arXiv research

Study local control in a 7D quaternionic Heisenberg group.

We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with $n$ degrees of freedom and $n-1$ input forces.

We study local control of the mechanism with the growth vector (4,7). We study controllability and extremal trajectories on the nilpotent approximation as an example of the control theory on Lie group. We give solutions of the system an show examples of local extremal trajectories.

The least squares Monte Carlo algorithm has become popular for solving portfolio optimization problems. A simple approach is to approximate the value functions on a discrete grid of portfolio weights, then use control regression to generalize the discrete estimates. However, the classical global control regression can …

New methods prove controllability of non-linear systems, extending classical results.

The Noether theorem is extended to stochastic control problems using contact symmetries.

We introduce Embed to Control (E2C), a method for model learning and control of non-linear dynamical systems from raw pixel images. E2C consists of a deep generative model, belonging to the family of variational autoencoders, that learns to generate image trajectories from a latent space in which the dynamics is constr…

Two proofs of Kalman Theorem using flows of vector fields.

L-ARC improves model fairness by localizing risk guarantees.

Ricci flow controls curvature on manifolds with bounds.

A new approach predicts next observations without explicit decoding for better control.

Proposes a new method to control FDR using frequentist-assisted horseshoe for high-dimensional testing.

The geometry of a ball within a Riemannian manifold is coarsely controlled if it has a lower bound on its Ricci curvature and a positive lower bound on its volume. We prove that such coarse local geometric control must persist for a definite amount of time under three-dimensional Ricci flow, and leads to local C/t deca…

A new pricing controller handles resource constraints to infer target prices effectively.

We show LLMs can be locally linear, enabling better control of activations.

Ricci flow smooths locally collapsing manifolds with controlled curvature.

Proves existence of maps with controlled small curvatures.

Inverse optimal control, also known as inverse reinforcement learning, is the problem of recovering an unknown reward function in a Markov decision process from expert demonstrations of the optimal policy. We introduce a probabilistic inverse optimal control algorithm that scales gracefully with task dimensionality, an…

New method prepares 3-qubit states using local gates and controlled-Z gates.

This paper analyzes a simplified strategy for nonlinear control using local linear models and iLQR updates.

Nonlinear optimal control problems are often solved with numerical methods that require knowledge of system's dynamics which may be difficult to infer, and that carry a large computational cost associated with iterative calculations. We present a novel neurobiologically inspired hierarchical learning framework, Reinfor…

Following the unified approach of A. Kriegl and P.W. Michor (1997) for a treatment of global analysis on a class of locally convex spaces known as convenient, we give a generalization of Rashevsky-Chow's theorem for control systems in regular connected manifolds modelled on convenient (infinite-dimensional) locally con…

Learning weights in a spiking neural network with hidden neurons, using local, stable and online rules, to control non-linear body dynamics is an open problem. Here, we employ a supervised scheme, Feedback-based Online Local Learning Of Weights (FOLLOW), to train a network of heterogeneous spiking neurons with hidden l…

New solutions found with negative mass in general relativity.

This paper improves MARL for networked systems through new protocols and discount factors.

The problem of local feedback equivalence for 1-dimensional control systems of the 1-st order is considered. The algebra of differential invariants and criteria for the feedback equivalence for regular control systems are found.

We provide a proof of the controlled surgery sequence, including stability, in the special case that the local fundamental groups are trivial. Stability is a key ingredient in the construction of exotic homology manifolds by Bryant, Ferry, Mio and Weinberger, but no proof has been available. The development given here …

Distribution grids are currently challenged by frequent voltage excursions induced by intermittent solar generation. Smart inverters have been advocated as a fast-responding means to regulate voltage and minimize ohmic losses. Since optimal inverter coordination may be computationally challenging and preset local contr…

Control data constructed for smooth weak deformation retraction of stratified spaces.

Study examines surfaces with bounded fractional mean curvature, proving control over local parametrization.

Motivated by the ubiquity of control-affine systems in optimal control theory, we investigate the geometry of point-affine control systems with metric structures in dimensions two and three. We compute local isometric invariants for point-affine distributions of constant type with metric structures for systems with 2 s…

New method controls posterior collapse in VAEs without network architecture constraints.

In this paper, we investigate the existence of a subclass of quotients of affine connection control systems, which preserve the mechanical structures. Both local and global sufficient and necessary conditions are given for the geodesically accessible affine connection control systems such that they can admit this subcl…

Study of control problems on Carnot groups with SO(3) symmetry using geometric algebra.

Motivated by control-affine systems in optimal control theory, we introduce the notion of a point-affine distribution on a manifold X - i.e., an affine distribution F together with a distinguished vector field contained in F. We compute local invariants for point-affine distributions of constant type when dim(X)=n, ran…

In this paper we prove a convergence result for sequences of Willmore immersions with simple minimal bubbles. To this end we replace the total curvature control in T. Rivière's proof of the $\varepsilon$-regularity for Willmore immersions by a control of the local Willmore energy.

New method controls error in low-dimensional marginals of spatial models.

The paper solves a control problem using reflections to track a benchmark process.

Geometric framework for dynamic feedback linearization of control systems with symmetry.

A control system $\dot{q} = f(q,u)$ is said to be trivializable if there exists local coordinates in which the system is feedback equivalent to a control system of the form $\dot{q} = f(u)$. In this paper we characterize trivializable control systems and control systems for which, up to a feedback transformation, $f$ a…

Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to capture the full distribution of possible actions that could be taken and to reason a…

Electronic power inverters are capable of quickly delivering reactive power to maintain customer voltages within operating tolerances and to reduce system losses in distribution grids. This paper proposes a systematic and data-driven approach to determine reactive power inverter output as a function of local measuremen…

Many real-world sequential decision-making problems can be formulated as optimal control with high-dimensional observations and unknown dynamics. A promising approach is to embed the high-dimensional observations into a lower-dimensional latent representation space, estimate the latent dynamics model, then utilize this…

In this paper long-run risk sensitive optimisation problem is studied with dyadic impulse control applied to continuous-time Feller-Markov process. In contrast to the existing literature, focus is put on unbounded and non-uniformly ergodic case by adapting the weight norm approach. In particular, it is shown how to com…

We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions co…

Breaks down complex nonlinear dynamics into simpler components.

CoDA augments data with counterfactuals from local causal structures.

Survey combines FL and control for better adaptability and privacy.