Lyapunov-stable neural-network control

29 September 2021

Hongkai Dai

Papers citing "Lyapunov-stable neural-network control"

50 / 57 papers shown

Title
Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions Kehan Long Jorge Cortés Nikolay Atanasov 7 0 0 16 May 2025
Neural Contraction Metrics with Formal Guarantees for Discrete-Time Nonlinear Dynamical Systems H. Li Xiangru Zhong Bin Hu Huan Zhang 41 0 0 23 Apr 2025
Learning Verifiable Control Policies Using Relaxed Verification Puja Chaudhury Alexander Estornell Michael Everett 29 0 0 23 Apr 2025
Analytical Lyapunov Function Discovery: An RL-based Generative Approach Haohan Zou Jie Feng Hao Zhao Yuanyuan Shi 95 0 0 04 Feb 2025
A Guaranteed-Stable Neural Network Approach for Optimal Control of Nonlinear Systems Anran Li John P. Swensen Mehdi Hosseinzadeh 77 0 0 28 Jan 2025
Provably-Safe Neural Network Training Using Hybrid Zonotope Reachability Analysis Long Kiu Chung Shreyas Kousik 211 0 0 22 Jan 2025
Certified Training with Branch-and-Bound: A Case Study on Lyapunov-stable Neural Control Zhouxing Shi Cho-Jui Hsieh Huan Zhang 75 0 0 27 Nov 2024
Control the GNN: Utilizing Neural Controller with Lyapunov Stability for Test-Time Feature Reconstruction Jielong Yang Rui Ding Feng Ji Hongbin Wang Linbo Xie 40 0 0 13 Oct 2024
Tight Stability, Convergence, and Robustness Bounds for Predictive Coding Networks A. Mali Tommaso Salvatori Alexander Ororbia 37 0 0 07 Oct 2024
Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation Hanjiang Hu Yujie Yang Tianhao Wei Changliu Liu AAML 26 7 0 04 Oct 2024
Learning and Verifying Maximal Taylor-Neural Lyapunov functions Matthieu Barreau Nicola Bastianello 44 1 0 30 Aug 2024
Certified Robust Invariant Polytope Training in Neural Controlled ODEs Akash Harapanahalli Samuel Coogan 50 2 0 02 Aug 2024
Combining Neural Networks and Symbolic Regression for Analytical Lyapunov Function Discovery Jie Feng Haohan Zou Yuanyuan Shi 35 2 0 21 Jun 2024
How Generalizable Is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation Joseph A. Vincent Haruki Nishimura Masha Itkina Paarth Shah Mac Schwager Thomas Kollar OffRL 39 9 0 08 May 2024
Learning a Stable, Safe, Distributed Feedback Controller for a Heterogeneous Platoon of Vehicles Michael Shaham T. Padır 37 0 0 18 Apr 2024
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation Lujie Yang Hongkai Dai Zhouxing Shi Cho-Jui Hsieh Russ Tedrake Huan Zhang 52 15 0 11 Apr 2024
Distributionally Robust Policy and Lyapunov-Certificate Learning Kehan Long Jorge Cortés Nikolay Atanasov 44 3 0 03 Apr 2024
MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints Maria Krinner Angel Romero L. Bauersfeld M. Zeilinger Andrea Carron Davide Scaramuzza 44 15 0 26 Mar 2024
LyZNet: A Lightweight Python Tool for Learning and Verifying Neural Lyapunov Functions and Regions of Attraction Jun Liu Yiming Meng Maxwell Fitzsimmons Rui Zhou 37 16 0 15 Mar 2024
Verification-Aided Learning of Neural Network Barrier Functions with Termination Guarantees Shaoru Chen Lekan Molu Mahyar Fazlyab 42 5 0 12 Mar 2024
Globally Stable Neural Imitation Policies Amin Abyaneh Mariana Sosa Guzmán Hsiu-Chin Lin 43 2 0 07 Mar 2024
Meta-Learning-Based Adaptive Stability Certificates for Dynamical Systems Amit Jena D. Kalathil Le Xie 28 3 0 23 Dec 2023
Physics-Informed Neural Network Lyapunov Functions: PDE Characterization, Learning, and Verification Jun Liu Yiming Meng Maxwell Fitzsimmons Rui Zhou 31 16 0 14 Dec 2023
MPC-Inspired Reinforcement Learning for Verifiable Model-Free Control Yiwen Lu Zishuo Li Yihan Zhou Na Li Yilin Mo 25 2 0 08 Dec 2023
Learning Lyapunov-Stable Polynomial Dynamical Systems Through Imitation Amin Abyaneh Hsiu-Chin Lin 23 5 0 31 Oct 2023
Forward Invariance in Neural Network Controlled Systems Akash Harapanahalli Saber Jafarpour Samuel Coogan 29 4 0 16 Sep 2023
Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems Truong X. Nghiem Ján Drgoňa Colin N. Jones Zoltán Nagy Roland Schwan ... J. Paulson Andrea Carron M. Zeilinger Wenceslao Shaw-Cortez D. Vrabie PINN AI4CE 37 30 0 24 Jun 2023
Neural Lyapunov Control for Discrete-Time Systems Junlin Wu Andrew Clark Y. Kantaros Yevgeniy Vorobeychik 32 24 0 11 May 2023
Learning Stability Attention in Vision-based End-to-end Driving Policies Tsun-Hsuan Wang Wei Xiao Makram Chahine Alexander Amini Ramin Hasani Daniela Rus 27 6 0 05 Apr 2023
Neural Abstractions Alessandro Abate Alec Edwards Mirco Giacobbe 27 14 0 27 Jan 2023
Autonomous Drone Racing: A Survey D. Hanover Antonio Loquercio L. Bauersfeld Angel Romero Robert Pěnička Yunlong Song Giovanni Cioffi Elia Kaufmann Davide Scaramuzza 62 58 0 04 Jan 2023
A Policy Optimization Method Towards Optimal-time Stability Shengjie Wang Lan Fengb Xiang Zheng Yu-wen Cao Oluwatosin Oseni Haotian Xu Tao Zhang Yang Gao 39 1 0 02 Jan 2023
Distributionally Robust Lyapunov Function Search Under Uncertainty Kehan Long Yinzhuang Yi Jorge Cortés Nikolay Atanasov 31 9 0 03 Dec 2022
Generating Stable and Collision-Free Policies through Lyapunov Function Learning Alexandre Coulombe Hsiu-Chin Lin 11 5 0 16 Nov 2022
ReachLipBnB: A branch-and-bound method for reachability analysis of neural autonomous systems using Lipschitz bounds Taha Entesari Sina Sharifi Mahyar Fazlyab 41 6 0 01 Nov 2022
FI-ODE: Certifiably Robust Forward Invariance in Neural ODEs Yujia Huang I. D. Rodriguez Huan Zhang Yuanyuan Shi Yisong Yue 16 0 0 30 Oct 2022
Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees Ewerton R. Vieira Aravind Sivaramakrishnan Yao Song Edgar Granados Marcio Gameiro Konstantin Mischaikow Ying Hung Kostas E. Bekris AI4CE 30 3 0 04 Oct 2022
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems Nicholas Rober Sydney M. Katz Chelsea Sidrane Esen Yel Michael Everett Mykel J. Kochenderfer Jonathan P. How 35 26 0 28 Sep 2022
Analysis and Design of Quadratic Neural Networks for Regression, Classification, and Lyapunov Control of Dynamical Systems L. Rodrigues S. Givigi 27 2 0 26 Jul 2022
Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Control Katie Kang Paula Gradu Jason J. Choi Michael Janner Claire Tomlin Sergey Levine 11 23 0 21 Jun 2022
Neural Lyapunov Control of Unknown Nonlinear Systems with Stability Guarantees Rui Zhou Thanin Quartz H. Sterck Jun Liu 22 46 0 04 Jun 2022
Safety Certification for Stochastic Systems via Neural Barrier Functions Frederik Baymler Mathiesen S. Calvert Luca Laurenti 23 34 0 03 Jun 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam K. Sreenath 26 16 0 11 May 2022
Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot Controllers Ewerton R. Vieira Edgar Granados Aravind Sivaramakrishnan Marcio Gameiro Konstantin Mischaikow Kostas E. Bekris 16 6 0 17 Feb 2022
Spelunking the Deep: Guaranteed Queries on General Neural Implicit Surfaces via Range Analysis Nicholas Sharp Alec Jacobson 39 26 0 05 Feb 2022
Joint Differentiable Optimization and Verification for Certified Reinforcement Learning Yixuan Wang S. Zhan Zhilu Wang Chao Huang Zhaoran Wang Zhuoran Yang Qi Zhu 23 22 0 28 Jan 2022
Maximizing information from chemical engineering data sets: Applications to machine learning Alexander Thebelt Johannes Wiebe Jan Kronqvist Calvin Tsay Ruth Misener AI4CE 42 68 0 25 Jan 2022
Neural Koopman Lyapunov Control Vrushabh Zinage E. Bakolas 22 28 0 13 Jan 2022
SABLAS: Learning Safe Control for Black-box Dynamical Systems Zengyi Qin Dawei Sun Chuchu Fan 26 43 0 06 Jan 2022
Revisiting PGD Attacks for Stability Analysis of Large-Scale Nonlinear Systems and Perception-Based Control Aaron J. Havens Darioush Keivan Peter M. Seiler Geir Dullerud Bin Hu AAML 22 3 0 03 Jan 2022