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CATEGORIES:CUED Control Group Seminars
SUMMARY:An Optimization-based Approach to Safe and Efficie
 nt Learning-based Control - Melanie Zeilinger\, ET
 H Zürich
DTSTART;TZID=Europe/London:20231012T141500
DTEND;TZID=Europe/London:20231012T151500
UID:TALK207079AThttp://talks.cam.ac.uk
URL:http://talks.cam.ac.uk/talk/index/207079
DESCRIPTION:Numerous demonstrations have highlighted the poten
 tial of learning-based control paradigms over the 
 last years. A number of both practical and theoret
 ical challenges arising from the use of learning i
 n closed-loop control systems\, however\, are stil
 l limiting the widespread success of these promisi
 ng techniques in practice. In this talk\, I will f
 ocus on the questions of data-efficiency and safet
 y. In order to provide a scalable and flexible app
 roach for complex systems\, the techniques will bu
 ild on optimization-based control. The first part 
 of the talk will discuss techniques for learning o
 bjective and dynamics models\, which are both real
 -time capable and allow for fast online adaptation
  despite limited initial data and information for 
 a particular task at hand. In the second part\, I 
 will present the concept of a predictive safety fi
 lter to augment any learning-based controller with
  safety guarantees and will outline connections to
  techniques based on control barrier functions. Th
 e results will be highlighted using examples from 
 robotics.\n\nThe seminar will be held in the JDB S
 eminar Room\, Department of Engineering\, and onli
 ne (zoom): https://newnham.zoom.us/j/92544958528?p
 wd=YS9PcGRnbXBOcStBdStNb3E0SHN1UT09
LOCATION:Department of Engineering / Online (Zoom)
CONTACT:Fulvio Forni
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