6 papers
LDLT L-Lipschitz Network Weight Parameterization Initialization
Marius F. R. Juston, Ramavarapu S. Sreenivas, Dustin Nottage +1
We analyze initialization dynamics for LDLT-based -Lipschitz layers by deriving the exact marginal output variance when the underlying parameter matrix $W_0\in \mathbb…
LDLT -Lipschitz Network: Generalized Deep End-To-End Lipschitz Network Construction
Marius F. R. Juston, Ramavarapu S. Sreenivas, Dustin Nottage +1
Deep residual networks (ResNets) have demonstrated outstanding success in computer vision tasks, attributed to their ability to maintain gradient flow through deep architectures. S…
Hybrid Terrain-Aware Path Planning: Integrating VD-RRT* Exploration and VD-D* Lite Repair
Akshay Naik, William R. Norris, Dustin Nottage +1
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a c…
APECS: Adaptive Personalized Control System Architecture
Marius F. R. Juston, Alex Gisi, William R. Norris +2
This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appro…
1-Lipschitz Network Initialization for Certifiably Robust Classification Applications: A Decay Problem
Marius F. R. Juston, Ramavarapu S. Sreenivas, William R. Norris +2
This paper discusses the weight parametrization of two standard 1-Lipschitz network architectures, the Almost-Orthogonal-Layers (AOL) and the SDP-based Lipschitz Layers (SLL). It e…
L-Lipschitz Gershgorin ResNet Network
Marius F. R. Juston, William R. Norris, Dustin Nottage +1
Deep residual networks (ResNets) have demonstrated outstanding success in computer vision tasks, attributed to their ability to maintain gradient flow through deep architectures. S…