Citation
Shi, Guanya (2023) Reliable Learning and Control in Dynamic Environments: Towards Unified Theory and Learned Robotic Agility. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/8rz4-7b35. https://resolver.caltech.edu/CaltechTHESIS:08052022-231458463
Abstract
Recent breathtaking advances in machine learning beckon to their applications in a wide range of real-world autonomous systems. However, for safety-critical settings such as agile robotic control in hazardous environments, we must confront several key challenges before widespread deployment. Most importantly, the learning system must interact with the rest of the autonomous system (e.g., highly nonlinear and non-stationary dynamics) in a way that safeguards against catastrophic failures with formal guarantees. In addition, from both computational and statistical standpoints, the learning system must incorporate prior knowledge for efficiency and generalizability.
This thesis presents progress towards establishing a unified framework that fundamentally connects learning and control. First, Part I motivates the benefit and necessity of such a unified framework by the Neural-Control Family, a family of nonlinear deep-learning-based control methods with not only stability and robustness guarantees but also new capabilities in agile robotic control. Then Part II discusses three unifying interfaces between learning and control: (1) online meta-adaptive control, (2) competitive online optimization and control, and (3) online learning perspectives on model predictive control. All interfaces yield settings that jointly admit both learning-theoretic and control-theoretic guarantees.
Item Type: | Thesis (Dissertation (Ph.D.)) | ||||||||
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Subject Keywords: | Machine Learning, Control Theory, Robotics | ||||||||
Degree Grantor: | California Institute of Technology | ||||||||
Division: | Engineering and Applied Science | ||||||||
Major Option: | Control and Dynamical Systems | ||||||||
Awards: | Ben P.C. Chou Doctoral Prize in IST, 2022. Simoudis Discovery Prize, 2020/2021. Rising Stars in Data Science, Autumn 2021 cohort. | ||||||||
Thesis Availability: | Public (worldwide access) | ||||||||
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Defense Date: | 21 July 2022 | ||||||||
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Record Number: | CaltechTHESIS:08052022-231458463 | ||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechTHESIS:08052022-231458463 | ||||||||
DOI: | 10.7907/8rz4-7b35 | ||||||||
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Default Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||
ID Code: | 14994 | ||||||||
Collection: | CaltechTHESIS | ||||||||
Deposited By: | Guanya Shi | ||||||||
Deposited On: | 09 Aug 2022 23:46 | ||||||||
Last Modified: | 21 Jun 2023 23:47 |
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