27 citations · 204 across the 36 of their papers we have counts for
5 papers · 1 filter
KCRL: Krasovskii-Constrained Reinforcement Learning with Guaranteed Stability in Nonlinear Dynamical Systems
Sahin Lale, Yuanyuan Shi, Guannan Qu +3
Learning a dynamical system requires stabilizing the unknown dynamics to avoid state blow-ups. However, current reinforcement learning (RL) methods lack stabilization guarantees, w…
CEM-GD: Cross-Entropy Method with Gradient Descent Planner for Model-Based Reinforcement Learning
Kevin Huang, Sahin Lale, Ugo Rosolia +2
Current state-of-the-art model-based reinforcement learning algorithms use trajectory sampling methods, such as the Cross-Entropy Method (CEM), for planning in continuous control s…
Polymatrix Competitive Gradient Descent
Jeffrey Ma, Alistair Letcher, Florian Schäfer +2
Many economic games and machine learning approaches can be cast as competitive optimization problems where multiple agents are minimizing their respective objective function, which…
Training Certifiably Robust Neural Networks with Efficient Local Lipschitz Bounds
Yujia Huang, Huan Zhang, Yuanyuan Shi +2
Certified robustness is a desirable property for deep neural networks in safety-critical applications, and popular training algorithms can certify robustness of a neural network by…
Safe Reinforcement Learning of Control-Affine Systems with Vertex Networks
Liyuan Zheng, Yuanyuan Shi, Lillian J. Ratliff +1
This paper focuses on finding reinforcement learning policies for control systems with hard state and action constraints. Despite its success in many domains, reinforcement learnin…