…

This paper considers online convex optimization (OCO) problems - the paramount framework for online learning algorithm design. The loss function of learning task in OCO setting is based on streaming data so that OCO is a powerful tool to…

Safe reinforcement learning (Safe RL) refers to a class of techniques that aim to prevent RL algorithms from violating constraints in the process of decision-making and exploration during trial and error. In this paper, a novel model-free…

We consider low-order controller design for large-scale linear time-invariant dynamical systems with inputs and outputs. Model order reduction is a popular technique, but controllers designed for reduced-order models may result in unstable…