3 papers
cs.RO2026
Runtime-Incremental Transformer for Reinforcement-Learning-Based Adaptive Control
Giansalvo Cirrincione, Adriano Fagiolini
Learning-based adaptive control of robotic manipulators with non-observable friction memory has been addressed by attention- based meta-controllers whose number of attention heads…
cs.LG2026
Learned Lyapunov Shielding for Adaptive Control
Giansalvo Cirrincione, Adriano Fagiolini
We augment the Slotine--Li adaptive controller for Euler--Lagrange systems with three learned components: a structured-quadratic Lyapunov function \(V_ψ\) whose positive-definitene…
cs.LG2026
Temporal Attention for Adaptive Control of Euler-Lagrange Systems with Unobservable Memory
Giansalvo Cirrincione, Adriano Fagiolini
Adaptive control of Euler-Lagrange systems is challenging when friction is governed by a finite-horizon internal state that is not directly observable from joint measurements. In t…