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.
New robust control method for uncertain systems using bootstrapped noise.
problem Designing controllers robust to model uncertainties in finite data.
method Least-squares model estimator, bootstrap resampling, multiplicative noise LQR.
result Significantly outperforms certainty equivalent controllers in numerical tests.
Efficiently designs distributed controllers for sparse systems with sub-linear sample complexity.
problem Designing robust distributed controllers for unknown-but-sparse linear systems.
method Combining distributed controller synthesis and structured linear inverse problems for system identification.
result Near-optimal distributed controllers can be learned with sub-linear sample complexity and near-linear time complexity.
Survey explores geometric aspects of policy optimization in control systems.
problem Understanding the geometric relationships between control design and optimization.
method Geometric perspective on policy optimization, focusing on parameterization and topology.
result Implications of policy geometry on stability and performance of local search algorithms.
TAD efficiently finds optimal settings for advanced manufacturing.
problem Optimizing high-dimensional process control parameters for optimal design features.
method TAD uses Gaussian process surrogate models and optimizes log-predictive likelihood to find optimal settings.
result TAD efficiently locates optimal settings with quantified uncertainty.
Optimizes experimental design using synthetic controls for better outcomes.
problem Estimating average treatment effects in studies with pre-treatment data.
method Mixed-integer programming for selecting treated and control units and weights.
result Improves mean squared error and statistical power compared to simple alternatives.
Paper shows how to linearize flat systems with two inputs.
problem Linearizing flat nonlinear control systems with two inputs.
method Using prolongations of a control, the system can be made static feedback linearizable.
result A tracking control can be designed without requiring measurements of a generalized Brunovsky state.
Paper develops an efficient algorithm for experiment design using synthetic controls.
problem Designing optimal experiments for treatment effect estimation.
method Solves a phase synchronization problem via a normalized generalized power method.
result First global optimality guarantee for experiment design with pre-treatment data.
Develops control and observer methods for complex systems.
problem Controlling and observing infinite-dimensional systems with boundary actuation.
method Energy-Casimir method and port-Hamiltonian system representation.
result Control law and observer designed for Kirchhoff-Love plate example.
Syntax designs adaptive trials for subpopulations with potential benefits.
problem Identifying subpopulations with positive treatment effects in diverse patient populations.
method Adaptive patient recruitment and synthetic control estimation.
result Syntax outperforms conventional trial designs in identifying beneficial subpopulations.
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.
Survey combines FL and control for better adaptability and privacy.
problem Combining FL and control for better adaptability and privacy.
method Combining Federated Learning (FL) and control methods.
result Combining FL and control enhances adaptability, scalability, generalization, and privacy.
Algorithm optimizes system design and control for better rewards.
problem Optimizing system design and control for maximum rewards.
method Deep reinforcement learning combining policy gradient and model-based optimization.
result DEPS algorithm outperforms state-of-the-art methods in various environments.
MFRL-BI controls manufacturing processes without needing accurate models.
problem Model inaccuracies in complex manufacturing systems.
method Model-free reinforcement learning with Bayesian inference.
result Demonstrated to perform well in a nonlinear CMP process.
Proves existence of maps with controlled small curvatures.
problem Existence of locally distance-increasing maps with controlled curvatures.
method Proves existence using controlled small curvatures.
result Existence of locally distance-increasing maps with controlled small curvatures.
A new Q-learning controller improves line follower robot control.
problem Challenges in controlling line follower robots due to unknown mechanical characteristics and uncertainties.
method Simulated annealing based Q learning method to address controller performance issues.
result The proposed controller outperforms conventional P controllers in line follower robots.
We propose an input design method for a general class of parametric probabilistic models, including nonlinear dynamical systems with process noise. The goal of the procedure is to select inputs such that the parameter posterior distribution concentrates about the true value of the parameters; however, exact computation…
Designs adaptive controller for networked control systems with wireless data transmission.
problem Adaptive control in networked systems with unreliable wireless channels.
method Upper Confidence Bounds for Networked Control Systems (UCB-NCS) learning rule.
result Non-asymptotic performance guarantees with a regret bound of O(C√T).
Improved 3D generative models for drug design reduce bias and enhance data efficiency.
problem Data sparsity and bias in 3D molecular design models.
method Multi-level contrastive learning protocol for bias control and data efficiency.
result Hierarchical generative models that are topologically unbiased and explainable.
A new framework for controllable generation of discrete masked models.
problem Efficient controllable generation of discrete data models.
method Plug-and-play framework based on importance sampling.
result Demonstrates versatility across multiple domains, including protein design.
Recent research on Software-Defined Networking (SDN) strongly promotes the adoption of distributed controller architectures. To achieve high network performance, designing a scheduling function (SF) to properly dispatch requests from each switch to suitable controllers becomes critical. However, existing literature ten…
Paper designs energy-based controllers and observers for complex systems.
problem Controlling and observing infinite-dimensional systems with in-domain actuation.
method Uses Stokes-Dirac structures and jet-bundle structures to derive controllers and observers.
result Control schemes derived in both frameworks are equivalent.
Study uses multi-agent reinforcement learning to control self-assembly with high-resolution external control.
problem Designing effective external control protocols for self-assembly with high-resolution control.
method Investigated a multi-agent reinforcement learning approach, comparing fully decentralized and partially decentralized strategies.
result Partially decentralized approach outperforms fully decentralized in controlling self-assembly towards target structures.
Paper proposes a DRL-based controller for networked AP systems that reduces communication frequency.
problem Reduce communication frequency in networked AP systems while maintaining control performance.
method Develops a DRL-based controller that avoids explicit update timing learning, using a semi-Markov decision process (SMDP).
result Improves communication efficiency without sacrificing control performance.
New method identifies how platforms can influence consumer behavior.
problem Estimating the causal effect of digital platforms on consumption.
method General causal inference problem, focusing on observational designs, and explicitly modeling consumption dynamics.
result Exogenous variation in consumption and responsive algorithmic control actions are sufficient for identifying steerability of consumption.
New NN design for nonlinear systems control with guarantees.
problem Designing NN architectures for nonlinear system control with guarantees.
method Exploits system model to design NN architecture, uses TLL NN for approximation.
result Guaranteed NN architecture sufficient for implementing a controller.
This paper addresses the optimal control problem known as the Linear Quadratic Regulator in the case when the dynamics are unknown. We propose a multi-stage procedure, called Coarse-ID control, that estimates a model from a few experimental trials, estimates the error in that model with respect to the truth, and then d…
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…
A controller learns to control a nonlinear plant with unknown model and partial observation using continuous deep Q-learning.
problem Designing a controller for a nonlinear plant with unknown model and partial sensor observation under network delays.
method Continuous deep Q-learning applied to an extended state including past control inputs and outputs.
result The controller can learn a robust control policy to network delays with partial sensor observation.
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…
The study sets limits on how well systems can be controlled adaptively.
problem Learning to control unknown linear Gaussian systems with quadratic costs.
method Combining ideas from experiment design, estimation theory, and perturbation bounds of information matrices.
result Regret lower bounds of the order of T \sqrt{T} T in the time horizon T T T accurately capture control-theoretic parameters. Iterative method learns unknown constraints for MPC control.
problem Learning to satisfy unknown polyhedral state constraints in iterative MPC.
method Collects and improves estimates of unknown constraints using collected data, designs an MPC controller to satisfy the estimated constraints.
result Robust and probabilistic guarantees of constraint satisfaction as a function of task iterations.
Optimal Volt/VAR control rules are designed using deep neural networks.
problem Designing optimal Volt/VAR control rules for distributed energy resources (DERs).
method Formulate optimal rule design as a bilevel program, then reformulate it as training a deep neural network (DNN). Use proximal gradient descent (PGD) iterations to emulate Volt/VAR dynamics.
result The proposed solution can be adapted to single/multi-phase feeders and achieves enhanced steady-state voltage profiles.
Control Contraction Metrics (CCMs) provide a nonlinear controller design involving an offline search for a Riemannian metric and an online search for a shortest path between the current and desired trajectories. In this paper, we generalize CCMs to Finsler geometry, allowing the use of non-Riemannian metrics. We provid…
New methods optimize transport and sampling for neural networks.
problem Designing effective training losses for neural networks.
method Optimal transport and stochastic optimal control through Schrödinger bridge problem.
result Valid training losses can be designed with numerical advantages.
This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages. The proposed approach has the benefit of avoiding complex terramechanics analysis …
New method steers protein design towards desired properties.
problem Challenges in designing proteins with specific structures and properties.
method Feynman-Kac framework applied to RFdiffusion models with guiding potentials.
result Significant improvement in predicted interface energetics and binder designability.
A hybrid model combines Q-learning and PID controller for continuous vehicle control.
problem Learning unsatisfactory results with discrete action space in autonomous driving.
method Combining Q-learning and PID controller, using Quadratic Q-function approximation and action network.
result Autonomous vehicle successfully learns smooth and efficient driving behavior.
A novel controller for wheeled robots handles joystick inputs for smooth steering.
problem Steering control for differential-drive wheeled robots from indirect joystick inputs.
method Developed a geometric controller based on Darboux frame kinematics.
result Smooth trajectories achieved with safety constraints and no desired states.
A novel dose-finding design for cancer clinical trials using level set estimation.
problem Finding the maximum tolerated dose (MTD) in phase I cancer clinical trials.
method Proposes a novel dose-finding design based on level set estimation (LSE) to determine the next dose.
result The proposed LSE design achieves higher accuracy in estimating the MTD and lower risk of overdosing compared to existing designs.
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.
Power system emergency control is generally regarded as the last safety net for grid security and resiliency. Existing emergency control schemes are usually designed off-line based on either the conceived "worst" case scenario or a few typical operation scenarios. These schemes are facing significant adaptiveness and r…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It also needs to deal with the internal parametric variations of vehicle sub-syste…
The paper designs neural networks with assurance for controlling nonlinear systems.
problem Designing neural networks with assurance for nonlinear system control.
method Bounding the number of affine functions needed for a CPWA function, connecting it to a TLL NN architecture.
result The TLL NN architecture is parameterized by the number of affine functions in the CPWA function it realizes.
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.
End-to-end algorithm for controlling bilinear systems with probabilistic noise.
problem Controlling bilinear systems with noisy data.
method Proposes an end-to-end algorithm using statistical learning theory and robust controller design.
result Derived finite sample identification error bounds and structurally suitable for control.
New method designs antimicrobial peptides with high potency and low toxicity.
problem Designing potent antimicrobial drugs with low toxicity.
method CLaSS method using deep generative autoencoder and atomistic simulations.
result Design and synthesis of two novel AMPs with high potency and low toxicity.
New framework minimizes interference and selection bias in network A/B testing.
problem Interference and selection bias in network A/B testing.
method Proposes a principled framework that jointly minimizes interference and selection bias using edge spillover probability and cluster matching.
result Significantly lower error in causal effect estimation compared to existing solutions.