2 papers
eess.SY2026
GPU-Parallel Linearization Error Bounds for Real-Time Robust Optimal Control of Nonlinear and Neural Network Dynamics
Jeffrey Fang, Keyi Shen, Anutam Srinivasan +1
This paper studies real-time robust optimal control for uncertain nonlinear systems, where linear time-varying (LTV) approximations make planning tractable but require sound linear…
cs.RO2026
Parallel Differentiable Reachability for Learning and Planning with Certified Neural Dynamics and Controllers
Keyi Shen, Glen Chou
Neural network (NN) dynamics models and control policies achieve strong performance in robotics, but providing sound guarantees under uncertainty remains difficult, especially for…