Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Neural Lyapunov Model Predictive Control: Learning Safe Global
  Controllers from Sub-optimal Examples   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. In many real-world
and industrial applications, it is typical to have an existing control
strategy, for instance, execution from a human operator. The objective of this
work is to improve upon this unknown, safe but suboptimal policy by learning a
new controller that retains safety and stability. Learning how to be safe is
achieved directly from data and from a knowledge of the system constraints. The
proposed algorithm alternatively learns the terminal cost and updates the MPC
parameters according to a stability metric. The terminal cost is constructed as
a Lyapunov function neural network with the aim of recovering or extending the
stable region of the initial demonstrator using a short prediction horizon.
Theorems that characterize the stability and performance of the learned MPC in
the bearing of model uncertainties and sub-optimality due to function
approximation are presented. The efficacy of the proposed algorithm is
demonstrated on non-linear continuous control tasks with soft constraints. The
proposed approach can improve upon the initial demonstrator also in practice
and achieve better stability than popular reinforcement learning baselines.

24
The categories of this paper are: dg-ga
10
The categories of this paper are: q-bio
31
The categories of this paper are: ao-sci
33
The categories of this paper are: plasm-ph
9
The categories of this paper are: nlin
3
The categories of this paper are: physics
36
The categories of this paper are: cmp-lg
21
The categories of this paper are: adap-org
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
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The categories of this paper are: econ
14
The categories of this paper are: math-ph
16
The categories of this paper are: stat
27
The categories of this paper are: comp-gas
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The categories of this paper are: patt-sol
32
The categories of this paper are: atom-ph