Search Results for author: Nikolai Matni

Found 22 papers, 9 papers with code

Communication Topology Co-Design in Graph Recurrent Neural Network Based Distributed Control

1 code implementation28 Apr 2021 Fengjun Yang, Nikolai Matni

Our proposed parameterization enjoys a local and distributed architecture, similar to previous Graph Neural Network (GNN)-based parameterizations, while further naturally allowing for joint optimization of the distributed controller and communication topology needed to implement it.

STL Robustness Risk over Discrete-Time Stochastic Processes

no code implementations3 Apr 2021 Lars Lindemann, Nikolai Matni, George J. Pappas

We then define the risk of a stochastic process not satisfying an STL formula robustly, referred to as the STL robustness risk.

Temporal Logic

How Are Learned Perception-Based Controllers Impacted by the Limits of Robust Control?

1 code implementation2 Apr 2021 Jingxi Xu, Bruce Lee, Nikolai Matni, Dinesh Jayaraman

The difficulty of optimal control problems has classically been characterized in terms of system properties such as minimum eigenvalues of controllability/observability gramians.

On the Sample Complexity of Stability Constrained Imitation Learning

no code implementations18 Feb 2021 Stephen Tu, Alexander Robey, Tingnan Zhang, Nikolai Matni

We study the following question in the context of imitation learning for continuous control: how are the underlying stability properties of an expert policy reflected in the sample-complexity of an imitation learning task?

Continuous Control Generalization Bounds +1

Learning Robust Hybrid Control Barrier Functions for Uncertain Systems

1 code implementation16 Jan 2021 Alexander Robey, Lars Lindemann, Stephen Tu, Nikolai Matni

We identify sufficient conditions on the data such that feasibility of the optimization problem ensures correctness of the learned robust hybrid control barrier functions.

Data-Driven System Level Synthesis

1 code implementation20 Nov 2020 Anton Xue, Nikolai Matni

We establish data-driven versions of the System Level Synthesis (SLS) parameterization of achievable closed-loop system responses for a linear-time-invariant system over a finite-horizon.

Learning Hybrid Control Barrier Functions from Data

no code implementations8 Nov 2020 Lars Lindemann, Haimin Hu, Alexander Robey, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu, Nikolai Matni

Motivated by the lack of systematic tools to obtain safe control laws for hybrid systems, we propose an optimization-based framework for learning certifiably safe control laws from data.

Learning Stability Certificates from Data

no code implementations13 Aug 2020 Nicholas M. Boffi, Stephen Tu, Nikolai Matni, Jean-Jacques E. Slotine, Vikas Sindhwani

Many existing tools in nonlinear control theory for establishing stability or safety of a dynamical system can be distilled to the construction of a certificate function that guarantees a desired property.

Learning Control Barrier Functions from Expert Demonstrations

1 code implementation7 Apr 2020 Alexander Robey, Haimin Hu, Lars Lindemann, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu, Nikolai Matni

Furthermore, if the CBF parameterization is convex, then under mild assumptions, so is our learning process.

An Adversarial Objective for Scalable Exploration

1 code implementation13 Mar 2020 Bernadette Bucher, Karl Schmeckpeper, Nikolai Matni, Kostas Daniilidis

Model-based curiosity combines active learning approaches to optimal sampling with the information gain based incentives for exploration presented in the curiosity literature.

Active Learning

PAC Confidence Sets for Deep Neural Networks via Calibrated Prediction

1 code implementation ICLR 2020 Sangdon Park, Osbert Bastani, Nikolai Matni, Insup Lee

We propose an algorithm combining calibrated prediction and generalization bounds from learning theory to construct confidence sets for deep neural networks with PAC guarantees---i. e., the confidence set for a given input contains the true label with high probability.

Generalization Bounds Learning Theory +1

Sample Complexity of Kalman Filtering for Unknown Systems

no code implementations27 Dec 2019 Anastasios Tsiamis, Nikolai Matni, George J. Pappas

We show that when the system identification step produces sufficiently accurate estimates, or when the underlying true KF is sufficiently robust, that a Certainty Equivalent (CE) KF, i. e., one designed using the estimated parameters directly, enjoys provable sub-optimality guarantees.

Efficient Learning of Distributed Linear-Quadratic Controllers

no code implementations21 Sep 2019 Salar Fattahi, Nikolai Matni, Somayeh Sojoudi

In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems.

Robust Guarantees for Perception-Based Control

no code implementations8 Jul 2019 Sarah Dean, Nikolai Matni, Benjamin Recht, Vickie Ye

Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data, such as a camera image.

Autonomous Vehicles

A Tutorial on Concentration Bounds for System Identification

no code implementations27 Jun 2019 Nikolai Matni, Stephen Tu

We provide a brief tutorial on the use of concentration inequalities as they apply to system identification of state-space parameters of linear time invariant systems, with a focus on the fully observed setting.

From self-tuning regulators to reinforcement learning and back again

no code implementations27 Jun 2019 Nikolai Matni, Alexandre Proutiere, Anders Rantzer, Stephen Tu

Machine and reinforcement learning (RL) are increasingly being applied to plan and control the behavior of autonomous systems interacting with the physical world.

Learning Sparse Dynamical Systems from a Single Sample Trajectory

no code implementations20 Apr 2019 Salar Fattahi, Nikolai Matni, Somayeh Sojoudi

In particular, we show that the proposed estimator can correctly identify the sparsity pattern of the system matrices with high probability, provided that the length of the sample trajectory exceeds a threshold.

Safely Learning to Control the Constrained Linear Quadratic Regulator

2 code implementations26 Sep 2018 Sarah Dean, Stephen Tu, Nikolai Matni, Benjamin Recht

We study the constrained linear quadratic regulator with unknown dynamics, addressing the tension between safety and exploration in data-driven control techniques.

Regret Bounds for Robust Adaptive Control of the Linear Quadratic Regulator

no code implementations NeurIPS 2018 Sarah Dean, Horia Mania, Nikolai Matni, Benjamin Recht, Stephen Tu

We consider adaptive control of the Linear Quadratic Regulator (LQR), where an unknown linear system is controlled subject to quadratic costs.

Finite-Data Performance Guarantees for the Output-Feedback Control of an Unknown System

1 code implementation25 Mar 2018 Ross Boczar, Nikolai Matni, Benjamin Recht

As the systems we control become more complex, first-principle modeling becomes either impossible or intractable, motivating the use of machine learning techniques for the control of systems with continuous action spaces.

On the Sample Complexity of the Linear Quadratic Regulator

no code implementations4 Oct 2017 Sarah Dean, Horia Mania, Nikolai Matni, Benjamin Recht, Stephen Tu

This paper addresses the optimal control problem known as the Linear Quadratic Regulator in the case when the dynamics are unknown.

Convex Relaxations of SE(2) and SE(3) for Visual Pose Estimation

no code implementations15 Jan 2014 Matanya B. Horowitz, Nikolai Matni, Joel W. Burdick

The method is a convex relaxation of the classical pose estimation problem, and is based on explicit linear matrix inequality (LMI) representations for the convex hulls of $SE(2)$ and $SE(3)$.

Pose Estimation

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