1 citations · 2 across the 9 of their papers we have counts for
11 papers
Exact-Safe MPPI: Safety-Aware Sampling with Nonsmooth Control Barrier Functions
Alexander Coker, Leilei Cui
Model predictive path integral (MPPI) control plans actions by sampling and evaluating trajectories, but standard MPPI does not guarantee safety. Incorporating control barrier func…
Parallel Policy-Gradient Methods for Parameter Optimization of Nonlinear Feedback Controllers
An Nguyen, Leilei Cui
Structured feedback controllers provide rigorous stability guarantees, but often require manual parameter tuning to achieve good closed-loop performance. Policy-gradient methods of…
LQR for Systems with Probabilistic Parametric Uncertainties: A Gradient Method
Leilei Cui, Richard D. Braatz
A gradient-based method is proposed for solving the linear quadratic regulator (LQR) problem for linear systems with nonlinear dependence on time-invariant probabilistic parametric…
Small-Covariance Noise-to-State Stability of Stochastic Systems and Its Applications to Stochastic Gradient Dynamics
Leilei Cui, Zhong-Ping Jiang, Eduardo D. Sontag
This paper studies gradient dynamics subject to additive random noise, which may arise from sources such as stochastic gradient estimation, measurement noise, or stochastic samplin…
Perturbed Gradient Descent Algorithms are Small-Disturbance Input-to-State Stable
Leilei Cui, Zhong-Ping Jiang, Eduardo D. Sontag +1
This article investigates the robustness of gradient descent algorithms under perturbations. The concept of small-disturbance input-to-state stability (ISS) for discrete-time nonli…
A Fully Data-Driven Value Iteration for Stochastic LQR: Convergence, Robustness and Stability
Leilei Cui, Zhong-Ping Jiang, Petter N. Kolm +1
Unlike traditional model-based reinforcement learning approaches that estimate system parameters from data, non-model-based data-driven control learns the optimal policy directly f…
Remarks on the Polyak-Lojasiewicz inequality and the convergence of gradient systems
Arthur Castello B. de Oliveira, Leilei Cui, Eduardo D. Sontag
This work explores generalizations of the Polyak-Lojasiewicz inequality (PLI) and their implications for the convergence behavior of gradient flows in optimization problems. Motiva…
Small-Disturbance Input-to-State Stability of Perturbed Gradient Flows: Applications to LQR Problem
Leilei Cui, Zhong-Ping Jiang, Eduardo D. Sontag
This paper studies the effect of perturbations on the gradient flow of a general nonlinear programming problem, where the perturbation may arise from inaccurate gradient estimation…
Robust Reinforcement Learning for Risk-Sensitive Linear Quadratic Gaussian Control
Leilei Cui, Tamer Başar, Zhong-Ping Jiang
This paper proposes a novel robust reinforcement learning framework for discrete-time linear systems with model mismatch that may arise from the sim-to-real gap. A key strategy is…
Learning-Based Adaptive Optimal Control of Linear Time-Delay Systems: A Policy Iteration Approach
Leilei Cui, Bo Pang, Zhong-Ping Jiang
This paper studies the adaptive optimal control problem for a class of linear time-delay systems described by delay differential equations (DDEs). A crucial strategy is to take adv…
Robust Policy Optimization in Continuous-time Mixed Stochastic Control
Leilei Cui, Lekan Molu
Following the recent resurgence in establishing linear control theoretic benchmarks for reinforcement leaning (RL)-based policy optimization (PO) for complex dynamical systems with…