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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
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 78 243 0 23 Feb 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 103 6 0 17 Feb 2022
Input-to-State Stable Neural Ordinary Differential Equations with Applications to Transient Modeling of Circuits Alan Yang J. Xiong Maxim Raginsky E. Rosenbaum AI4TS 47 4 0 14 Feb 2022
LyaNet: A Lyapunov Framework for Training Neural ODEs I. D. Rodriguez Aaron D. Ames Yisong Yue 70 52 0 05 Feb 2022
Neural Koopman Lyapunov Control Vrushabh Zinage E. Bakolas 57 28 0 13 Jan 2022
Learning Safe, Generalizable Perception-based Hybrid Control with Certificates Charles Dawson Bethany Lowenkamp D. Goff Chuchu Fan 99 54 0 04 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 52 3 0 03 Jan 2022
Data-Driven Computational Methods for the Domain of Attraction and Zubov's Equation W. Kang Kai Sun Liang Xu 44 15 0 29 Dec 2021
Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Control Santiago Sanchez-Escalonilla Rodolfo Reyes-Báez B. Jayawardhana 75 9 0 24 Dec 2021
Adversarially Robust Stability Certificates can be Sample-Efficient Thomas T. Zhang Stephen Tu Nicholas M. Boffi Jean-Jacques E. Slotine Nikolai Matni AAML 72 7 0 20 Dec 2021
Model-Based Safe Reinforcement Learning with Time-Varying State and Control Constraints: An Application to Intelligent Vehicles Xinglong Zhang Yaoqian Peng Biao Luo Wei Pan Xin Xu Haibin Xie 54 12 0 18 Dec 2021
Stability Verification in Stochastic Control Systems via Neural Network Supermartingales Mathias Lechner Dorde Zikelic K. Chatterjee T. Henzinger 70 33 0 17 Dec 2021
Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach Luca Furieri C. Galimberti M. Zakwan Giancarlo Ferrari-Trecate 86 21 0 16 Dec 2021
Learning Contraction Policies from Offline Data Navid Rezazadeh Maxwell Kolarich Solmaz S. Kia Negar Mehr OffRL 70 7 0 11 Dec 2021
Learning To Estimate Regions Of Attraction Of Autonomous Dynamical Systems Using Physics-Informed Neural Networks Cody Scharzenberger Joe Hays 74 3 0 18 Nov 2021
Learning Stable Deep Dynamics Models for Partially Observed or Delayed Dynamical Systems Andreas Schlaginhaufen Philippe Wenk Andreas Krause Florian Dorfler 63 16 0 27 Oct 2021
Continuous-Time Fitted Value Iteration for Robust Policies M. Lutter Boris Belousov Shie Mannor Dieter Fox Animesh Garg Jan Peters 65 9 0 05 Oct 2021
Lyapunov-stable neural-network control Hongkai Dai Benoit Landry Lujie Yang Marco Pavone Russ Tedrake 102 125 0 29 Sep 2021
Lyapunov-Net: A Deep Neural Network Architecture for Lyapunov Function Approximation Nathan Gaby Fumin Zhang X. Ye PINN 72 41 0 27 Sep 2021
Computing Funnels Using Numerical Optimization Based Falsifiers Jiří Fejlek Stefan Ratschan 29 3 0 23 Sep 2021
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 159 176 0 14 Sep 2021
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning Lukas Brunke Melissa Greeff Adam W. Hall Zhaocong Yuan Siqi Zhou Jacopo Panerati Angela P. Schoellig OffRL 68 636 0 13 Aug 2021
Learning Barrier Certificates: Towards Safe Reinforcement Learning with Zero Training-time Violations Yuping Luo Tengyu Ma OffRL 101 44 0 04 Aug 2021
How to Certify Machine Learning Based Safety-critical Systems? A Systematic Literature Review Florian Tambon Gabriel Laberge Le An Amin Nikanjam Paulina Stevia Nouwou Mindom Y. Pequignot Foutse Khomh G. Antoniol E. Merlo François Laviolette 113 70 0 26 Jul 2021
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics Ya-Chien Chang Sicun Gao 94 59 0 11 Jul 2021
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks Albert Wilcox Ashwin Balakrishna Brijen Thananjeyan Joseph E. Gonzalez Ken Goldberg 95 12 0 10 Jul 2021
A Survey of Uncertainty in Deep Neural Networks J. Gawlikowski Cedrique Rovile Njieutcheu Tassi Mohsin Ali Jongseo Lee Matthias Humt ... R. Roscher Muhammad Shahzad Wen Yang R. Bamler Xiaoxiang Zhu BDL UQCV OOD 242 1,174 0 07 Jul 2021
Active Learning in Robotics: A Review of Control Principles Annalisa T. Taylor Thomas A. Berrueta Todd Murphey 98 76 0 25 Jun 2021
RNNs of RNNs: Recursive Construction of Stable Assemblies of Recurrent Neural Networks L. Kozachkov Michaela Ennis Jean-Jacques E. Slotine 57 20 0 16 Jun 2021
Robust Value Iteration for Continuous Control Tasks M. Lutter Shie Mannor Jan Peters Dieter Fox Animesh Garg 64 18 0 25 May 2021
Value Iteration in Continuous Actions, States and Time M. Lutter Shie Mannor Jan Peters Dieter Fox Animesh Garg 52 37 0 10 May 2021
Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach A. Hakobyan Insoon Yang 167 25 0 03 May 2021
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems Spencer M. Richards Navid Azizan Jean-Jacques E. Slotine Marco Pavone 86 73 0 07 Mar 2021
Learning-based Adaptive Control using Contraction Theory Hiroyasu Tsukamoto Soon-Jo Chung Jean-Jacques E. Slotine 46 12 0 04 Mar 2021
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability Sylvia Herbert Jason J. Choi Suvansh Qazi Marsalis T. Gibson Koushil Sreenath Claire Tomlin 108 37 0 15 Jan 2021
Stability-Certified Reinforcement Learning via Spectral Normalization R. Takase N. Yoshikawa T. Mariyama T. Tsuchiya 51 5 0 26 Dec 2020
Neural Stochastic Contraction Metrics for Learning-based Control and Estimation Hiroyasu Tsukamoto Soon-Jo Chung Jean-Jacques E. Slotine 35 0 0 06 Nov 2020
Continuous Lyapunov Controller and Chaotic Non-linear System Optimization using Deep Machine Learning Amr Mahmoud Youmna Ismaeil M. Zohdy 45 1 0 28 Oct 2020
Neural Identification for Control Priyabrata Saha M. Egerstedt Saibal Mukhopadhyay 56 4 0 24 Sep 2020
Learning Safe Neural Network Controllers with Barrier Certificates Hengjun Zhao Xia Zeng Taolue Chen Zhiming Liu Jim Woodcock 116 43 0 18 Sep 2020
Learning Dynamical Systems using Local Stability Priors Arash Mehrjou A. Iannelli Bernhard Schölkopf 42 4 0 23 Aug 2020
Learning Stability Certificates from Data Nicholas M. Boffi Stephen Tu Nikolai Matni Jean-Jacques E. Slotine Vikas Sindhwani 81 97 0 13 Aug 2020
Automated and Formal Synthesis of Neural Barrier Certificates for Dynamical Models Andrea Peruffo D. Ahmed Alessandro Abate 48 15 0 07 Jul 2020
FISAR: Forward Invariant Safe Reinforcement Learning with a Deep Neural Network-Based Optimize Chuangchuang Sun Dong-Ki Kim Jonathan P. How 104 7 0 19 Jun 2020
Neural Certificates for Safe Control Policies Wanxin Jin Zhaoran Wang Zhuoran Yang Shaoshuai Mou 77 83 0 15 Jun 2020
Learning Monotone Dynamics by Neural Networks Yu Wang Qitong Gao Miroslav Pajic 20 1 0 11 Jun 2020
Neural Contraction Metrics for Robust Estimation and Control: A Convex Optimization Approach Hiroyasu Tsukamoto Soon-Jo Chung 66 59 0 08 Jun 2020
Neural Lyapunov Redesign Arash Mehrjou Mohammad Ghavamzadeh Bernhard Schölkopf 28 1 0 06 Jun 2020
Neural Lyapunov Control Ya-Chien Chang Nima Roohi Sicun Gao 85 310 0 01 May 2020
Actor-Critic Reinforcement Learning for Control with Stability Guarantee Minghao Han Lixian Zhang Jun Wang Wei Pan 95 113 0 29 Apr 2020