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The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems

2 August 2018

Papers citing "The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems"

50 / 114 papers shown

Title
Safely Learning Controlled Stochastic Dynamics Luc Brogat-Motte Alessandro Rudi Riccardo Bonalli 51 0 0 03 Jun 2025
Adversarial Examples in Environment Perception for Automated Driving (Review) Jun Yan Huilin Yin AAML 87 0 0 11 Apr 2025
Learning Geometrically-Informed Lyapunov Functions with Deep Diffeomorphic RBF Networks Samuel Tesfazgi Leonhard Sprandl Sandra Hirche AAML 71 0 0 03 Apr 2025
Stable Port-Hamiltonian Neural Networks Fabian J. Roth Dominik K. Klein Maximilian Kannapinn Jan Peters Oliver Weeger 128 2 0 04 Feb 2025
Neural Continuous-Time Supermartingale Certificates Grigory Neustroev Mirco Giacobbe Anna Lukina 101 5 0 23 Dec 2024
Neural Control and Certificate Repair via Runtime Monitoring Emily Yu Đorđe Žikelić T. Henzinger AAML 112 0 0 17 Dec 2024
Pareto Control Barrier Function for Inner Safe Set Maximization Under Input Constraints Xiaoyang Cao Zhe Fu Alexandre M. Bayen 82 0 0 05 Oct 2024
Improving the Region of Attraction of a Multi-rotor UAV by Estimating Unknown Disturbances Sachithra Atapattu Oscar De Silva Thumeera R. Wanasinghe George K I Mann Raymond G Gosine 30 0 0 30 Aug 2024
Operational Safety in Human-in-the-loop Human-in-the-plant Autonomous Systems Ayan Banerjee Aranyak Maity Imane Lamrani Sandeep K. S. Gupta 21 0 0 22 Aug 2024
Formally Verifying Deep Reinforcement Learning Controllers with Lyapunov Barrier Certificates Udayan Mandal Guy Amir Haoze Wu Ieva Daukantas Fletcher Lee Newell ... Michael Durling Milan Ganai Tobey Shim Guy Katz Clark W. Barrett 64 8 0 22 May 2024
CPS-LLM: Large Language Model based Safe Usage Plan Generator for Human-in-the-Loop Human-in-the-Plant Cyber-Physical System Ayan Banerjee Aranyak Maity Payal Kamboj Sandeep K. S. Gupta 34 5 0 19 May 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 87 9 0 08 May 2024
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments Jingxing Qian Siqi Zhou Nicholas Jianrui Ren Veronica Chatrath Angela P. Schoellig 77 1 0 22 Apr 2024
Learning Stable and Passive Neural Differential Equations Jing Cheng Ruigang Wang I. Manchester 85 3 0 19 Apr 2024
Learning Deep Dynamical Systems using Stable Neural ODEs Andreas Sochopoulos Michael Gienger S. Vijayakumar 135 5 0 16 Apr 2024
Distributionally Robust Policy and Lyapunov-Certificate Learning Kehan Long Jorge Cortés Nikolay Atanasov 102 3 0 03 Apr 2024
Provably Safe Neural Network Controllers via Differential Dynamic Logic Samuel Teuber Stefan Mitsch André Platzer AAML 54 9 0 16 Feb 2024
Meta-Learning-Based Adaptive Stability Certificates for Dynamical Systems Amit Jena D. Kalathil Le Xie 62 3 0 23 Dec 2023
Compositional Policy Learning in Stochastic Control Systems with Formal Guarantees Dorde Zikelic Mathias Lechner Abhinav Verma K. Chatterjee T. Henzinger 98 12 0 03 Dec 2023
Deep Reinforcement Learning Graphs: Feedback Motion Planning via Neural Lyapunov Verification A. Ghanbarzadeh Esmaeil Najafi 26 0 0 29 Nov 2023
Deep Bayesian Reinforcement Learning for Spacecraft Proximity Maneuvers and Docking Desong Du Naiming Qi Yanfang Liu Wei Pan 64 0 0 07 Nov 2023
Learning Lyapunov-Stable Polynomial Dynamical Systems Through Imitation Amin Abyaneh Hsiu-Chin Lin 54 5 0 31 Oct 2023
Causal Modeling with Stationary Diffusions Lars Lorch Andreas Krause Bernhard Schölkopf DiffM 139 13 0 26 Oct 2023
$${\tt MORALS}$: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space$ ${\tt MORALS}$ : Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space Ewerton R. Vieira Aravind Sivaramakrishnan Sumanth Tangirala Edgar Granados Konstantin Mischaikow Kostas E. Bekris 84 3 0 05 Oct 2023
Value Functions are Control Barrier Functions: Verification of Safe Policies using Control Theory Daniel C.H. Tan Fernando Acero Robert McCarthy Dimitrios Kanoulas Zhibin Li OffRL 69 3 0 06 Jun 2023
Neural Lyapunov Control for Discrete-Time Systems Junlin Wu Andrew Clark Y. Kantaros Yevgeniy Vorobeychik 92 29 0 11 May 2023
On the Optimality, Stability, and Feasibility of Control Barrier Functions: An Adaptive Learning-Based Approach A. Chriat Chuangchuang Sun 81 4 0 05 May 2023
Lyapunov-Stable Deep Equilibrium Models Haoyu Chu Shikui Wei Ting Liu Yao-Min Zhao Yuto Miyatake AAML 62 4 0 25 Apr 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 76 6 0 05 Apr 2023
Hybrid Systems Neural Control with Region-of-Attraction Planner Yue Meng Chuchu Fan 86 2 0 18 Mar 2023
Data-Driven Control with Inherent Lyapunov Stability Youngjae Min Spencer M. Richards Navid Azizan 80 8 0 06 Mar 2023
ConCerNet: A Contrastive Learning Based Framework for Automated Conservation Law Discovery and Trustworthy Dynamical System Prediction Wang Zhang Tsui-Wei Weng Subhro Das Alexandre Megretski Lucani E. Daniel Lam M. Nguyen PINN 101 3 0 11 Feb 2023
Learning Control-Oriented Dynamical Structure from Data Spencer M. Richards Jean-Jacques E. Slotine Navid Azizan Marco Pavone 49 7 0 06 Feb 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 88 1 0 02 Jan 2023
Discovering Efficient Periodic Behaviours in Mechanical Systems via Neural Approximators Yannik P. Wotte Sven Dummer N. Botteghi C. Brune Stefano Stramigioli Federico Califano 78 6 0 29 Dec 2022
Safe Control Under Input Limits with Neural Control Barrier Functions Simin Liu Changliu Liu John M. Dolan AAML 87 41 0 20 Nov 2022
Learning Control Policies for Stochastic Systems with Reach-avoid Guarantees Dorde Zikelic Mathias Lechner T. Henzinger K. Chatterjee 100 27 0 11 Oct 2022
Learning Provably Stabilizing Neural Controllers for Discrete-Time Stochastic Systems Matin Ansaripour K. Chatterjee T. Henzinger Mathias Lechner Dorde Zikelic 122 6 0 11 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 81 3 0 04 Oct 2022
Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability Mengdi Xu Zuxin Liu Peide Huang Wenhao Ding Zhepeng Cen Yue Liu Ding Zhao 167 47 0 16 Sep 2022
A stabilizing reinforcement learning approach for sampled systems with partially unknown models Lukas Beckenbach Pavel Osinenko S. Streif OffRL 58 1 0 31 Aug 2022
Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Control Katie Kang Paula Gradu Jason J. Choi Michael Janner Claire Tomlin Sergey Levine 61 24 0 21 Jun 2022
Neural Lyapunov Control of Unknown Nonlinear Systems with Stability Guarantees Rui Zhou Thanin Quartz H. Sterck Jun Liu 75 51 0 04 Jun 2022
KCRL: Krasovskii-Constrained Reinforcement Learning with Guaranteed Stability in Nonlinear Dynamical Systems Sahin Lale Yuanyuan Shi Guannan Qu Kamyar Azizzadenesheli Adam Wierman Anima Anandkumar 70 9 0 03 Jun 2022
Learning Stabilizing Policies in Stochastic Control Systems Dorde Zikelic Mathias Lechner K. Chatterjee T. Henzinger 75 4 0 24 May 2022
Neural Lyapunov Differentiable Predictive Control Sayak Mukherjee Ján Drgoňa Aaron Tuor M. Halappanavar D. Vrabie 122 13 0 22 May 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam Koushil Sreenath 62 16 0 11 May 2022
Model-free Learning of Regions of Attraction via Recurrent Sets Yue Shen Maxim Bichuch Enrique Mallada 16 8 0 21 Apr 2022
Control-oriented meta-learning Spencer M. Richards Navid Azizan Jean-Jacques E. Slotine Marco Pavone 77 26 0 14 Apr 2022
Model-free Neural Lyapunov Control for Safe Robot Navigation Zikang Xiong Joe Eappen A. H. Qureshi Suresh Jagannathan 57 8 0 02 Mar 2022