Image de couverture de livre

ContractionPPO: Certified Reinforcement Learning via Differentiable Contraction Layers

Fuente: arXiv

Enregistré dans:

Détails bibliographiques
Auteurs principaux:	Zinage, Vrushabh, Harutyunyan, Narek, Verheyden, Eric, Hadaegh, Fred Y., Chung, Soon-Jo
Format:	Preprint
Publié:	2026
Sujets:	Robotics Systems and Control
Accès en ligne:	Acceder al recurso
Tags:	Ajouter un tag Pas de tags, Soyez le premier à ajouter un tag!

Documents similaires

Transformer-Based Model Predictive Path Integral Control
par: Zinage, Shrenik, et autres
Publié: (2024)

A Counterfactual Reasoning Framework for Fault Diagnosis in Robot Perception Systems
par: Han, Haeyoon, et autres
Publié: (2025)

TransformerMPC: Accelerating Model Predictive Control via Transformers
par: Zinage, Vrushabh, et autres
Publié: (2024)

Perron-Frobenius Contractive Operator Matching for Data-Driven Reachable Fault Identification and Recovery
par: Ibrahim, Joshua D., et autres
Publié: (2026)

Closing the Loop Inside Neural Networks: Causality-Guided Layer Adaptation for Fault Recovery Control
par: Taheri, Mahdi, et autres
Publié: (2025)

Decentralized Safe and Scalable Multi-Agent Control under Limited Actuation
par: Zinage, Vrushabh, et autres
Publié: (2024)

Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview
par: Tsukamoto, Hiroyasu, et autres
Publié: (2021)

Geometric Fault Identification via Mirror Descent Learning
par: Taheri, Mahdi, et autres
Publié: (2026)

Deadlock-free, Safe, and Decentralized Multi-Robot Navigation in Social Mini-Games via Discrete-Time Control Barrier Functions
par: Chandra, Rohan, et autres
Publié: (2023)

Array-Based Monte Carlo Tree Search
par: Ragan, James, et autres
Publié: (2025)

Universal Barrier Functions for Safety and Stability of Constrained Nonlinear Systems
par: Zinage, Vrushabh, et autres
Publié: (2025)

Regret-Optimal Defense Against Stealthy Adversaries: A System Level Approach
par: Tsukamoto, Hiroyasu, et autres
Publié: (2024)

Leveraging Gated Recurrent Units for Iterative Online Precise Attitude Control for Geodetic Missions
par: Zinage, Vrushabh, et autres
Publié: (2024)

Data-Driven Probabilistic Fault Detection and Identification via Density Flow Matching
par: Ibrahim, Joshua D., et autres
Publié: (2026)

Learning-based Inverse Perception Contracts and Applications
par: Sun, Dawei, et autres
Publié: (2023)

Safety by Invariance, Liveness through Refinement: Heterogeneous Contract Framework for Co-Design of Layered Control
par: Takayama, Yoshinari, et autres
Publié: (2026)

Model Predictive Trees: Sample-Efficient Receding Horizon Planning with Reusable Tree Search
par: Lathrop, John, et autres
Publié: (2024)

Robust Optimal Network Topology Switching for Zero Dynamics Attacks
par: Tsukamoto, Hiroyasu, et autres
Publié: (2024)

Deep Reinforcement Learning with Enhanced PPO for Safe Mobile Robot Navigation
par: Taheri, Hamid, et autres
Publié: (2024)

COFFEE: A Shadow-Resilient Real-Time Pose Estimator for Unknown Tumbling Asteroids using Sparse Neural Networks
par: Zimmermann, Arion, et autres
Publié: (2025)

Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors
par: Lapandić, Dženan, et autres
Publié: (2024)

Variable Aerodynamic Damping via Co-Contraction: A Dynamic Isomorphism with Variable Stiffness Actuators
par: Franchi, Antonio
Publié: (2026)

Conformal Contraction for Robust Nonlinear Control with Distribution-Free Uncertainty Quantification
par: Wei, Sihang, et autres
Publié: (2025)

Explicit Bounds on the Hausdorff Distance for Truncated mRPI Sets via Norm-Dependent Contraction Rates
par: Sun, Jiaxun, et autres
Publié: (2025)

Neural Robust Control on Lie Groups Using Contraction Methods (Extended Version)
par: Lo, Yi Lok, et autres
Publié: (2026)

Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations
par: Simmoteit, Ken-Joel, et autres
Publié: (2025)

Semi-global Exponential Stability for Dual Quaternion Based Rigid-Body Tracking Control
par: Zinage, Vrushabh, et autres
Publié: (2023)

Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
par: Long, Kehan, et autres
Publié: (2025)

A Robust Neural Control Design for Multi-drone Slung Payload Manipulation with Control Contraction Metrics
par: Liang, Xinyuan, et autres
Publié: (2025)

Computationally Efficient Density-Driven Optimal Control via Analytical KKT Reduction and Contractive MPC
par: Martinez, Julian, et autres
Publié: (2026)

A Differential Dynamic Programming Framework for Inverse Reinforcement Learning
par: Cao, Kun, et autres
Publié: (2024)

Parallel Differentiable Reachability for Learning and Planning with Certified Neural Dynamics and Controllers
par: Shen, Keyi, et autres
Publié: (2026)

Contingency-Aware Planning via Certified Neural Hamilton-Jacobi Reachability
par: Muenprasitivej, Kasidit, et autres
Publié: (2026)

Learning Tube-Certified Control using Robust Contraction Metrics
par: Sharma, Vivek, et autres
Publié: (2023)

Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety
par: Choi, Jason J., et autres
Publié: (2025)

Multiple Ships Cooperative Navigation and Collision Avoidance using Multi-agent Reinforcement Learning with Communication
par: Wang, Y., et autres
Publié: (2024)

Learning Certified Neural Network Controllers Using Contraction and Interval Analysis
par: Harapanahalli, Akash, et autres
Publié: (2026)

Online and Certifiably Correct Visual Odometry and Mapping
par: Agrawal, Devansh R, et autres
Publié: (2024)

Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds
par: O'Connell, Michael, et autres
Publié: (2022)

Neural-Rendezvous: Provably Robust Guidance and Control to Encounter Interstellar Objects
par: Tsukamoto, Hiroyasu, et autres
Publié: (2022)