Study local control of a specific mechanism with growth vector (4,7).
problem Local control of a mechanism with a specific growth vector.
method Controllability and extremal trajectories on the nilpotent approximation.
result Solutions of the system and examples of local extremal trajectories.
Study local control in a 7D quaternionic Heisenberg group.
problem Optimizing geodesics in a 7D quaternionic Heisenberg group.
method Matrix representation and analysis of sub-Riemannian structure symmetries.
result Impact of symmetries on geodesic optimality.
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.
Local control regression improves portfolio optimization accuracy.
problem Expensive and inaccurate global control regression for portfolio optimization.
method Introduced local control regression combined with adaptive grids.
result Choosing a coarse grid for local regression produces accurate results.
New methods prove controllability of non-linear systems, extending classical results.
problem Controllability of non-linear control systems.
method Analytic control system, graph completions, flows of vector fields, pseudogroup of local diffeomorphisms.
result Sufficient conditions for local controllability and accessibility of non-linear systems.
The Noether theorem is extended to stochastic control problems using contact symmetries.
problem Stochastic optimal control problems.
method Exploiting jet bundles and contact geometry, the authors prove the existence of conserved quantities.
result Optimal control problems admit infinitely many conserved quantities in the form of local martingales.
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.
problem Classical result of Control Theory (Kalman Theorem).
method Two proofs using flows of vector fields.
result New criteria for local controllability of non-linear systems.
A neural network learns to control a two-link arm with non-linear dynamics.
problem Training spiking neural networks to control complex, non-linear systems.
method Feedback-based Online Local Learning Of Weights (FOLLOW) to train a network of spiking neurons with hidden layers.
result The network learns an inverse model of the arm's dynamics and uses it to generate a motor command for control.
L-ARC improves model fairness by localizing risk guarantees.
problem Improving model fairness in tasks like image segmentation and wireless networks.
method Localized Adaptive Risk Control (L-ARC) updates a threshold function in RKHS to target localized statistical risk guarantees.
result L-ARC produces prediction sets with improved fairness across different data subpopulations.
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.
Ricci flow controls curvature on manifolds with bounds.
problem Controlling curvature on manifolds with given bounds.
method Ricci flow with curvature bounds and entropy controls.
result Global curvature control at positive times for manifolds.
Proposes a new method to control FDR using frequentist-assisted horseshoe for high-dimensional testing.
problem Designing tests with frequentist false discovery rate control using horseshoe prior.
method Frequentist-assisted horseshoe procedure for high-dimensional normal means testing.
result Consistently achieves robust finite-sample FDR control in various sparse cases.
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.
problem Resource constraints prevent fixed-price inference, leading to support exclusion.
method Formalizes support-exclusion failure, designs a target-aware controller, and uses a realized information clock.
result The controller can certify feasible target bands and log continuous local densities, leading to polynomial rates of inference.
We show LLMs can be locally linear, enabling better control of activations.
problem Suboptimal control of LLM activations during generation.
method Model LLM inference as a linear dynamical system, compute feedback controllers using Jacobians, and adapt classical control theory.
result Robust, fine-grained control of LLM activations across models and tasks.
Ricci flow smooths locally collapsing manifolds with controlled curvature.
problem Locally collapsing manifolds with controlled Ricci curvature.
method Ricci flow for a definite period of time, detecting collapsing infranil fiber bundles.
result Topological conditions detect collapsing infranil fiber bundles.
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…
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.
Paper proves convergence for Willmore immersions with minimal bubbles.
problem Proving convergence of Willmore immersions with minimal bubbles.
method Replaces total curvature control with local Willmore energy control.
result Proves convergence result for sequences of Willmore immersions.
New method prepares 3-qubit states using local gates and controlled-Z gates.
problem Preparation of 3-qubit states using quantum gates.
method Uses Ry(θ) gates and controlled-Z gates, with an optimal number of controlled-Z gates. result Optimal number of controlled-Z gates for preparing 3-qubit states is four. POLO framework enables efficient learning and exploration in model-based control.
problem Efficient learning and exploration in model-based control settings.
method Combines local model-based control, global value function learning, and exploration.
result POLO framework accelerates value function learning and enables better policies.
Neuro-inspired RL solves complex control problems with fewer controllers.
problem Solving nonlinear control problems with unknown dynamics efficiently.
method Hierarchical RL framework combining limb coordination and reinforcement learning.
result Local LQR controllers combined with a reinforcement learner solve global nonlinear problems.
This paper analyzes a simplified strategy for nonlinear control using local linear models and iLQR updates.
problem Nonlinear policy optimization in control systems.
method Iterative estimation of local linear models and iLQR-like policy updates.
result Demonstrates polynomial sample complexity and overcomes exponential problem horizon dependence.
End-to-end driving network learns navigation and localization from raw data.
problem Lack of full action distribution and localization in end-to-end autonomous driving.
method Variational network for predicting control commands and deterministic navigation, probabilistic localization using noisy GPS.
result Model can predict full probability distribution over possible actions and navigate routes.
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…
Paper studies long-run risk optimization with dyadic impulses for unbounded processes.
problem Long-run risk optimization problem with unbounded and non-uniformly ergodic processes.
method Adapting weight norm approach, combining geometric drift and local minorization property.
result Existence of solution to Bellman equation for risk-averse parameters.
New solutions found with negative mass in general relativity.
problem Finding metrics with negative mass in general relativity.
method Constructing families of metrics with specific properties.
result Obtained new classes of solutions with negative mass.
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 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 …
Non-linear control rules improve smart inverter performance in fluctuating grids.
problem Optimizing smart inverter control for voltage regulation and energy efficiency in fluctuating grids.
method Customized non-linear control rules designed as a kernel-based regression task, leveraging a linearized grid model and convex optimization.
result Non-linear control rules achieve near-optimal performance in real-world tests, minimizing voltage deviations and ohmic losses.
Control data constructed for smooth weak deformation retraction of stratified spaces.
problem Construct control data for smooth weak deformation retraction of stratified spaces.
method Show smooth local triviality with conical fibers, construct control data, use fiber-wise scalar multiplications.
result Obtain neighbourhood smooth weak deformation retraction of stratified spaces.
Study examines quotients of affine connection control systems.
problem Existence of quotients preserving mechanical structures.
method Local and global sufficient and necessary conditions for geodesically accessible systems.
result Quotients can be constructed for geodesically accessible systems.
Study examines surfaces with bounded fractional mean curvature, proving control over local parametrization.
problem Understanding surfaces with bounded fractional mean curvature.
method Investigates bounded L^p-norm of fractional mean curvature, proving control over local parametrization.
result Proves control over local parametrization, leading to lower Ahlfors-regularity, weak Michael-Simon type inequality, and stability application.
New method controls posterior collapse in VAEs without network architecture constraints.
problem Posterior collapse in VAEs reduces diversity of generated samples.
method Introduces Latent Reconstruction (LR) loss to control posterior collapse.
result Controls posterior collapse on various datasets without architectural constraints.
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…
Study of control problems on Carnot groups with SO(3) symmetry using geometric algebra.
problem Control problems on Carnot groups with SO(3) symmetry.
method Geometric algebra approach to understand geodesics and develop a control algorithm.
result New algorithm for local control developed.
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…
New method controls error in low-dimensional marginals of spatial models.
problem Inaccurate approximation of low-dimensional marginals in spatial models.
method Stein's method with δ-locality condition for spatial models.
result Uniform error bound for marginals of approximate distributions.
The paper solves a control problem using reflections to track a benchmark process.
problem Optimal consumption with a benchmark process that grows over time.
method Introduced two auxiliary state processes with reflections to transform the problem into a more tractable form.
result Established the existence of a unique classical solution to the dual PDE.
Paper proposes a new method for learning latent representations for control problems.
problem Learning representations for control algorithms in high-dimensional observation spaces.
method Formulated a loss function (PCC) consisting of prediction, consistency, and curvature terms, derived an amortized variational bound.
result The new variational-PCC learning algorithm leads to superior control performance and more stable training.
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.
A control system 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 q˙=f(u). In this paper we characterize trivializable control systems and control systems for which, up to a feedback transformation, f a…
A2C-based MARL controls large-scale traffic signals more efficiently.
problem Scalability issue in centralized RL for large-scale traffic control.
method Decentralized Multi-Agent A2C with improved observability and reduced learning difficulty.
result Optimal, robust, and sample-efficient control over other algorithms.
Two clustering algorithms optimize edge controller placement in wireless networks.
problem Optimizing edge controller placement in wireless edge networks.
method Deterministic annealing based clustering algorithms ECP-LL and ECP-LB.
result The algorithms achieve better balance between synchronization and delay costs.
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.
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…