Safe data-driven control for human-centric systems

Localized active learning of Gaussian process state space models

Author(s): Capone, Alexandre; Umlauft, Jonas; Beckers, Thomas; Lederer, Armin; Hirche, Sandra
Published in: Proceedings of Machine Learning Research, Issue 1, 2020
Publisher: Proceedings of Machine Learning Research

Predictive Model Development to Identify Failed Healing in Patients after Non–Union Fracture Surgery

Author(s): Cedric Donié, Marie K. Reumann, Tony Hartung, Benedikt J. Braun, Tina Histing, Satoshi Endo, Sandra Hirche
Published in: 2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2024, Page(s) 1-4, ISBN 979-8-3503-7149-9
Publisher: IEEE
DOI: 10.1109/embc53108.2024.10782650

Distributed Learning Consensus Control for Unknown Nonlinear Multi-Agent Systems based on Gaussian Processes

Author(s): Zewen Yang, Stefan Sosnowski, Qingchen Liu, Junjie Jiao, Armin Lederer, Sandra Hirche
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683522

Safe Reinforcement Learning via Confidence-Based Filters

Author(s): S. Curi; A. Lederer; S. Hirche; A. Krause
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992470

Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation

Author(s): Hossein Kavianirad, Moein Forouhar, Hamid Sadeghian, Satoshi Endo, Sami Haddadin, Sandra Hirche
Published in: 2023 International Conference on Rehabilitation Robotics (ICORR), 2023, Page(s) 1-6, ISBN 979-8-3503-4275-8
Publisher: IEEE
DOI: 10.1109/icorr58425.2023.10304764

Learning-Based Optimal Control with Performance Guarantees for Unknown Systems with Latent States

Author(s): Robert Lefringhausen, Supitsana Srithasan, Armin Lederer, Sandra Hirche
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 90-97, ISBN 978-3-9071-4410-7
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10590972

Cooperative Visual Pursuit Control with Learning of Position Dependent Target Motion via Gaussian Process

Author(s): Junya Yamauchi, Marco Omainska, Thomas Beckers, Takeshi Hatanaka, Sandra Hirche, Masayuki Fujita
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683432

Koopman Kernel Regression

Author(s): P. Bevanda, M. Beier, A. Lederer, S. Sosnowski, E. Hüllermeier, S. Hirche
Published in: Proceedings of the 37th Conference on Neural Information Processing Systems (NeurIPS 2023), 2023, ISBN 9781713899921
Publisher: NeurIPS Proceedings
DOI: 10.5282/ubm/epub.121751

Whom to Trust? Elective Learning for Distributed Gaussian Process Regression

Author(s): Yang, Zewen and Dai, Xiaobing and Dubey, Akshat and Hirche, Sandra, Hattab, Georges
Published in: International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2024), Issue 23, 2024, Page(s) 2020–2028, ISBN 979-8-4007-0486-4
Publisher: International Foundation for Autonomous Agents and Multiagent Systems (ifaamas)
DOI: 10.48550/arxiv.2402.03014

Distributed Bayesian Online Learning for Cooperative Manipulation

Author(s): Pablo Budde gen. Dohmann, Armin Lederer, Marcel Disemond, Sandra Hirche
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683772

Adaptive Low-Pass Filtering using Sliding Window Gaussian Processes

Author(s): A. J. Ordóñez-Conejo; A. Lederer; S. Hirche
Published in: Proceedings of the European Control Conference, Issue 20, 2022, ISBN 978-3-9071-4407-7
Publisher: IEEE
DOI: 10.23919/ecc55457.2022.9838285

Networked Online Learning for Control of Safety-Critical Resource-Constrained Systems based on Gaussian Processes

Author(s): A. Lederer; M. Zhang; S. Tesfazgi; S. Hirche
Published in: 2022 IEEE Conference on Control Technology and Applications (CCTA), Issue 6, 2022, ISBN 978-1-6654-7338-5
Publisher: IEEE
DOI: 10.1109/ccta49430.2022.9966043

Design of Interval Observers for Uncertain Linear Impulsive Systems

Author(s): Kwassi H. Degue, Denis Efimov, Jerome Le Ny, Sandra Hirche
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683676

Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes

Author(s): Thomas Beckers, Sandra Hirche, Leonardo Colombo
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2022, Page(s) 2197-2202, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683423

Koopman-Equivariant Gaussian Processes

Author(s): Petar Bevanda, Max Beier, Armin Lederer, Alexandre Capone, Stefan Sosnowski, Sandra Hirche
Published in: 28th International Conference on Artificial Intelligence and Statistics (AISTATS), 2025
Publisher: AISTATS 2025
DOI: 10.48550/arxiv.2502.06645

Can Learning Deteriorate Control? Analyzing Computational Delays in Gaussian Process-Based Event-Triggered Online Learning

Author(s): Xiaobing Dai, Armin Lederer, Zewen Yang, Sandra Hirche
Published in: Proceedings of Machine Learning Research, Issue vol 211, 2023, Page(s) 1–13, ISSN 2640-3498
Publisher: PMLR
DOI: 10.48550/arxiv.2305.08169

Computation-Aware Learning for Stable Control with Gaussian Process

Author(s): Wenhan Cao, Alexandre Capone, Rishabh Yadav, Sandra Hirche, Wei Pan
Published in: Robotics: Science and Systems XX, Issue ROBOTICS SCIENCE AND SYSTEMS ONLINE PROCEEDINGS, 2024, ISBN 979-8-9902848-0-7
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2024.xx.004

Gaussian Process-Based Real-Time Learning for Safety Critical Applications

Author(s): Armin Lederer, Alejandro José Ordóñez Conejo, Korbinian Maier, Wenxin Xiao, Jonas Umlauft
Published in: Proceedings of Machine Learning Research, 2021
Publisher: Proceedings of Machine Learning Research

Physically Consistent Learning of Conservative Lagrangian Systems with Gaussian Processes

Author(s): G. Evangelisti; S. Hirche
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61, 2022, ISBN 978-1-6654-6761-2
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9993123

Sharp Calibrated Gaussian Processes

Author(s): Alexandre Capone, Sandra Hirche, Geoff Pleiss
Published in: Advances in Neural Information Processing Systems, Issue Vol. 36, 2023, Page(s) 36579--36590, ISBN 9781713899921
Publisher: Curran Associates, Inc.
DOI: 10.48550/arxiv.2302.11961

Data-driven Force Observer for Human-Robot Interaction with Series Elastic Actuators using Gaussian Processes

Author(s): Samuel Tesfazgi, Markus Keßler, Emilio Trigili, Armin Lederer, Sandra Hirche
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 11849-11856, ISBN 979-8-3503-7770-5
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802608

Framework for Learning a Hand Intent Recognition Model from sEMG for FES-Based control

Author(s): Neha Das, Satoshi Endo, Hossein Kavianirad, Sandra Hirche
Published in: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2024, Page(s) 1320-1327, ISBN 979-8-3503-8652-3
Publisher: IEEE
DOI: 10.1109/biorob60516.2024.10719910

Smart Forgetting for Safe Online Learning with Gaussian Processes

Author(s): Jonas Umlauft, Thomas Beckers, Alexandre Capone, Armin Lederer, Sandra Hirche
Published in: Proceedings of Machine Learning Research, 2020
Publisher: Proceedings of Machine Learning Research

Toward Dexterous Hand Functional Movement: Wearable Hybrid Soft Exoglove-FES Study

Author(s): Hossein Kavianirad, Francesco Missiroli, Satoshi Endo, Lorenzo Masia, Sandra Hirche
Published in: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2024, Page(s) 1346-1351, ISBN 979-8-3503-8652-3
Publisher: IEEE
DOI: 10.1109/biorob60516.2024.10719731

Risk-Sensitive Inhibitory Control for Safe Reinforcement Learning

Author(s): Armin Lederer, Erfaun Noorani, John S. Baras, Sandra Hirche
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024, Page(s) 1040-1045, ISBN 979-8-3503-0124-3
Publisher: IEEE
DOI: 10.1109/cdc49753.2023.10383524

Safe Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes

Author(s): Beckers, Thomas; Hirche, Sandra; Colombo, Leonardo
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), 2021, ISBN 978-1-6654-3659-5
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683423

Physically Consistent Modeling & Identification of Nonlinear Friction with Dissipative Gaussian Processes

Author(s): Rui Dai, Giulio Evangelisti, Sandra Hirche
Published in: 6th Annual Conference on Learning for Dynamics and Control, Issue Vol. 242, 2024, Page(s) 1415-1426, ISSN 2640-3498
Publisher: Proceedings of Machine Learning Research
DOI: 10.48550/arxiv.2405.17199

Gaussian Process Uniform Error Bounds with Unknown Hyperparameters for Safety-Critical Applications

Author(s): A. Capone; A. Lederer; S. Hirche
Published in: Proceedings of the 39th International Conference on Machine Learning, Issue 39, 2022, ISBN 1622609-2624
Publisher: PMLR Proceedings

Cooperative Learning with Gaussian Processes for Euler-Lagrange Systems Tracking Control Under Switching Topologies

Author(s): Zewen Yang, Songbo Dong, Armin Lederer, Xiaobing Dai, Siyu Chen, Stefan Sosnowski, Georges Hattab, Sandra Hirche
Published in: 2024 American Control Conference (ACC), 2024, Page(s) 560-567, ISBN 979-8-3503-8265-5
Publisher: IEEE
DOI: 10.23919/acc60939.2024.10644832

EMG-Based Volitional Torque Estimation in Functional Electrical Stimulation Control

Author(s): H. Kavianirad; S. Endo; T. Keller; S. Hirche
Published in: 2022 IEEE-EMBS Conference on Biomedical Engineering and Sciences (IECBES), Issue 7, 2022, ISBN 978-1-6654-9469-4
Publisher: IEEE
DOI: 10.1109/iecbes54088.2022.10079376

The Impact of Data on the Stability of Learning-Based Control

Author(s): Armin Lederer, Alexandre Capone, Thomas Beckers, Jonas Umlauft, Sandra Hirche
Published in: Proceedings of Machine Learning Research, Issue 144, 2021, Page(s) 623-635, ISSN 2640-3498
Publisher: Cambridge MA: JMLR
DOI: 10.48550/arxiv.2011.10596

Online detection of compensatory strategies in human movement with supervised classification: a pilot study

Author(s): Neha Das, Satoshi Endo, Sabrina Patel, Carmen Krewer, Sandra Hirche
Published in: Frontiers in Neurorobotics, Issue 17, 2023, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2023.1155826

Deep Learning based Uncertainty Decomposition for Real-time Control

Author(s): Neha Das, Jonas Umlauft, Armin Lederer, Alexandre Capone, Thomas Beckers, Sandra Hirche
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 847-853, ISSN 2405-8963
Publisher: IFAC Proceedings
DOI: 10.1016/j.ifacol.2023.10.1671

Safe Learning-Based Control of Elastic Joint Robots via Control Barrier Functions

Author(s): Armin Lederer, Azra Begzadić, Neha Das, Sandra Hirche
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 2250-2256, ISSN 2405-8963
Publisher: IFAC Proceedings
DOI: 10.1016/j.ifacol.2023.10.1189

Cooperative Online Learning for Multiagent System Control via Gaussian Processes With Event-Triggered Mechanism

Author(s): Xiaobing Dai, Zewen Yang, Sihua Zhang, Di-Hua Zhai, Yuanqing Xia, Sandra Hirche
Published in: IEEE Transactions on Neural Networks and Learning Systems, 2024, Page(s) 1-15, ISSN 2162-237X
Publisher: IEEE Computational Intelligence Society
DOI: 10.1109/tnnls.2024.3446732

Vision-Based Uncertainty-Aware Motion Planning Based on Probabilistic Semantic Segmentation

Author(s): Ralf Römer, Armin Lederer, Samuel Tesfazgi, Sandra Hirche
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 7825-7832, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3322899

Safe Planning and Control Under Uncertainty: A Model-Free Design With One-Step Backward Data

Author(s): Cong Li, Qingchen Liu, Jiahu Qin, Martin Buss, Sandra Hirche
Published in: IEEE Transactions on Industrial Electronics, Issue 71, 2023, Page(s) 729-738, ISSN 0278-0046
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tie.2023.3245180

Decentralized event-triggered online learning for safe consensus control of multi-agent systems with Gaussian process regression

Author(s): Xiaobing Dai, Zewen Yang, Mengtian Xu, Sihua Zhang, Fangzhou Liu, Georges Hattab, Sandra Hirche
Published in: European Journal of Control, Issue 80, 2024, Page(s) 101058, ISSN 0947-3580
Publisher: Lavoisier
DOI: 10.1016/j.ejcon.2024.101058

Online Constraint Tightening in Stochastic Model Predictive Control: A Regression Approach

Author(s): Alexandre Capone, Tim Brüdigam, Sandra Hirche
Published in: IEEE Transactions on Automatic Control, Issue 70, 2025, Page(s) 736-750, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2024.3433988

SAFE TRAJECTORY TRACKING FOR UNDERACTUATED VEHICLES WITH PARTIALLY UNKNOWN DYNAMICS

Author(s): T. Beckers; Leonardo J. Colombo; S. Hirche
Published in: AIMS Journal, Issue 2022, Volume 14, Issue 4, 2022, ISSN 1941-4889
Publisher: American Institute of Mathematical Sciences
DOI: 10.3934/jgm.2022018

Data Selection for Multi-Task Learning Under Dynamic Constraints

Author(s): Alexandre Capone; Armin Lederer; Jonas Umlauft; Sandra Hirche
Published in: IEEE Control Systems Letters, Issue 1, 2021, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3006279

Data-Driven Momentum Observers With Physically Consistent Gaussian Processes

Author(s): Giulio Evangelisti, Sandra Hirche
Published in: IEEE Transactions on Robotics, Issue 40, 2025, Page(s) 1938-1951, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3366818

Prediction with Approximated Gaussian Process Dynamical Models

Author(s): Thomas Beckers, Sandra Hirche
Published in: IEEE Transactions on Automatic Control, 2021, ISSN 1558-2523
Publisher: IEEE
DOI: 10.1109/tac.2021.3131988

Inverse optimal control from incomplete trajectory observations

Author(s): Wanxin Jin, Dana Kulić, Shaoshuai Mou, Sandra Hirche
Published in: The International Journal of Robotics Research, Issue 40, 2025, Page(s) 848-865, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364921996384

Cooperative Control of Uncertain Multiagent Systems via Distributed Gaussian Processes

Author(s): A. Lederer; Z. Yang; J. Jiao; S. Hirche
Published in: IEEE Transactions on Automatic Control, Issue Volume: 68, Issue: 5, 2022, Page(s) 3091 - 3098, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3205424

Gaussian process-based visual pursuit control with unknown target motion learning in three dimensions

Author(s): Marco Omainska; Junya Yamauchi; Thomas Beckers; Takeshi Hatanaka; Sandra Hirche; Masayuki Fujita; Masayuki Fujita
Published in: SICE Journal of Control, Measurement, and System Integration, Issue 2, 2021
Publisher: Taylor&Francis
DOI: 10.1080/18824889.2021.1936855

Stable Inverse Reinforcement Learning: Policies From Control Lyapunov Landscapes

Author(s): SAMUEL TESFAZGI, Leonhard Sprandl, Armin Lederer, Sandra Hirche
Published in: IEEE Open Journal of Control Systems, Issue 3, 2025, Page(s) 358-374, ISSN 2694-085X
Publisher: IEEE
DOI: 10.1109/ojcsys.2024.3447464

Backstepping tracking control using Gaussian processes with event-triggered online learning

Author(s): Jiao, Junjie; Capone, Alexandre; Hirche, Sandra
Published in: IEEE Control Systems Letters, Issue Volume 6, 2022, Page(s) 3176 - 3181, ISSN 2475-1456
Publisher: 2475-1456
DOI: 10.1109/lcsys.2022.3183530

Robust Safe Learning and Control in an Unknown Environment: An Uncertainty-Separated Control Barrier Function Approach

Author(s): Jiacheng Li, Qingchen Liu, Wanxin Jin, Jiahu Qin, Sandra Hirche
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 6539-6546, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3309130

How Training Data Impacts Performance in Learning-Based Control

Author(s): Armin Lederer; Alexandre Capone; Jonas Umlauft; Sandra Hirche
Published in: IEEE Control Systems Letters, Issue 2, 2020, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3006725

Rigid Motion Gaussian Processes With SE(3) Kernel and Application to Visual Pursuit Control

Author(s): Marco Omainska, Junya Yamauchi, Armin Lederer, Sandra Hirche, Masayuki Fujita
Published in: IEEE Control Systems Letters, Issue 7, 2023, Page(s) 2665-2670, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2023.3287507

Asynchronous Distributed Gaussian Process Regression for Online Learning and Dynamical Systems: Complementary Document

Author(s): Zewen Yang, Xiaobing Dai, Sandra Hirche
Published in: 2024
Publisher: arxiv.org
DOI: 10.48550/arxiv.2412.11950

Time Series Classification for Detecting Parkinson’s Disease from Wrist Motions

Author(s): Cedric Donie, Neha Das, Satoshi Endo, and Sandra Hirche
Published in: 2023
Publisher: arxiv.org
DOI: 10.48550/arxiv.2304.11265

Risk-Averse Learning with Non-Stationary Distributions

Author(s): Siyi Wang, Zifan Wang, Xinlei Yi, Michael M. Zavlanos, Karl H. Johansson, Sandra Hirche
Published in: 2024
Publisher: Arxiv
DOI: 10.48550/arxiv.2404.02988

Exponentially Stable Projector-based Control of Lagrangian Systems with Gaussian Processes

Author(s): Giulio Evangelisti, Cosimo Della Santina and Sandra Hirche
Published in: IEEE, 2024
Publisher: arxiv
DOI: 10.48550/arxiv.2406.03224

Gaussian Processes in Control: Performance Guarantees through Efficient Learning

Author(s): Lederer, Armin
Published in: 2023
Publisher: TUM

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