1 citations · 1 across the 6 of their papers we have counts for
6 papers
PAC-Bayesian Optimal Control with Stability and Generalization Guarantees
Mahrokh Ghoddousi Boroujeni, Clara Lucía Galimberti, Andreas Krause +1
Stochastic Nonlinear Optimal Control (SNOC) seeks to minimize a cost function that accounts for random disturbances acting on a nonlinear dynamical system. Since the expectation ov…
Neural Identification of Feedback-Stabilized Nonlinear Systems
Mahrokh G. Boroujeni, Laura Meroi, Leonardo Massai +2
Neural networks have demonstrated remarkable success in modeling nonlinear dynamical systems. However, identifying these systems from closed-loop experimental data remains a challe…
Contractive Dynamical Imitation Policies for Efficient Out-of-Sample Recovery
Amin Abyaneh, Mahrokh G. Boroujeni, Hsiu-Chin Lin +1
Imitation learning is a data-driven approach to learning policies from expert behavior, but it is prone to unreliable outcomes in out-of-sample (OOS) regions. While previous resear…
A PAC-Bayesian Framework for Optimal Control with Stability Guarantees
Mahrokh Ghoddousi Boroujeni, Clara Lucía Galimberti, Andreas Krause +1
Stochastic Nonlinear Optimal Control (SNOC) involves minimizing a cost function that averages out the random uncertainties affecting the dynamics of nonlinear systems. For tractabi…
Personalized Federated Learning of Probabilistic Models: A PAC-Bayesian Approach
Mahrokh Ghoddousi Boroujeni, Andreas Krause, Giancarlo Ferrari Trecate
Federated Learning (FL) aims to infer a shared model from private and decentralized data stored by multiple clients. Personalized FL (PFL) enhances the model's fit for each client…
A unified framework for walking and running of bipedal robots
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti +1
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) hei…