相关论文: Analytical Lyapunov Function Discovery: An RL-base…

The lack of stability guarantee restricts the practical use of learning-based methods in core control problems in robotics. We develop new methods for learning neural control policies and neural Lyapunov critic functions in the model-free…

Reinforcement learning (RL) has proven to be particularly effective in solving complex decision-making problems for a wide range of applications. Safe reinforcement learning refers to a class of constrained problems where the constraint…

In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…

Reinforcement learning (RL) can be highly effective at learning goal-reaching policies, but it typically does not provide formal guarantees that the goal will always be reached. A common approach to provide formal goal-reaching guarantees…

Model-based Reinforcement Learning (MBRL) has shown many desirable properties for intelligent control tasks. However, satisfying safety and stability constraints during training and rollout remains an open question. We propose a new…

Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…

Analysis of transient stability of strongly nonlinear post-fault dynamics is one of the most computationally challenging parts of Dynamic Security Assessment. This paper proposes a novel approach for assessment of transient stability of the…

In this paper we employ SMT solvers to soundly synthesise Lyapunov functions that assert the stability of a given dynamical model. The search for a Lyapunov function is framed as the satisfiability of a second-order logical formula, asking…

In this paper, we describe a lightweight Python framework that provides integrated learning and verification of neural Lyapunov functions for stability analysis. The proposed tool, named LyZNet, learns neural Lyapunov functions using…

This work proposes a novel distributed framework for verifying the incremental stability of large-scale systems with unknown dynamics and known interconnection structures using graph neural networks. Our proposed approach relies on the…

Reinforcement learning (RL) has shown promise in generating robust locomotion policies for bipedal robots, but often suffers from tedious reward design and sensitivity to poorly shaped objectives. In this work, we propose a structured…

Learning-based neural network (NN) control policies have shown impressive empirical performance in a wide range of tasks in robotics and control. However, formal (Lyapunov) stability guarantees over the region-of-attraction (ROA) for NN…

Generative models based on static scalar energy functions represent an emerging paradigm in which a single time independent potential drives sample generation through its gradient field, eliminating the need for time conditioning entirely.…

This paper presents a novel Lyapunov-based Adaptive Transformer (LyAT) controller for stochastic nonlinear systems. While transformers have shown promise in various control applications due to sequential modeling through self-attention…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

Offline reinforcement learning (RL) agents often fail when deployed, as the gap between training datasets and real environments leads to unsafe behavior. To address this, we present SAS (Self-Alignment for Safety), a transformer-based…

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…

In this paper, we address the problem of discovering maximal Lyapunov functions, as a means of determining the region of attraction of a dynamical system. To this end, we design a novel neural network architecture, which we prove to be a…

Recent methods using Reinforcement Learning (RL) have proven to be successful for training intelligent agents in unknown environments. However, RL has not been applied widely in real-world robotics scenarios. This is because current…

Graph Neural Networks (GNNs) are highly vulnerable to adversarial perturbations in both topology and features, making the learning of robust representations a critical challenge. In this work, we bridge GNNs with control theory to introduce…