13 citations · 18 across the 7 of their papers we have counts for
3 papers · 1 filter
LyaNet: A Lyapunov Framework for Training Neural ODEs
Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue
We propose a method for training ordinary differential equations by using a control-theoretic Lyapunov condition for stability. Our approach, called LyaNet, is based on a novel Lya…
Optimization Methods for Interpretable Differentiable Decision Trees in Reinforcement Learning
Andrew Silva, Taylor Killian, Ivan Dario Jimenez Rodriguez +2
Decision trees are ubiquitous in machine learning for their ease of use and interpretability. Yet, these models are not typically employed in reinforcement learning as they cannot…
Differentiable MPC for End-to-end Planning and Control
Brandon Amos, Ivan Dario Jimenez Rodriguez, Jacob Sacks +2
We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one…