2 citations · 3 across the 13 of their papers we have counts for
13 papers
Computationally efficient safe exploration in reinforcement learning
Shreeram Murali, Shankar A. Deka, Dominik Baumann
Reinforcement learning in real-life applications requires safety guarantees during exploration. Typical reinforcement learning algorithms do not provide such guarantees, and many m…
Uncertainty Quantification via Invariant-Measure Conformal Prediction
Mohammadhossein Bakhtiaridoust, Dominik Baumann, Shankar Deka
Uncertainty quantification for learned stochastic dynamical systems is essential in safety-critical tasks such as control and monitoring. Standard conformal prediction provides fin…
Differential Geometric Conditions for Koopman Linearizability of Control-Affine Systems
Shankar A. Deka
Koopman linearization opens many possibilities for control synthesis and analysis of nonlinear systems. Whether or not any given nonlinear control system admits a finite-dimensiona…
Reach-Avoid Model Predictive Control with Guaranteed Recursive Feasibility via Input Constrained Backstepping
Jianqiang Ding, Nishant Jayesh Bhave, Shankar A. Deka
This letter proposes a novel sampled-data model predictive control framework for continuous control-affine nonlinear systems that provides rigorous reach-avoid and recursive feasib…
Data-driven Reachability Verification with Probabilistic Guarantees under Koopman Spectral Uncertainty
Jianqiang Ding, Shankar A. Deka
Providing rigorous reachability guarantees for unknown complex systems is a crucial and challenging task. In this paper, we present a novel data-driven framework that addresses thi…
Backstepping Reach-avoid Controller Synthesis for Multi-input Multi-output Systems with Mixed Relative Degrees
Jianqiang Ding, Dingran Yuan, Shankar A. Deka
Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in hig…
Robotic Trail Maker Platform for Rehabilitation in Neurological Conditions: Clinical Use Cases
Srikar Annamraju, Harris Nisar, Dayu Xia +4
Patients with neurological conditions require rehabilitation to restore their motor, visual, and cognitive abilities. To meet the shortage of therapists and reduce their workload,…
Extensions of the Path-integral formula for computation of Koopman eigenfunctions
Shankar A. Deka, Umesh Vaidya
Representing nonlinear dynamical systems using the Koopman Operator and its spectrum has distinct advantages in terms of linear interpretability of the model as well as in analysis…
Time-to-reach Bounds for Verification of Dynamical Systems Using the Koopman Spectrum
Jianqiang Ding, Shankar A. Deka
In this work, we present a novel Koopman spectrum-based reachability verification method for nonlinear systems. Contrary to conventional methods that focus on characterizing all po…
Path-Integral Formula for Computing Koopman Eigenfunctions
Shankar A. Deka, Sriram S. K. S. Narayanan, Umesh Vaidya
The paper is about the computation of the principal spectrum of the Koopman operator (i.e., eigenvalues and eigenfunctions). The principal eigenfunctions of the Koopman operator ar…
Koopman-Based Neural Lyapunov Functions for General Attractors
Shankar A. Deka, Alonso M. Valle, Claire J. Tomlin
Koopman spectral theory has grown in the past decade as a powerful tool for dynamical systems analysis and control. In this paper, we show how recent data-driven techniques for est…
Towards cyber-physical systems robust to communication delays: A differential game approach
Shankar A. Deka, Donggun Lee, Claire J. Tomlin
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catas…
Dynamically Computing Adversarial Perturbations for Recurrent Neural Networks
Shankar A. Deka, Dušan M. Stipanović, Claire J. Tomlin
Convolutional and recurrent neural networks have been widely employed to achieve state-of-the-art performance on classification tasks. However, it has also been noted that these ne…