204 citations · 228 across the 12 of their papers we have counts for
16 papers
Adversarially Robust Stability Certificates can be Sample-Efficient
Thomas T. C. K. Zhang, Stephen Tu, Nicholas M. Boffi +2
Motivated by bridging the simulation to reality gap in the context of safety-critical systems, we consider learning adversarially robust stability certificates for unknown nonlinea…
Nonparametric adaptive control and prediction: theory and randomized algorithms
Nicholas M. Boffi, Stephen Tu, Jean-Jacques E. Slotine
A key assumption in the theory of nonlinear adaptive control is that the uncertainty of the system can be expressed in the linear span of a set of known basis functions. While this…
Universal Adaptive Control of Nonlinear Systems
Brett T. Lopez, Jean-Jacques E. Slotine
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The app…
The role of optimization geometry in single neuron learning
Nicholas M. Boffi, Stephen Tu, Jean-Jacques E. Slotine
Recent numerical experiments have demonstrated that the choice of optimization geometry used during training can impact generalization performance when learning expressive nonlinea…
Notes on stable learning with piecewise-linear basis functions
Winfried Lohmiller, Philipp Gassert, Jean-Jacques Slotine
We discuss technical results on learning function approximations using piecewise-linear basis functions, and analyze their stability and convergence using nonlinear contraction the…
On Existence of Separable Contraction Metrics for Monotone Nonlinear Systems
Ian R. Manchester, Jean-Jacques E. Slotine
Finding separable certificates of stability is important for tractability of analysis methods for large-scale networked systems. In this paper we consider the question of when a no…