相关论文: Cognitive-Flexible Control via Latent Model Reorga…

This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…

We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…

Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoencoders or inverse dynamics enable goal-conditioned decision…

We investigate robust model-free reinforcement learning algorithms designed for environments that may be dynamic or even adversarial. Traditional state-based policies often struggle to accommodate the challenges imposed by the presence of…

Deep latent variable models have achieved significant empirical successes in model-based reinforcement learning (RL) due to their expressiveness in modeling complex transition dynamics. On the other hand, it remains unclear theoretically…

Even though a variety of methods have been proposed in the literature, efficient and effective latent-space control (i.e., control in a learned low-dimensional space) of physical systems remains an open challenge. We argue that a promising…

In this paper we present a framework for risk-sensitive model predictive control (MPC) of linear systems affected by stochastic multiplicative uncertainty. Our key innovation is to consider a time-consistent, dynamic risk evaluation of the…

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

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…

This paper considers the problem of controlling a dynamical system when the state cannot be directly measured and the control performance metrics are unknown or partially known. In particular, we focus on the design of data-driven…

Implementation of learning-based control remains challenging due to the absence of safety guarantees. Safe control methods have turned to model-based safety filters to address these challenges, but this is paradoxical when the ultimate goal…

This paper proposes a structural and dynamical framework for modeling cognitive processes within a cybernetic perspective. Cognitive states are represented as elements of a state space evolving through an iterative update rule of the form…

Breaking safety constraints in control systems can lead to potential risks, resulting in unexpected costs or catastrophic damage. Nevertheless, uncertainty is ubiquitous, even among similar tasks. In this paper, we develop a novel adaptive…

Concept Bottleneck Models (CBMs) have garnered much attention for their ability to elucidate the prediction process through a human-understandable concept layer. However, most previous studies focused on static scenarios where the data and…

Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…

Federated Learning (FL) enables the multiple participating devices to collaboratively contribute to a global neural network model while keeping the training data locally. Unlike the centralized training setting, the non-IID, imbalanced…

Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. However, model uncertainty remains a persistent challenge,…

Concept bottleneck models (CBMs) improve neural network interpretability by introducing an intermediate layer that maps human-understandable concepts to predictions. Recent work has explored the use of vision-language models (VLMs) to…

Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-critical systems to ensure their safety and achieve tracking…