Paper optimizes energy-based controller for swinging up a pendulum using entropy search.
problem Finding optimal parameters for energy-based controllers is hard.
method Bayesian optimization (Entropy Search) applied to energy-based controller design.
result Optimal controller improves performance of a swinging pendulum.
Paper solves pendulum swing-up problem using RL.
problem Solving the classic pendulum swing-up problem.
method Deep Deterministic Policy Gradient algorithm applied to continuous action domain.
result Optimal pendulum achieved with increasing average return and decreasing loss.
Method learns to map dynamics of different systems.
problem Mapping dynamics of different systems.
method Learned latent dynamical system for mapping.
result Learned correspondences enable imagined motions and bisimulation.
Paper proposes adaptive control for unknown systems using reinforcement learning.
problem Adaptive control for unknown, linearizable systems.
method On-policy reinforcement learning for discrete-time, stochastic systems.
result Stability and tracking errors concentrate near zero with high probability.
We propose directed time series regression, a new approach to estimating parameters of time-series models for use in certainty equivalent model predictive control. The approach combines merits of least squares regression and empirical optimization. Through a computational study involving a stochastic version of a well …
Reinforcement learning is a powerful paradigm for learning optimal policies from experimental data. However, to find optimal policies, most reinforcement learning algorithms explore all possible actions, which may be harmful for real-world systems. As a consequence, learning algorithms are rarely applied on safety-crit…
Controller seeks informative system observations to predict nonlinear dynamics.
problem Predicting nonlinear dynamics with uncertain parameters.
method Expected free energy minimization for balancing goal state and informative observations.
result Controller improves performance in uncertain parameter scenarios.
In this paper we show that there are applications that transform the movement of a pendulum into movements in R3. This can be done using Euler top system of differential equations. On the constant level surfaces, Euler top system reduces to the equation of a pendulum. Those properties are also considered in…
This paper studies the topology of the constant energy surfaces of the double spherical pendulum.
The present paper extends the classical second-order variational problem of Herglotz type to the more general context of the Euclidean sphere S^n following variational and optimal control approaches. The relation between the Hamiltonian equations and the generalized Euler-Lagrange equations is established. This problem…
PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy search framework, to automatically tune multivariate PID controllers purely bas…
Random features enhance control of complex systems.
problem Flexible nonlinear models for control-affine systems.
method Random features approximations for control-affine structure.
result Methods formalized and shown to relate to ADP and AD kernels.
Optimizes reinforcement learning controllers for reliability.
problem Lack of robustness in reinforcement learning controllers due to deterministic reward.
method Introduces a reliability-based optimization framework using a model-based approach.
result Stable controllers learned in static and dynamic environments on classical tasks.
We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of leveraging and combining the advantages of model-free and model-based approaches. Specifically, we differentiate through MPC by usin…
Learning to make decisions from observed data in dynamic environments remains a problem of fundamental importance in a number of fields, from artificial intelligence and robotics, to medicine and finance. This paper concerns the problem of learning control policies for unknown linear dynamical systems so as to maximize…
Physics-informed learning framework for pH systems and EB-PBC control.
problem Control of port-Hamiltonian systems from trajectory data.
method Co-learning of pH system model and EB-PBC through alternating optimization.
result Proven stability and robustness of the learned controller.
Symbolic regression constructs simple equations for complex systems.
problem Creating accurate yet simple models for dynamic systems.
method Employing symbolic regression with two genetic programming algorithms.
result Analytic models outperform neural networks and local regression.
Reinforcement learning is a promising approach to learning robotics controllers. It has recently been shown that algorithms based on finite-difference estimates of the policy gradient are competitive with algorithms based on the policy gradient theorem. We propose a theoretical framework for understanding this phenomen…
This paper compares model-based and model-free control methods using neural networks.
problem Comparing model-based and model-free control methods for unknown nonlinear systems.
method Utilizes Deep Koopman Representation (DKRC) and Deep Deterministic Policy Gradient (DDPG) for control.
result DKRC outperforms DDPG in terms of control strategies and accuracy for unknown dynamics.
Study of sub-Riemannian problem on specific Lie groups, revealing symmetries and bounds.
problem Sub-Riemannian problem on solvable, non-nilpotent Lie groups.
method Qualitative phase-space analysis of Hamiltonian system, focusing on vertical component.
result Explicit upper bound for cut time in terms of pendulum period.
Paper presents neural network controllers for offset-free setpoint tracking.
problem Offset-free setpoint tracking using neural network controllers.
method Exploiting slope-restricted activation functions, linear matrix inequalities are used to verify stability.
result Global and local stability conditions for neural network controllers are derived.
Safe RL for safety-critical tasks using CBFs and model-free RL.
problem Limited safety guarantees in RL for real-world applications.
method Combines model-free RL with CBFs and GP dynamics modeling.
result Demonstrates greater sample efficiency and safety in learning.
PenduMAV is a 6-input omnidirectional MAV without internal forces.
problem Designing a MAV without internal forces and structural costs.
method Multibody dynamics derivation, SE(3) control, Lyapunov analysis, Gazebo simulations.
result Asymptotic stabilization of the closed-loop system under parametric uncertainty and actuator noise.
A core novelty of Alpha Zero is the interleaving of tree search and deep learning, which has proven very successful in board games like Chess, Shogi and Go. These games have a discrete action space. However, many real-world reinforcement learning domains have continuous action spaces, for example in robotic control, na…
This study presents the results of a series of simulation experiments that evaluate and compare four different manifold alignment methods under the influence of noise. The data was created by simulating the dynamics of two slightly different double pendulums in three-dimensional space. The method of semi-supervised fea…
Method learns low-dim. state vars from noisy high-dim. data.
problem Discovering dynamical models from noisy high-dimensional data.
method Stochastic Variational Deep Kernel Learning with encoder and latent model.
result Effective denoising, compact state representation, and uncertainty quantification.
This paper classifies Legendre singularities of sub-Riemannian geodesics on surfaces.
problem Classifying singularities of sub-Riemannian geodesics.
method Complete local classification using Legendre fibrations.
result Legendre singularities are completely classified for sub-Riemannian geodesics.
We present an approach to identify concise equations from data using a shallow neural network approach. In contrast to ordinary black-box regression, this approach allows understanding functional relations and generalizing them from observed data to unseen parts of the parameter space. We show how to extend the class o…
Data-driven control of robotic systems using Koopman operators with error bounds.
problem Real-time control of nonlinear robotic systems with unknown dynamics.
method Constructing a Koopman operator-based linear representation using higher-order derivatives of nonlinear dynamics, with error bounds derived from Taylor series accuracy analysis.
result The Koopman model provides marginally better performance than competing nonlinear modeling methods and can be efficiently controlled using linear control design tools.
New method discovers discrepancies between simplified models and experimental data.
problem Model discrepancies in nonlinear systems lead to significant deviations from true behavior.
method Sparse Identification of Nonlinear Dynamics (SINDy) algorithm to discover sparse model terms.
result Improvement in performance with a discrepancy model in simulations.
This paper detects Markov violations in RL with noise, improving policy development.
problem Partial observability and sensor/actuator noise invalidate Markovian assumptions in RL.
method Combines PCMCI causal discovery with Markov Violation score (MVS).
result Even substantial noise doesn't always disrupt multi-step dependencies.
Expert augmentation improves hybrid model generalization.
problem Limited generalization of hybrid models outside training distribution.
method Introducing expert augmentation to improve hybrid model performance.
result Expert augmentation improves generalization of hybrid models.
Proposes DLGPD model to learn dynamics from images for planning.
problem Planning in unknown, indirectly observable environments.
method Deep latent Gaussian process dynamics model trained jointly with neural networks.
result Demonstrates improved data efficiency and transfer learning.
Symbolic regression constructs smooth value functions for reinforcement learning.
problem Function approximators in reinforcement learning are black-box models with hyper-parameter tuning.
method Symbolic regression methods for constructing smooth value functions in the form of analytic expressions.
result Symbolic regression methods yield well-performing policies and are compact and mathematically tractable.
In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for safely learning a control strategy for a given system with an additive disturba…
Bayesian inference models failure distributions in autonomous systems.
problem Estimating the distribution of failures in complex systems.
method Bayesian inference using system dynamics rollouts and gradient computation.
result Improves sample efficiency and parameter space coverage in autonomous systems.
Estimates system parameters from a single observation using kernel-based score.
problem Estimating parameters of a dynamical system from a high-dimensional signal.
method Kernel-based score to compare temporal dependencies between signal and model.
result Accuracy and efficiency demonstrated on chaotic systems.
Study on elastic curves with variable stiffness, derived from bending energy.
problem Modeling elastic wires with varying thickness.
method Derive Euler-Lagrange equations for curves with variable bending stiffness.
result Characterizations of elastic curves with variable stiffness.
Guaranteed reachable set for unknown nonlinear systems on manifolds.
problem Determining reachable set for unknown nonlinear systems on manifolds.
method Underapproximations of reachable set using local dynamics and bounds on dynamics rate of change.
result Guaranteed set of reachable states for systems on complete Riemannian manifolds.
CW-EDMD improves prediction accuracy by learning local Koopman models for different state-space regions.
problem Inefficient global Koopman operator approximation for distinct local dynamics.
method Cluster-Weighted EDMD (CW-EDMD) learns a soft phase-space partition and per-cluster EDMD operators using EM objective.
result CW-EDMD significantly reduces prediction errors across various systems and configurations.
Safe exploration method for RL under disturbance ensures safety with probabilistic guarantees.
problem Safe reinforcement learning in real environments with disturbance.
method Uses partial prior knowledge and conservative inputs to ensure state constraint satisfaction.
result Guaranteed safety with pre-specified probability in the presence of stochastic disturbance.
Paper constructs new minimal submanifolds in spheres by spinning given ones.
problem Creating new minimal submanifolds in spheres from given ones.
method Spin given minimal submanifolds by a curve γ in a balanced way. result Generates spiral minimal products forming a two-dimensional family.
Paper explores foundation models for dynamical systems using synthetic data.
problem Lack of synthetic data for dynamical systems training.
method Pretrained transformer model on synthetic dynamics functions sampled from RKHS.
result Pretrained model generalizes across various dynamical systems in simulations and hardware.
Discover conservation laws from trajectories using a neural network.
problem Finding invariants and conservation laws from large-scale data without prior knowledge.
method ConservNet, a neural network trained with noise-variance loss to discover hidden invariants in grouped multi-dimensional observables.
result Successfully discovers underlying invariants from simulated and real-world systems.
In this study we introduce a new technique for symbolic regression that guarantees global optimality. This is achieved by formulating a mixed integer non-linear program (MINLP) whose solution is a symbolic mathematical expression of minimum complexity that explains the observations. We demonstrate our approach by redis…
One of the challenges in model-based control of stochastic dynamical systems is that the state transition dynamics are involved, and it is not easy or efficient to make good-quality predictions of the states. Moreover, there are not many representational models for the majority of autonomous systems, as it is not easy …
We present a self-contained proof of the Gauss-Bonnet theorem for two-dimensional surfaces embedded in R3 using just classical vector calculus. The exposition should be accessible to advanced undergraduate and non-expert graduate students. It may be viewed as an illustration and exercise in multivariate calculus and…
New AI framework without networks outperforms traditional models.
problem The role of artificial neural networks (ANNs) in AI is unclear and raises ethical and legal concerns.
method Developed a parameter-free, statistically consistent data interpolation method for AI.
result Framework outperforms traditional mathematical models and ANN-based models in various applications.