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

In this paper, it is demonstrated through a case study that multilayer feedforward neural networks activated by ReLU functions can in principle be trained iteratively with Mixed Integer Linear Programs (MILPs) as follows. Weights are…

The problem of learning simultaneously several related tasks has received considerable attention in several domains, especially in machine learning with the so-called multitask learning problem or learning to learn problem [1], [2].…

Biologically, the brain does not rely on a single type of neuron that universally functions in all aspects. Instead, it acts as a sophisticated designer of task-based neurons. In this study, we address the following question: since the…

This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the…

Multidimensional systems coupled via complex networks are widespread in nature and thus frequently invoked for a large plethora of interesting applications. From ecology to physics, individual entities in mutual interactions are grouped in…

Navigation is crucial for animal behavior and is assumed to require an internal representation of the external environment, termed a cognitive map. The precise form of this representation is often considered to be a metric representation of…

Neural networks have attracted a lot of attention due to its success in applications such as natural language processing and computer vision. For large scale data, due to the tremendous number of parameters in neural networks, overfitting…

Biological and artificial learning agents face numerous choices about how to learn, ranging from hyperparameter selection to aspects of task distributions like curricula. Understanding how to make these meta-learning choices could offer…

A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…

This paper focuses on the need for a rigorous theory of layered control architectures (LCAs) for complex engineered and natural systems, such as power systems, communication networks, autonomous robotics, bacteria, and human sensorimotor…

Multifunctional neural networks are capable of performing more than one task without changing any network connections. In this paper we explore the performance of a continuous-time, leaky-integrator, and next-generation `reservoir computer'…

This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…

With the increase in data availability, it has been widely demonstrated that neural networks (NN) can capture complex system dynamics precisely in a data-driven manner. However, the architectural complexity and nonlinearity of the NNs make…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…

Behavior of neural networks is irremediably determined by the specific loss and data used during training. However it is often desirable to tune the model at inference time based on external factors such as preferences of the user or…

Biological nervous systems consist of networks of diverse, sophisticated information processors in the form of neurons of different classes. In most artificial neural networks (ANNs), neural computation is abstracted to an activation…

Most reinforcement-learning (RL) controllers used in continuous control are architecturally centralized: observations are compressed into a single latent state from which both value estimates and actions are produced. Biological control…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

Most existing neural network-based approaches for solving stochastic optimal control problems using the associated backward dynamic programming principle rely on the ability to simulate the underlying state variables. However, in some…

We propose a general strategy for feedback control design of complex dynamical systems exploiting the nonlinear mechanisms in a systematic unsupervised manner. These dynamical systems can have a state space of arbitrary dimension with…