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03/06/2023
Data-Driven Control with Inherent Lyapunov Stability
Recent advances in learning-based control leverage deep function approxi...
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02/06/2023
Learning Control-Oriented Dynamical Structure from Data
Even for known nonlinear dynamical systems, feedback controller synthesi...
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12/28/2022
A System-Level View on Out-of-Distribution Data in Robotics
When testing conditions differ from those represented in training data, ...
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12/02/2022
Adaptive Robust Model Predictive Control via Uncertainty Cancellation
We propose a learning-based robust predictive control algorithm that com...
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04/14/2022
Control-oriented meta-learning
Real-time adaptation is imperative to the control of robots operating in...
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04/16/2021
Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty
We propose a learning-based robust predictive control algorithm that can...
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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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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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08/02/2018