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12/20/2021
Adversarially Robust Stability Certificates can be Sample-Efficient
Motivated by bridging the simulation to reality gap in the context of sa...
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06/07/2021
Random features for adaptive nonlinear control and prediction
A key assumption in the theory of adaptive control for nonlinear systems...
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04/06/2021
Adaptive Variants of Optimal Feedback Policies
We combine adaptive control directly with optimal or near-optimal value ...
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03/07/2021
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems
Real-time adaptation is imperative to the control of robots operating in...
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12/31/2020
Universal Adaptive Control for Uncertain Nonlinear Systems
Precise motion planning and control require accurate models which are of...
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11/26/2020
Regret Bounds for Adaptive Nonlinear Control
We study the problem of adaptively controlling a known discrete-time non...
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11/07/2020
Sliding on Manifolds: Geometric Attitude Control with Quaternions
This work proposes a quaternion-based sliding variable that describes ex...
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11/06/2020
Neural Stochastic Contraction Metrics for Robust Control and Estimation
We present neural stochastic contraction metrics, a new design framework...
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08/13/2020
Learning Stability Certificates from Data
Many existing tools in nonlinear control theory for establishing stabili...
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06/15/2020
The Reflectron: Exploiting geometry for learning generalized linear models
Generalized linear models (GLMs) extend linear regression by generating ...
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05/06/2020
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies
In this work, we consider a group of robots working together to manipula...
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12/31/2019
Higher-order algorithms for nonlinearly parameterized adaptive control
A set of new adaptive control algorithms is presented. The algorithms ar...
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07/29/2019
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization
We propose a novel framework for learning stabilizable nonlinear dynamic...
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12/28/2018
A continuous-time analysis of distributed stochastic gradient
Synchronization in distributed networks of nonlinear dynamical systems p...
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07/31/2018
Learning Stabilizable Dynamical Systems via Control Contraction Metrics
We propose a novel framework for learning stabilizable nonlinear dynamic...
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11/10/2017