Guillaume O Berger — accepted AI-conference papers

2022

An Algorithm for Learning Switched Linear Dynamics from Data

Guillaume O Berger, Monal Narasimhamurthy, Kandai Watanabe, Morteza Lahijanian, Sriram Sankaranarayanan

NeurIPS 2022accept

We present an algorithm for learning switched linear dynamical systems in discrete time from noisy observations of the system's full state or output. Switched linear systems use multiple linear dynamical modes to fit the data within some desired tolerance. They arise quite naturally in applications…

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2022

Verified Path Following Using Neural Control Lyapunov Functions

Alec Reed, Guillaume O Berger, Sriram Sankaranarayanan, Chris Heckman

CoRL 2022poster

We present a framework that uses control Lyapunov functions (CLFs) to implement provably stable path-following controllers for autonomous mobile platforms. Our approach is based on learning a guaranteed CLF for path following by using recent approaches --- combining machine learning with automated t…

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