4 papers
A Context-aware Gated Convex Mixtures of LSTM Experts for Nonlinear System Identification
Ali Rajabi, Iman Salehi
This work addresses nonlinear and nonstationary system identification using one-step-ahead prediction on the nonlinear autoregressive moving average benchmark with ten-step memory…
Robust Learning of Nonlinear Dynamical Systems with Safety and Stability Properties
Iman Salehi, Ghananeel Rotithor, Ashwin P. Dani
The paper presents a robust parameter learning methodology for identification of nonlinear dynamical system from data while satisfying safety and stability constraints in the conte…
Discrete-Time Nonlinear Systems Identification with Probabilistic Safety and Stability Constraints
Iman Salehi, Tyler Taplin, Ashwin P. Dani
This paper presents a discrete-time nonlinear system identification method while satisfying the stability and safety properties of the system with high probability. An Extreme Lear…
Stitching Dynamic Movement Primitives and Image-based Visual Servo Control
Ghananeel Rotithor, Iman Salehi, Edward Tunstel +1
Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for m…