{"id":"https://openalex.org/W3207110310","doi":"https://doi.org/10.1109/icra48506.2021.9560886","title":"Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics","display_name":"Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207110310","doi":"https://doi.org/10.1109/icra48506.2021.9560886","mag":"3207110310"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034281181","display_name":"Ya-Chien Chang","orcid":"https://orcid.org/0000-0003-3497-7971"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ya-Chien Chang","raw_affiliation_strings":["Department of Computer Science and Engineering, UC, San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, UC, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081085178","display_name":"Sicun Gao","orcid":"https://orcid.org/0000-0003-2524-4960"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sicun Gao","raw_affiliation_strings":["Department of Computer Science and Engineering, UC, San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, UC, San Diego, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034281181"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":3.9826,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.94127461,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1803","last_page":"1809"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.82532799243927},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.6725812554359436},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5939628481864929},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5422275066375732},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5403374433517456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5319148898124695},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5243304371833801},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.49962449073791504},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.496704638004303},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46846574544906616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4615059196949005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4116928279399872},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33483242988586426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31080901622772217},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.20554929971694946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1898309588432312}],"concepts":[{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.82532799243927},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.6725812554359436},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5939628481864929},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5422275066375732},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5403374433517456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5319148898124695},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5243304371833801},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.49962449073791504},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.496704638004303},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46846574544906616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4615059196949005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4116928279399872},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33483242988586426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31080901622772217},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.20554929971694946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1898309588432312},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1518931405","https://openalex.org/W1771410628","https://openalex.org/W1845972764","https://openalex.org/W2119717200","https://openalex.org/W2164479831","https://openalex.org/W2618318883","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2753431380","https://openalex.org/W2781726626","https://openalex.org/W2793297853","https://openalex.org/W2885381174","https://openalex.org/W2913300629","https://openalex.org/W2914316834","https://openalex.org/W2946396478","https://openalex.org/W2953144887","https://openalex.org/W2962803570","https://openalex.org/W2963575966","https://openalex.org/W2964043796","https://openalex.org/W2964340170","https://openalex.org/W2966735560","https://openalex.org/W2970795963","https://openalex.org/W2971979296","https://openalex.org/W2989090915","https://openalex.org/W2996196387","https://openalex.org/W2996975825","https://openalex.org/W3045059767","https://openalex.org/W3106002372","https://openalex.org/W3106462682","https://openalex.org/W3107744858","https://openalex.org/W4289709949","https://openalex.org/W4293545785","https://openalex.org/W4294555834","https://openalex.org/W4294562617","https://openalex.org/W6627932998","https://openalex.org/W6630965284","https://openalex.org/W6638018090","https://openalex.org/W6684037837","https://openalex.org/W6692846177","https://openalex.org/W6737893269","https://openalex.org/W6738483526","https://openalex.org/W6741002519","https://openalex.org/W6743563064","https://openalex.org/W6744061804","https://openalex.org/W6747473740","https://openalex.org/W6751535212","https://openalex.org/W6753691991","https://openalex.org/W6758924645","https://openalex.org/W6762580838","https://openalex.org/W6764406268","https://openalex.org/W6767277667","https://openalex.org/W6770686191","https://openalex.org/W6772100842"],"related_works":["https://openalex.org/W3217133416","https://openalex.org/W2349796700","https://openalex.org/W2475132469","https://openalex.org/W1970635650","https://openalex.org/W2383986032","https://openalex.org/W2126112326","https://openalex.org/W2358066536","https://openalex.org/W1976574339","https://openalex.org/W2496188264","https://openalex.org/W2147929414"],"abstract_inverted_index":{"The":[0,64],"lack":[1],"of":[2,9,53,68],"stability":[3,67],"guarantee":[4],"restricts":[5],"the":[6,33,44,51,59],"practical":[7],"use":[8,40],"learning-based":[10],"methods":[11,21,65],"in":[12,16,32],"core":[13],"control":[14,25],"problems":[15],"robotics.":[17],"We":[18,39],"develop":[19],"new":[20],"for":[22,71],"learning":[23,36],"neural":[24,28,69],"policies":[26],"and":[27,43,55,77],"Lyapunov":[29,46,61],"critic":[30,62],"functions":[31],"modelfree":[34],"reinforcement":[35],"(RL)":[37],"setting.":[38],"sample-based":[41],"approaches":[42],"Almost":[45],"function":[47],"conditions":[48],"to":[49],"estimate":[50],"region":[52],"attraction":[54],"invariance":[56],"properties":[57],"through":[58],"learned":[60],"functions.":[63],"enhance":[66],"controllers":[70],"various":[72],"nonlinear":[73],"systems":[74],"including":[75],"automobile":[76],"quadrotor":[78],"control.":[79]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}