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…
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Optimal control of affine connection control systems from the point of view of Lie algebroidsmath.OC
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are geometrically characterized as a Hamiltonian vector field.
Abstract: Surveying connections between ML and Control Theory.
problem Addressing the intersection of Machine Learning and Control Theory.
method Develops connections through reinforcement learning, supervised learning, deep learning, and stochastic gradient descent.
result Machine Learning and Control Theory are interconnected, with ML solving large control problems and Control Theory providing tools for ML.
We discuss controlled connectivity properties of closed 1-forms and their cohomology classes and relate them to the simple homotopy type of the Novikov complex. The degree of controlled connectivity of a closed 1-form depends only on positive multiples of its cohomology class and is related to the Bieri-Neumann-Strebel…
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 degrees of freedom and input forces.
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The results rely on a suitable notion of compatibility of the system with respect t…
We consider the problem of extending functions φ:\to S^n to functions u:B^{n+1}\to S^n for n=2,3. We assume φto belong to the critical space W^{1,n} and we construct a W^{1,(n+1,\infty)}-controlled extension u. The Lorentz-Sobolev space W^{1,(n+1,\infty)} is optimal for such controlled extension. Then we use such resul…
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine connections and of geometric control theory. In this paper we overview recent r…
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of systems includes mechanical systems subject to holonomic and nonholonomic const…
Study on flat connections with controlled irregularity.
problem Boundedness of algebraic flat connections with limited irregularity.
method Analysis of families of algebraic flat connections and holonomic D-modules.
result Established boundedness of families of algebraic flat connections with controlled irregularity.
This paper presents competitive algorithms for a novel class of online optimization problems with memory. We consider a setting where the learner seeks to minimize the sum of a hitting cost and a switching cost that depends on the previous decisions. This setting generalizes Smoothed Online Convex Optimization. The…
Optimal control theory connects diffusion models to generative modeling.
problem Sampling from unnormalized densities in statistics and computational sciences.
method Deriving a Hamilton-Jacobi-Bellman equation and applying control theory to minimize Kullback-Leibler divergence.
result Time-reversed diffusion sampler (DIS) outperforms other diffusion-based sampling methods.
The paper introduces controllable principal connections and estimates distances between bundles and spaces.
problem Estimating distances between bundles and spaces using controllable connections.
method Combining orbit theorem, Ambrose-Singer theorem, and controllable principal connections.
result Proves convergence of metrics to normal reductive homogeneous spaces.
New method uses neural networks to solve complex PDEs from optimal control theory.
problem Solving high-dimensional Hamilton-Jacobi-Bellman PDEs.
method Iterative diffusion optimization techniques, focusing on path measures and divergences.
result Favourable properties of log-variance divergence for Monte Carlo estimators.
In this paper a neural network heuristic dynamic programing (HDP) is used for optimal control of the virtual inertia based control of grid connected three phase inverters. It is shown that the conventional virtual inertia controllers are not suited for non inductive grids. A neural network based controller is proposed …
A method of simultaneously optimizing both the structure of neural networks and the connection weights in a single training loop can reduce the enormous computational cost of neural architecture search. We focus on the probabilistic model-based dynamic neural network structure optimization that considers the probabilit…
New control methods improve dynamic measure transport paths.
problem Improving paths for dynamic measure transport.
method Connecting mean-field games to optimization problems for learning paths, advocating for smoothness of velocities.
result Our method recovers more efficient and smooth transport models compared to untilted paths.
We show how the amplitude of holonomies on a vector bundle can be controlled by the integral of the curvature of the connection on a surface enclosed by the curve.
The paper presents the geometry of Lie algebroids and its applications to optimal control. The first part deals with the theory of Lie algebroids, connections on Lie algebroids and dynamical systems defined on Lie algebroids (mainly Lagrangian and Hamiltonian systems). In the second part we use the framework of Lie alg…
We study the constrained linear quadratic regulator with unknown dynamics, addressing the tension between safety and exploration in data-driven control techniques. We present a framework which allows for system identification through persistent excitation, while maintaining safety by guaranteeing the satisfaction of st…
Equivalences are known between problems of singular stochastic control (SSC) with convex performance criteria and related questions of optimal stopping, see for example Karatzas and Shreve [SIAM J. Control Optim. 22 (1984)]. The aim of this paper is to investigate how far connections of this type generalise to a non co…
In this paper, we propose new conditions guaranteeing that the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be represented as forced affine connection control systems and we generalize the sufficient conditions for tracking known in the lite…
Riemannian optimal controlmath.OC
The aim of this paper is to adapt the general multitime maximum principle to a Riemannian setting. More precisely, we intend to study geometric optimal control problems constrained by the metric compatibility evolution PDE system; the evolution ("multitime") variables are the local coordinates on a Riemannian manifold,…
New method constructs Birkhoff sections for pseudo-Anosov flows with controlled complexity.
problem Constructing Birkhoff sections for pseudo-Anosov flows with specific properties.
method Uses connection between pseudo-Anosov flows and veering triangulations to explicitly construct sections with controlled complexity.
result Shows that any transitive pseudo-Anosov flow has a Birkhoff section with two boundary components.
To better understand and improve the behavior of neural networks, a recent line of works bridged the connection between ordinary differential equations (ODEs) and deep neural networks (DNNs). The connections are made in two folds: (1) View DNN as ODE discretization; (2) View the training of DNN as solving an optimal co…
New insights into cascade feedback linearization of control systems.
problem Obtaining a cascade feedback linearization for invariant control systems.
method Introducing truncated versions of operators from the calculus of variations to prove new theorems.
result Established new geometry and foundational theorems for future work.
Spectral normalization stabilizes GANs by controlling gradient explosion and vanishing.
problem Stability and sample quality issues in GAN training.
method Spectral normalization controls gradient explosion and vanishing, improving GAN training stability and sample quality.
result Bidirectional Scaled Spectral Normalization (BSSN) outperforms standard spectral normalization in sample quality and training stability.
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…
We provide bounds on control learning error in stochastic systems.
problem Learning optimal controls in stochastic environments with uncontrolled parts.
method Dynamic programming and mean-field interpretation of neural networks.
result Non-asymptotic bounds on generalization error for stable overparametrised settings.
New framework for policy gradient methods in continuous time reinforcement learning.
problem Addressing policy gradient methods for continuous time reinforcement learning.
method Control randomisation technique to derive policy gradient representation for various Markovian control problems.
result Demonstrated application to optimal switching problems in the energy sector.
Survey of theoretical foundations for policy optimization in control.
problem Understanding the theoretical properties of gradient-based methods in control and reinforcement learning.
method Interdisciplinary review of optimization landscape, convergence, and sample complexity for various control problems.
result Recent theoretical results on stability and robustness in learning-based control.
In this paper, we consider two cases of rolling of one smooth connected complete Riemannian manifold onto another one $(\hM,\hg)$ of equal dimension . The rolling problem corresponds to the situation where there is no relative spin (or twist) of one manifold with respect to the other one. As for…
We introduce and discuss optimal control strategies for kinetic models for wealth distribution in a simple market economy, acting to minimize the variance of the wealth density among the population. Our analysis is based on a finite time horizon approximation, or model predictive control, of the corresponding control p…
Transfer entropy shows abnormal brain connectivity in depression.
problem Abnormal brain connectivity in depression.
method Transfer entropy analysis on EEG recordings.
result Aberrated dynamics and direction of information between brain centers in depression.
This paper improves MARL for networked systems through new protocols and discount factors.
problem Improving control in networked systems using multi-agent reinforcement learning.
method Formulated as a spatiotemporal Markov decision process, introduced a spatial discount factor, and proposed NeurComm.
result Appropriate spatial discount factor enhances learning curves of non-communicative MARL algorithms.
The framework of reinforcement learning or optimal control provides a mathematical formalization of intelligent decision making that is powerful and broadly applicable. While the general form of the reinforcement learning problem enables effective reasoning about uncertainty, the connection between reinforcement learni…
Flexible deep learning framework controls FDR for feature selection.
problem Controlling Type-I error in feature selection for deep neural networks.
method Approximates FDR control for a wide range of deep architectures using gradient-based feature-importance vectors.
result Theoretical guarantee of FDR control for feature selection in deep learning models.
New framework for Bayesian inference using neural Schrödinger-Föllmer flows.
problem Approximate Bayesian inference in large datasets.
method Stochastic control, Schrödinger bridges, SDE-based models.
result Advocates stochastic control as a finite time and low variance alternative to SGLD.
We describe how the dynamical system of rolling two -dimensional connected, oriented Riemannian manifolds and without twisting or slipping, can be lifted to a nonholonomic system of elements in the product of the oriented orthonormal frame bundles belonging to the manifolds. By considering the lifted pr…
A control-theoretic model tackles microfinance sustainability issues.
problem High default rates in microfinance due to lack of data and information.
method A novel control-theoretic model that learns microfinance decision policies.
result The model achieves financial inclusion, fairness, social welfare, and sustainability.
Agents learn and control complex mechanical systems through shared memories.
problem Controlling multi-joint dynamical systems.
method Coupled autoregressive active inference agents using Bayesian filtering and minimizing expected free energy.
result Demonstrated learning and control of a double mass-spring-damper system.
Convolutional neural networks are among the most successful architectures in deep learning with this success at least partially attributable to the efficacy of spatial invariance as an inductive bias. Locally connected layers, which differ from convolutional layers only in their lack of spatial invariance, usually perf…
We introduce a model for the adaptive evolution of a network of company ownerships. In a recent work it has been shown that the empirical global network of corporate control is marked by a central, tightly connected "core" made of a small number of large companies which control a significant part of the global economy.…
fcHMRF-LIS controls FDR in neuroimaging data, improving power and scalability.
problem Complex spatial dependencies and high variability in FDR control methods for neuroimaging data.
method fcHMRF-LIS integrates LIS-based testing with fcHMRF to model spatial structures efficiently.
result fcHMRF-LIS achieves accurate FDR control, lower FNR, and higher true positives compared to existing methods.
We connect high-dimensional subset selection and submodular maximization. Our results extend the work of Das and Kempe (2011) from the setting of linear regression to arbitrary objective functions. For greedy feature selection, this connection allows us to obtain strong multiplicative performance bounds on several meth…
Exact universal interpolation property for landmark configurations in Euclidean space.
problem Representing and deforming landmark configurations through flows of vector fields.
method Explicitly describe vector fields for exact universal interpolation property in all dimensions.
result Achieve controllability by combining constant and polynomial vector fields.
We study the problem of learning representations with controllable connectivity properties. This is beneficial in situations when the imposed structure can be leveraged upstream. In particular, we control the connectivity of an autoencoder's latent space via a novel type of loss, operating on information from persisten…
Study analyzes error in ReLU networks with local connections.
problem Improving neural network performance and understanding approximation errors.
method Analyzed approximation error of ReLU networks with local connections.
result Error estimate depends on depth and width of hidden layers.