Hugging Face Trending Papers
Certified Neural Approximation of Robust Nonlinear Model Predictive Control
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arXiv Machine Learning
Oct 22
Certified Neural Approximation of Robust Nonlinear Model Predictive Control
The paper presents a framework for creating neural network controllers that inherit the safety and stability guarantees of a robust model predictive control (MPC) policy. By treating the neural network’s approximation error as a bounded input disturbance and incorporating it into the MPC design, the method ensures recursive feasibility and stability before deployment. The approach is offline and constructive, requiring only Lipschitz bounds, and simulations show the learned controller matches the original MPC’s closed‑loop behavior while reducing online computation.
Hugging Face Trending Papers
Jul 8
Safe Reinforcement Learning using Ideas from Model Predictive Control
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 Machine Learning
Jul 9
Safe Reinforcement Learning using Ideas from Model Predictive Control
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.
arXiv Machine Learning
Aug 12
Topological Feasibility Guarantees for Differentiable Predictive Control
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 Machine Learning
Oct 16
Planning to Learn: Real-Time Robust Adaptive Control on the GPU with Guaranteed Future Learning
The paper introduces A‑SLS, a learning‑aware robust adaptive model predictive control framework that forecasts future parameter uncertainty and preserves correlations among disturbances, parameter errors, and estimate updates to build tight reachable sets. It presents a GPU‑accelerated solver enabling real‑time performance on high‑dimensional systems, demonstrated on a quadruped with 61 states and a Crazyflie drone that learns dynamics online to stabilize during flight.
arXiv Machine Learning
Jul 1
ShardNet: Training Neural Controllers with Hard, Non-Convex Constraints
arXiv:2606. 30935v1 Announce Type: cross Abstract: While neural network control policies are powerful, their deployment on safety critical systems depends on ensuring that they obey strict constraints.