Deterministic flows can contract Wasserstein distances between probability laws without being contractive in point-state space. We develop a differential contraction theory for pushforward flows on forward-invariant subsets of the 2-Wasserstein space that quotients out the gauge freedom of the continuity equation. Weig...
Min Kim, Joshua D. Ibrahim, Soon-Jo Chung· 0 citations
A statistically principled hard expectation-maximization procedure is introduced, with a Kalman smoother in the hard E-step, to identify dynamical representations of disturbance whose latent evolution is uniformly contractive, which yields a composite adaptive tracking controller with predictive capability and provable...
Min Kim, José Leonardo Brenes, Fred Y. Hadaegh et al.· 0 citations
Results show that structured agentic debugging can address a key cyber-physical integration bottleneck in real-world robot deployment, and are shown to be more complete and efficient recovery than human operators using Claude Code.
Minkyu Ham, Dongho Kim, Chan Lee et al.· arXiv.org· 0 citations
This project implements AC4MPC, in which a reinforcement-learning agent is trained on the exact cost a model predictive controller optimizes, and its learned value function (critic) is embedded in the MPC as a terminal cost.
Ettienne Caban-Klepac, Soon-Jo Chung, Gilchrist X. Johnson et al.· 0 citations
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