The paper discusses how offline-trained neural networks, when used in closed-loop control systems, can change the state distribution they were trained on, leading to performance degradation. It introduces a taxonomy of failure modes—Closed-Loop Identification Error, deployment-induced Action Error, and continuous Tracking Error—and uses discrete-time sensitivity analysis to explain how these errors arise. The authors propose time-scale separated online adaptation policies to mitigate distribution shift, validated on a nonlinear Duffing oscillator, showing that bounded continuous learning can prevent trajectory divergence while static deployments cannot.
arXiv:2608.06481v2 Announce Type: replace-cross Abstract: Synthesizing safe and robust neural controllers in simulation for reliable sim-to-real deployment remains a critical challenge in robotics. E...
The paper introduces Structured Representation Learning for Behavior Cloning (SRLBC), an architecture that separates embeddings for slow, fast, and exogenous state variables in multiscale dynamical systems. Applied to a pressurized water reactor load‑following benchmark, SRLBC outperforms shared‑embedding baselines in cumulative cost, imitation accuracy, and constraint satisfaction, achieving near‑NMPC performance at 15× lower computational cost. When combined with a safety‑augmented approximate NMPC, the resulting controller is 6.8× faster than full NMPC while maintaining at least 99.8% feasibility, and it degrades least under distribution shift.
arXiv:2606. 13794v1 Announce Type: cross Abstract: Nonlinear dynamics and the strong couplings that arise between multiple effectors undermine the assumptions behind conventional, linear control allocation techniques.
arXiv:2607. 07252v1 Announce Type: new Abstract: Reinforcement learning (RL) enables the synthesis of control policies directly from data, making it highly appealing for complex cyber-physical systems (CPSs) and robotics.
The paper introduces a closed‑loop cyber‑physical system for autonomous model lifecycle management in automotive manufacturing, deployed since 2023. It manages paired physics and reinforcement‑learning models, selecting the best candidate through competitive retraining cycles and a Conductor orchestrator that handles plant‑wide inventories and fallback controls. The system incorporates an operator‑trust gate that rejects 23% of policies that deviate from established practice, achieving 28‑45% process stability improvements with no safety incidents.
arXiv:2607. 03125v1 Announce Type: new Abstract: Deep reinforcement learning (DRL) offers powerful control for industrial cyber-physical systems (ICPSs), but its "black-box" exploration risks violating strict hardware safety limits.
Reinforcement learning (RL) enables the synthesis of control policies directly from data, making it highly appealing for complex cyber-physical systems (CPSs) and robotics. A persistent challenge, however, is ensuring strict, hard safety constraints during the active learning phase.
arXiv:2607. 16242v1 Announce Type: cross Abstract: Fine-Tuning-as-a-Service (FTaaS) platforms let users train large language models (LLMs) on customized tasks, but this pipeline could erode models' safety alignment.
arXiv:2608. 10332v1 Announce Type: cross Abstract: Differentiable predictive control (DPC), a self-supervised learning approach for approximating explicit model predictive control (MPC) policies, offers significant computational advantages over online optimization-based MPC.
arXiv:2608. 19366v1 Announce Type: cross Abstract: Mission-critical intelligent systems often operate under time-varying limitations that reduce control authority and change the admissible safe operating envelope.
arXiv:2610.27970v1 Announce Type: cross Abstract: Neural networks are expressive models of nonlinear dynamics, but identifying such systems from closed-loop data raises two difficulties: the feedback...
arXiv:2607. 21646v1 Announce Type: new Abstract: Ensuring safety in reinforcement learning under nonstationarity requires determining whether a learning system can safely adapt to forecasted environmental change within the required recovery horizon.