相关论文: Controllable Neural Architectures for Multi-Task C…

In recent years, Deep Reinforcement Learning has made impressive advances in solving several important benchmark problems for sequential decision making. Many control applications use a generic multilayer perceptron (MLP) for non-vision…

We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical systems. We propose a two-layer architecture, where the high-level…

Designing shared neural architecture plays an important role in multi-task learning. The challenge is that finding an optimal sharing scheme heavily relies on the expert knowledge and is not scalable to a large number of diverse tasks.…

We present a novel class of minimax optimal control problems with positive dynamics, linear objective function and homogeneous constraints. The proposed problem class can be analyzed with dynamic programming and an explicit solution to the…

Understanding how brain networks learn and manage multiple tasks simultaneously is of interest in both neuroscience and artificial intelligence. In this regard, a recent research thread in theoretical neuroscience has focused on how…

We study how the connectivity within a recurrent neural network determines and is determined by the multistable solutions of network activity. To gain analytic tractability we let neural activation be a non-smooth Heaviside step function.…

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…

Much research in the last two decades has focused on Virtual Topology Reconfiguration (VTR) problem. However, most of the proposed methods either has low controllability, or the analysis of a control parameter is limited to empirical…

Recently, learning-based controllers have been shown to push mobile robotic systems to their limits and provide the robustness needed for many real-world applications. However, only classical optimization-based control frameworks offer the…

A simple approach is proposed to obtain complexity controls for neural networks with general activation functions. The approach is motivated by approximating the general activation functions with one-dimensional ReLU networks, which reduces…

Effective traffic control is essential for mitigating congestion in transportation networks. Conventional traffic management strategies, including route guidance and ramp metering, often rely on state feedback controllers, which are used…

We present an architecture where a feedback controller derived on an approximate model of the environment assists the learning process to enhance its data efficiency. This architecture, which we term as Control-Tutored Q-learning (CTQL), is…

The choice of activation function plays a critical role in neural networks, yet most architectures still rely on fixed, uniform activation functions across all neurons. We introduce SmartMixed, a two-phase training strategy that allows…

Stylized models of the neurodynamics that underpin sensory motor control in animals are proposed and studied. The voluntary motions of animals are typically initiated by high level intentions created in the primary cortex through a…

As a widely used non-linear activation, Rectified Linear Unit (ReLU) separates noise and signal in a feature map by learning a threshold or bias. However, we argue that the classification of noise and signal not only depends on the…

To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to train monolithic neural network policies across such large…

The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…

An increasingly popular machine learning paradigm is to pretrain a neural network (NN) on many tasks offline, then adapt it to downstream tasks, often by re-training only the last linear layer of the network. This approach yields strong…

We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…

A key feature of neural network architectures is their ability to support the simultaneous interaction among large numbers of units in the learning and processing of representations. However, how the richness of such interactions trades off…