5 papers
On the Nonexistence of Continuous Immersions for Discrete-time Systems
Eron Ristich, Eduardo Sontag, Necmiye Ozay
Understanding when linear immersions of nonlinear dynamical systems exist is important since such immersions allow us to leverage the rich tools of linear system theory to analyze…
On the Generalization Properties of Selective State-Space Models for Filtering Tasks for Unknown Systems
Alex Tang, M. Emrullah Ildiz, Batin Kurt +2
Selective State-Space Models (SSMs) such as Mamba have emerged as an alternative architecture to self-attention based transformers in sequence modeling tasks. Recent works have dem…
Identification and Adaptive Control of Markov Jump Systems: Sample Complexity and Regret Bounds
Yahya Sattar, Zhe Du, Davoud Ataee Tarzanagh +3
Learning how to effectively control unknown dynamical systems is crucial for intelligent autonomous systems. This task becomes a significant challenge when the underlying dynamics…
System Identification Under Bounded Noise: Optimal Rates Beyond Least Squares
Xiong Zeng, Jing Yu, Necmiye Ozay
System identification is a fundamental problem in control and learning, particularly in high-stakes applications where data efficiency is critical. Classical approaches, such as th…
Ankle Exoskeletons May Hinder Standing Balance in Simple Models of Older and Younger Adults
Daphna Raz, Varun Joshi, Brian R. Umberger +1
Humans rely on ankle torque to maintain standing balance, particularly in the presence of small to moderate perturbations. Reductions in maximum torque (MT) production and maximum…