Zobrazeno 1 - 10
of 52
pro vyhledávání: '"Umenberger, Jack"'
Autor:
Pfrommer, Daniel, Padmanabhan, Swati, Ahn, Kwangjun, Umenberger, Jack, Marcucci, Tobia, Mhammedi, Zakaria, Jadbabaie, Ali
Recent work in imitation learning has shown that having an expert controller that is both suitably smooth and stable enables stronger guarantees on the performance of the learned controller. However, constructing such smoothed expert controllers for
Externí odkaz:
http://arxiv.org/abs/2410.00859
Autor:
Pfrommer, Daniel, Padmanabhan, Swati, Ahn, Kwangjun, Umenberger, Jack, Marcucci, Tobia, Mhammedi, Zakaria, Jadbabaie, Ali
Recent work in imitation learning has shown that having an expert controller that is both suitably smooth and stable enables stronger guarantees on the performance of the learned controller. However, constructing such smoothed expert controllers for
Externí odkaz:
http://arxiv.org/abs/2306.01914
We introduce the first direct policy search algorithm which provably converges to the globally optimal $\textit{dynamic}$ filter for the classical problem of predicting the outputs of a linear dynamical system, given noisy, partial observations. Desp
Externí odkaz:
http://arxiv.org/abs/2202.11659
Stabilizing an unknown control system is one of the most fundamental problems in control systems engineering. In this paper, we provide a simple, model-free algorithm for stabilizing fully observed dynamical systems. While model-free methods have bec
Externí odkaz:
http://arxiv.org/abs/2110.06418
This paper proposes methods for identification of large-scale networked systems with guarantees that the resulting model will be contracting -- a strong form of nonlinear stability -- and/or monotone, i.e. order relations between states are preserved
Externí odkaz:
http://arxiv.org/abs/2107.14309
Publikováno v:
SIAM Journal on Optimization, Vol. 34, No. 1, pp. 507-532, 2024
Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each vertex in the
Externí odkaz:
http://arxiv.org/abs/2101.11565
Autor:
Umenberger, Jack, Schon, Thomas B.
Recent work by Mania et al. has proved that certainty equivalent control achieves nearly optimal regret for linear systems with quadratic costs. However, when parameter uncertainty is large, certainty equivalence cannot be relied upon to stabilize th
Externí odkaz:
http://arxiv.org/abs/1912.13143
This paper concerns the problem of learning control policies for an unknown linear dynamical system to minimize a quadratic cost function. We present a method, based on convex optimization, that accomplishes this task robustly: i.e., we minimize the
Externí odkaz:
http://arxiv.org/abs/1906.01584
Publikováno v:
Automatica, vol. 121, 109158, Nov. 2020
We shed new light on the \textit{smoothness} of optimization problems arising in prediction error parameter estimation of linear and nonlinear systems. We show that for regions of the parameter space where the model is not contractive, the Lipschitz
Externí odkaz:
http://arxiv.org/abs/1905.00820
Autor:
Umenberger, Jack, Schön, Thomas B.
We propose an input design method for a general class of parametric probabilistic models, including nonlinear dynamical systems with process noise. The goal of the procedure is to select inputs such that the parameter posterior distribution concentra
Externí odkaz:
http://arxiv.org/abs/1903.02250