4 papers · 1 filter
An Energy-Based Mechanism for Compositional Behavior
Francesca Rossi, Veronica Centorrino, Francesco Bullo +1
Flexible intelligence relies on the ability to reuse previously acquired behaviors and combine them differently as circumstances change. In biological and artificial systems, this…
Proximal Gradient Dynamics and Feedback Control for Equality-Constrained Composite Optimization
Veronica Centorrino, Francesca Rossi, Francesco Bullo +1
This paper studies equality-constrained composite minimization problems. This class of problems, capturing regularization terms and inequality constraints, naturally arises in a wi…
Free-Gate: Planning, Control And Policy Composition via Free Energy Gating
Francesca Rossi, Émiland Garrabé, Giovanni Russo
We consider the problem of optimally composing a set of primitives to tackle planning and control tasks. To address this problem, we introduce a free energy computational model for…
On Weakly Contracting Dynamics for Convex Optimization
Veronica Centorrino, Alexander Davydov, Anand Gokhale +2
We analyze the convergence behavior of \emph{globally weakly} and \emph{locally strongly contracting} dynamics. Such dynamics naturally arise in the context of convex optimization…