相关论文: Adaptive Correction for Ensuring Conservation Laws…

The continuous dynamics of natural systems has been effectively modelled using Neural Ordinary Differential Equations (Neural ODEs). However, for accurate and meaningful predictions, it is crucial that the models follow the underlying rules…

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…

Abstraction-based techniques are an attractive approach for synthesizing correct-by-construction controllers to satisfy high-level temporal requirements. A main bottleneck for successful application of these techniques is the memory…

The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machine learning. The kinematic parameters pertaining to the…

Continuous adaptation allows survival in an ever-changing world. Adjustments in the synaptic coupling strength between neurons are essential for this capability, setting us apart from simpler, hard-wired organisms. How these changes can be…

In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent…

Anchors is a popular local model-agnostic explanation technique whose applicability is limited by its computational inefficiency. To address this limitation, we propose a memorization-based framework that accelerates Anchors while…

Convolutional neural operator is a CNN-based architecture recently proposed to enforce structure-preserving continuous-discrete equivalence and enable the genuine, alias-free learning of solution operators of PDEs. This neural operator was…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…

The rapidly increasing computational demands for artificial intelligence (AI) have spurred the exploration of computing principles beyond conventional digital computers. Physical neural networks (PNNs) offer efficient neuromorphic…

Unlike ODEs, whose models involve system matrices and whose controllers involve vector or matrix gains, PDE models involve functions in those roles functional coefficients, dependent on the spatial variables, and gain functions dependent on…

Data-driven machine learning models often require extensive datasets, which can be costly or inaccessible, and their predictions may fail to comply with established physical laws. Current approaches for incorporating physical priors…

Conservation laws are an inherent feature in many systems modeling real world phenomena, in particular, those modeling biological and chemical systems. If the form of the underlying dynamical system is known, linear algebra and algebraic…

Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…

Modern machine learning models are deployed in diverse, non-stationary environments where they must continually adapt to new tasks and evolving knowledge. Continual fine-tuning and in-context learning are costly and brittle, whereas neural…

Neural scaling laws establish a predictable relationship between model performance and data or compute, offering crucial guidance for resource allocation in new domains and tasks. Yet such laws are most needed precisely where they are…

Enforcing complex (e.g., nonconvex) operational constraints is a critical challenge in real-world learning and control systems. However, existing methods struggle to efficiently enforce general classes of constraints. To address this, we…

Adaptive control provides techniques for adjusting control parameters in real time to maintain system performance despite unknown or changing process parameters. These methods use real data to tune controllers and adjust plant models or…

Neural operators have emerged as promising surrogate models for solving partial differential equations (PDEs), but struggle to generalise beyond training distributions and are often constrained to a fixed temporal discretisation. This work…

The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…