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Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

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Publications associées (38)

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Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems

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Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering domains. As opposed to ...

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Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

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Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

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Identifying invariant solutions of wall-bounded three-dimensional shear flows using robust adjoint-based variational techniques

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Invariant solutions of the Navier-Stokes equations play an important role in the spatiotemporally chaotic dynamics of turbulent shear flows. Despite the significance of these solutions, their identification remains a computational challenge, rendering many ...

Cambridge University Press2023

Primal-Dual Contextual Bayesian Optimization for Control System Online Optimization with Time-Average Constraints

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This paper studies the problem of online performance optimization of constrained closed-loop control systems, where both the objective and the constraints are unknown black-box functions affected by exogenous time-varying contextual disturbances. A primal- ...

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A Comparison of Residual-based Methods on Fault Detection

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An important initial step in fault detection for complex industrial systems is gaining an understanding of their health condition. Subsequently, continuous monitoring of this health condition becomes crucial to observe its evolution, track changes over tim ...

PHM Society2023

Spectral and thermodynamic properties of interacting electrons with dynamical functionals

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Empowered by ever-increasing computational power and algorithmic developments, electronic-structure simulations continue to drive research and innovation in materials science. In this context, ab-initio calculations offer an unbiased platform for the under ...

EPFL2023

Non-destructive Prediction of the Buckling Load of Cylindrical Shells

Emilio José Lozano Vazquez

The current research focuses on the prediction of the maximum axial compression load a cylindrical shell is able to bear. This maximum axial compression load is the value at which a cylindrical shell loses stability and abruptly buckles. After the buckling ...

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Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

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Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

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Topological Linear System Identification via Moderate Deviations Theory

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Two dynamical systems are topologically equivalent when their phase-portraits can be morphed into each other by a homeomorphic coordinate transformation on the state space. The induced equivalence classes capture qualitative properties such as stability or ...

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Vehicle-to-Grid for Reliable Frequency Regulation

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Future low-carbon societies will need to store vast amounts of electricity to stabilize electricity grids and to power electric vehicles. Vehicle-to-grid allows vehicle owners and grid operators to share the costs of electricity storage by making the batte ...

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Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

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Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Dual Approach for Two-Stage Robust Nonlinear Optimization

Jianzhe Zhen

Adjustable robust minimization problems where the objective or constraints depend in a convex way on the adjustable variables are generally difficult to solve. In this paper, we reformulate the original adjustable robust nonlinear problem with a polyhedral ...

INFORMS2022

Invariant tori in dissipative hyperchaos

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One approach to understand the chaotic dynamics of nonlinear dissipative systems is the study of non-chaotic yet dynamically unstable invariant solutions embedded in the system's chaotic attractor. The significance of zero-dimensional unstable fixed points ...

American Institute of Physics2022

Linearization and Identification of Multiple-Attractor Dynamical Systems through Laplacian Eigenmaps

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Dynamical Systems (DS) are fundamental to the modeling and understanding time evolving phenomena, and have application in physics, biology and control. As determining an analytical description of the dynamics is often difficult, data-driven approaches are ...

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We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effe ...

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Ali Falsafi

The alkali-silica reaction (ASR), also known as concrete cancer, is one of the most prevalent causes of concrete degradation. In this chemical reaction, amorphous silica in the aggregates reacts with alkalis in the pore solution. By absorbing water, hydrop ...

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This paper proposes a Control by Interconnection design, for a class of constrained Port-Hamiltonian systems, which is based on an associated Model Predictive Control optimization problem. This associated optimization problem allows to consider both state ...

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In this paper, we analyze the recently proposed stochastic primal-dual hybrid gradient (SPDHG) algorithm and provide new theoretical results. In particular, we prove almost sure convergence of the iterates to a solution with convexity and linear convergenc ...

SIAM PUBLICATIONS2022