9 papers
End-to-End Learning of Safe Optimal Feedback Control in High Dimensions with Control Barrier Function Layers
Xingjian Li, Kelvin Kan, Deepanshu Verma +3
We consider the problem of learning high-dimensional semi-global feedback controllers under hard safety constraints enforced by control barrier functions (CBFs). Incorporating CBFs…
Dimension-Free Convergence of Discrete Diffusion Models: Adjoint Equations Induce the Right Space
Kelvin Kan, Xingjian Li, Benjamin J. Zhang +3
Discrete diffusion has become a leading framework for generative modeling in various applications including language, vision, and biology. Existing convergence theory, however, exh…
Physically Viable World Models: A Case for Query-Conditioned Embodied AI
Adam J. Thorpe, Stepan Tretiakov, Cheng-Hsi Hsiao +6
World models for embodied AI must be physically viable: constructed to answer intervention queries by representing the physical structure governing action outcomes, rather than mer…
SMoA: Spectrum Modulation Adapter for Parameter-Efficient Fine-Tuning
Yongkang Liu, Xing Li, Mengjie Zhao +7
As the number of model parameters increases, parameter-efficient fine-tuning (PEFT) has become the go-to choice for tailoring pre-trained large language models. Low-rank Adaptation…
Neural Operators for Multi-Task Control and Adaptation
David Sewell, Xingjian Li, Stepan Tretiakov +2
Neural operator methods have emerged as powerful tools for learning mappings between infinite-dimensional function spaces, yet their potential in optimal control remains largely un…
Zero-Shot Transferable Solution Method for Parametric Optimal Control Problems
Xingjian Li, Kelvin Kan, Deepanshu Verma +3
This paper presents a transferable solution method for optimal control problems with varying objectives using function encoder (FE) policies. Traditional optimization-based approac…