6 citations · 7 across the 10 of their papers we have counts for
7 papers · 1 filter
Intrinsic Contraction Theory and Stabilization of Probability Measures on the Wasserstein Space
Min Kim, Joshua D. Ibrahim, Soon-Jo Chung
Deterministic flows can contract Wasserstein distances between probability laws without being contractive in point-state space. We develop a differential contraction theory for pus…
Statistical Learning of Contractive Dynamical Representations for Composite Adaptive Control
Min Kim, José Leonardo Brenes, Fred Hadaegh +1
We present a representation-learning framework for composite adaptive tracking control under dynamically coupled disturbances. The framework connects classical disturbance-accommod…
Schur-Neural KF: Learned Schur-Consistent Corrections to the Extended Kalman Filter
Min Kim, Lianghao Cao, Soon-Jo Chung +1
We present Schur-Neural KF (SN-KF), a learning-based correction to the extended Kalman filter (EKF) that preserves the probabilistic conditioning interpretation of the EKF. The met…
Geometric Fault Identification via Mirror Descent Learning
Mahdi Taheri, Haeyoon Han, Soon-Jo Chung +1
This paper develops a fault detection and identification (FDI) method for nonlinear control-affine systems under simultaneous actuator and sensor faults. We adopt a geometric appro…
Perron-Frobenius Contractive Operator Matching for Data-Driven Reachable Fault Identification and Recovery
Joshua D. Ibrahim, Mahdi Taheri, Soon-Jo Chung +1
This paper focuses on data-driven fault detection, identification, and recovery (FDIR) for nonlinear control-affine systems under actuator faults. We create a unified framework in…
Data-Driven Probabilistic Fault Detection and Identification via Density Flow Matching
Joshua D. Ibrahim, Mahdi Taheri, Soon-Jo Chung +1
Fault detection and identification (FDI) is critical for maintaining the safety and reliability of systems subject to actuator and sensor faults. In this paper, the problem of FDI…
ContractionPPO: Certified Reinforcement Learning via Differentiable Contraction Layers
Vrushabh Zinage, Narek Harutyunyan, Eric Verheyden +2
Legged locomotion in unstructured environments demands not only high-performance control policies but also formal guarantees to ensure robustness under perturbations. Control metho…