Neural Lyapunov Model Predictive Control

no code implementations • 28 Sep 2020 • Mayank Mittal, Marco Gallieri, Alessio Quaglino, Seyed Sina Mirrazavi Salehian, Jan Koutnik

With a growing interest in data-driven control techniques, Model Predictive Control (MPC) provides a significant opportunity to exploit the surplus of data reliably, particularly while taking safety and stability into account.

Continuous Control Model Predictive Control

Neural Lyapunov Model Predictive Control: Learning Safe Global Controllers from Sub-optimal Examples

no code implementations • 21 Feb 2020 • Mayank Mittal, Marco Gallieri, Alessio Quaglino, Seyed Sina Mirrazavi Salehian, Jan Koutník

With a growing interest in data-driven control techniques, Model Predictive Control (MPC) provides an opportunity to exploit the surplus of data reliably, particularly while taking safety and stability into account.

Continuous Control Model Predictive Control

Safe Interactive Model-Based Learning

no code implementations • 15 Nov 2019 • Marco Gallieri, Seyed Sina Mirrazavi Salehian, Nihat Engin Toklu, Alessio Quaglino, Jonathan Masci, Jan Koutník, Faustino Gomez

A min-max control framework, based on alternate minimisation and backpropagation through the forward model, is used for the offline computation of the controller and the safe set.

Safe Exploration