28 citations · 93 across the 15 of their papers we have counts for
27 papers
Learning to Control Linear Systems can be Hard
Anastasios Tsiamis, Ingvar Ziemann, Manfred Morari +2
In this paper, we study the statistical difficulty of learning to control linear systems. We focus on two standard benchmarks, the sample complexity of stabilization, and the regre…
Performance-Robustness Tradeoffs in Adversarially Robust Linear-Quadratic Control
Bruce D. Lee, Thomas T. C. K. Zhang, Hamed Hassani +1
While methods can introduce robustness against worst-case perturbations, their nominal performance under conventional stochastic disturbances is often drastica…
Uncertainty-driven Planner for Exploration and Navigation
Georgios Georgakis, Bernadette Bucher, Anton Arapin +3
We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constit…
Single Trajectory Nonparametric Learning of Nonlinear Dynamics
Ingvar Ziemann, Henrik Sandberg, Nikolai Matni
Given a single trajectory of a dynamical system, we analyze the performance of the nonparametric least squares estimator (LSE). More precisely, we give nonasymptotic expected …
Communication Topology Co-Design in Graph Recurrent Neural Network Based Distributed Control
Fengjun Yang, Nikolai Matni
When designing large-scale distributed controllers, the information-sharing constraints between sub-controllers, as defined by a communication topology interconnecting them, are as…
How Are Learned Perception-Based Controllers Impacted by the Limits of Robust Control?
Jingxi Xu, Bruce Lee, Nikolai Matni +1
The difficulty of optimal control problems has classically been characterized in terms of system properties such as minimum eigenvalues of controllability/observability gramians. W…