New framework for online control in evolving populations.
problem Control of evolving populations in real-world conditions.
method Online control framework for linear and non-linear dynamical systems.
result Near-optimal regret bounds for gradient-based controllers.
Framework simplifies vision-based control and goal discovery.
problem Learning proportional control from visual data.
method Introduces NewtonianVAE for proportional control and goal discovery.
result Dramatic simplification and acceleration of vision-based controllers.
Neural ODEs control graph dynamics with low energy feedback.
problem Controlling complex dynamical systems on graphs.
method Neural Ordinary Differential Equation Control (NODEC) framework.
result NODEC learns low-energy control signals for graph dynamical systems.
In this paper, we put the issue of dynamic equivalence of control systems in the context of pullbacks of coframings on infinite jet bundles over the state manifolds. While much attention has been given to differentially flat systems, i.e. systems dynamically equivalent to linear control systems, the advantage of this a…
Study optimal control in unknown nonlinear systems with near-optimal regret bound.
problem Sequential control in unknown, nonlinear dynamical systems.
method LC^3 algorithm, based on information theory.
result Near-optimal O ( T ) O(\sqrt{T}) O ( T ) regret bound for episodic settings. New method controls linear systems with partial info and disturbances.
problem Controlling linear dynamical systems under partial observation and adversarial disturbances.
method Double Spectral Control (DSC) using two-level spectral approximation strategy.
result Matches best known regret guarantees with exponential runtime improvement.
New algorithm reduces control error in systems with changing dynamics.
problem Online control of systems with time-varying linear dynamics.
method Introduces adaptive regret metric and a novel meta-algorithm.
result First adaptive regret bound for online convex optimization with memory.
Researchers develop a method to control nonlinear systems with Koopman operator regression.
problem Controlling nonlinear systems with finite action spaces.
method Koopman operator regression for dynamics estimation and model predictive control for control.
result The method yields a linear switching predictive model for control.
Survey of recent developments in symmetric reductions and controls for Hamiltonian systems.
problem Understanding the internal relationships of geometric structures and controls in Hamiltonian systems with symmetry.
method Survey and introduction of recent developments in controlled Hamiltonian systems with symmetry.
result Reveals the relationships between geometric structures, nonholonomic constraints, dynamical vector fields, and controls.
Dissipative SymODEN learns dynamics with dissipation and control from data.
problem Learning dynamics with dissipation and control from observed data.
method Dissipative SymODEN encodes port-Hamiltonian dynamics into a deep learning architecture.
result The learned model reveals key aspects of the system, such as inertia, dissipation, and potential energy.
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…
Breaks down complex nonlinear dynamics into simpler components.
problem Control of nonlinear dynamical systems remains challenging.
method Inspired by hybrid switching systems, decomposes dynamics into simpler stochastic switching linear dynamical systems.
result Extracts hierarchies of Markovian and auto-regressive locally linear controllers from nonlinear experts.
A method to minimize regret in multi-agent control systems with adversarial disturbances.
problem Optimal control of dynamical systems with adversarial disturbances and multiple agents.
method Reduction from online convex optimization to a distributed algorithm for multi-agent control.
result The resulting distributed algorithm has low regret relative to the optimal precomputed joint policy.
This paper addresses the problem of learning the optimal control policy for a nonlinear stochastic dynamical system with continuous state space, continuous action space and unknown dynamics. This class of problems are typically addressed in stochastic adaptive control and reinforcement learning literature using model-b…
Extremely accurate prediction of dynamical system bifurcations using control inputs.
problem Predicting complex bifurcation structures in dynamical systems.
method Extending extreme learning machines with control inputs to model system dynamics.
result The model can nearly reproduce the entire structure of bifurcations using only a few parameter values.
To each dynamic equivalence of two control systems is associated an infinite permutation matrix. We investigate how such matrices are related to the existence of dynamic equivalences.
Geometric framework for dynamic feedback linearization of control systems with symmetry.
problem Dynamic feedback linearization of control systems with symmetry.
method Geometric framework based on Lie symmetry, systematic procedure for all smooth, generic system trajectories.
result Sufficient condition for dynamic feedback linearizability obtained.
New algorithm reduces decision switching in dynamic environments.
problem Online learning with memory and non-stationary environments.
method Dynamic policy regret, novel ensemble approach, meta-base decomposition.
result Proves optimal dynamic policy regret for memory length, non-stationarity, and time horizon.
We study the question of how to aggregate controllers for dynamical systems in order to improve their performance. To this end, we propose a framework of boosting for online control. Our main result is an efficient boosting algorithm that combines weak controllers into a provably more accurate one. Empirical evaluation…
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 …
New algorithm learns linear dynamical systems from measurements.
problem Learning system dynamics from linear measurements efficiently and accurately.
method Method of moments estimator to directly estimate Markov parameters.
result First polynomial time algorithm for learning linear dynamical systems.
AdaptOn achieves logarithmic regret in adaptive control of unknown partially observable linear systems.
problem Adaptive control in partially observable linear dynamical systems.
method AdaptOn algorithm that estimates system dynamics through online learning and gradient descent.
result AdaptOn achieves a logarithmic regret bound of polylog(T) after T steps.
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.
Safe learning of stochastic dynamics with safety constraints.
problem Learning controlled stochastic dynamics with safety constraints.
method Iterative expansion of a safe control set using kernel-based confidence bounds.
result The method ensures safe exploration and efficient estimation of system dynamics.
Paper develops a neural-fuzzy controller for GPS-intelligent buoys.
problem Optimally track dynamically positioned marine buoys with unknown parameters.
method Dynamic system modeling using neural-fuzzy networks with backstepping technique.
result The controller minimizes position errors and adjusts buoy positions accurately.
A new approach predicts next observations without explicit decoding for better control.
problem High-dimensional observations and unknown dynamics in real-world control tasks.
method Proposes a novel information-theoretic LCE approach using predictive coding to develop a decoder-free model.
result The model reliably learns a controllable latent space leading to superior performance.
Model learns Lagrangian dynamics from images for better prediction and control.
problem Lack of interpretability and applicability to high-dimensional data like images.
method Unsupervised neural network model that learns Lagrangian dynamics from images using a coordinate-aware VAE.
result Model infers interpretable Lagrangian dynamics, enabling long-term prediction and synthesis of controllers.
Efficient algorithm for unknown linear systems with convex costs.
problem Controlling an unknown linear system with stochastic convex costs.
method Optimism in the Face of Uncertainty paradigm.
result Achieves optimal T \sqrt{T} T regret-rate. 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…
New method solves nonseparable stochastic control problems.
problem Nonseparable and non-monotonic stochastic control problems.
method Scenario-decomposition solution framework using progressive hedging algorithm.
result Extends reach of stochastic optimal control.
Graph neural controlled differential equations learn graph dynamics from vertex observations.
problem Predicting future states of dynamical systems on graphs with limited vertex data.
method Incorporates graph topology information into NCDE to predict graph dynamics.
result Informed NCDE requires fewer parameters and lower MAE compared to previous methods.
This paper contains a summary of mathematical researches of stochastic properties of the long time behavior of a continuously observed (and interactively controlled) quantum--field top. Applications to interactively controlled stochastic computer-graphic dynamical systems are also discussed.
New method controls linear systems with adversarial disturbances.
problem Controlling linear dynamical systems under adversarial conditions.
method Novel convex relaxation using spectral filters from Hankel matrix eigenvectors.
result Polylogarithmic running time improvement over prior methods.
Deep learning solves complex stochastic control with jumps.
problem Solving high-dimensional stochastic control tasks with jumps.
method Model-based approach using two neural networks, iteratively trained with objectives derived from the Hamilton-Jacobi-Bellman equation.
result Demonstrates effectiveness in solving complex high-dimensional stochastic control tasks.
Paper proposes a new method to optimize robot body structure and control policy.
problem Optimizing robot body structure and control policy in a coupled manner.
method Revisits co-design problem as a Stackelberg game, incorporating control adaptation dynamics.
result Stackelberg PPO outperforms standard PPO in stability and performance.
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using this framework we describe some new global controllability tests for hybrid contr…
Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains, including engineering and medicine. In this paper, we formulate the synchronization…
ACSSM models irregular time series with continuous dynamics.
problem Modeling irregular time series data.
method ACSSM uses a multi-marginal Doob's h-transform and variational inference with stochastic optimal control.
result ACSSM outperforms in tasks like classification, regression, interpolation, and extrapolation.
Attempts from different disciplines to provide a fundamental understanding of deep learning have advanced rapidly in recent years, yet a unified framework remains relatively limited. In this article, we provide one possible way to align existing branches of deep learning theory through the lens of dynamical system and …
PCGS-TF uses a Transformer to adaptively control expert switching in non-stationary environments.
problem Static regret is insufficient for strictly online prediction in non-stationary settings.
method Policy-Controlled Generalized Share (PCGS) with a Transformer as an update controller.
result PCGS-TF achieves the lowest dynamic regret in non-stationary families and expert pools.
Many dynamical systems exhibit similar structure, as often captured by hand-designed simplified models that can be used for analysis and control. We develop a method for learning to correspond pairs of dynamical systems via a learned latent dynamical system. Given trajectory data from two dynamical systems, we learn a …
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.
The paper proposes a method to identify causal structure in complex dynamical systems.
problem Spurious correlations in data-driven models limit the performance of control systems.
method The method leverages controllability concepts to compute input trajectories and uses causal inference techniques.
result The method reliably identifies the true causal structure of control systems from real-world data.
New control methods for systems with adversarial perturbations.
problem Control systems with adversarial noise.
method Online convex optimization and convex relaxations.
result Low regret policies against adversarial perturbations.
Combining causality, control, and reinforcement learning for system control.
problem Learning to control dynamical systems using causal, control, and reinforcement learning approaches.
method Combining causal identification, control strategies, and reinforcement learning to control dynamical systems.
result Combining different learning paradigms for effective system control.
LqgOpt learns optimal control in unknown LQG systems with minimal regret.
problem Adaptive control in partially observable linear quadratic Gaussian systems with unknown dynamics.
method Optimism in the face of uncertainty, predictor state evolution, closed-loop system identification, confidence bounds.
result Proves a regret upper bound of i l d e O ( T ) ilde{\mathcal{O}}(\sqrt{T}) i l d e O ( T ) for LQG systems. The paper presents a model-free method for stabilizing unknown control systems.
problem Stabilizing unknown control systems in engineering.
method Solving discounted LQR problems with increasing discount factors.
result The method efficiently recovers a stabilizing controller for linear and smooth nonlinear systems.
Optimal Control Theory optimizes neural networks, improving robustness and efficiency.
problem Optimizing deep neural networks (DNNs) for better performance and efficiency.
method Integrating Optimal Control Theory with Backpropagation to develop a new optimizer.
result Optimal Control Theoretic Neural Optimizer (OCNOpt) improves upon existing methods in robustness and efficiency.