{"id":"https://openalex.org/W7160443451","doi":"https://doi.org/10.48550/arxiv.2605.03288","title":"Neural Control: Adjoint Learning Through Equilibrium Constraints","display_name":"Neural Control: Adjoint Learning Through Equilibrium Constraints","publication_year":2026,"publication_date":"2026-05-05","ids":{"openalex":"https://openalex.org/W7160443451","doi":"https://doi.org/10.48550/arxiv.2605.03288"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.03288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.03288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.03288","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036781292","display_name":"Dezhong Tong","orcid":"https://orcid.org/0000-0002-3829-234X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tong, Dezhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135425389","display_name":"Jiawen Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jiawen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060272424","display_name":"Hengyi Zhou","orcid":"https://orcid.org/0000-0002-8433-4213"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Hengyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135524986","display_name":"Yinglong Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Yinglong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135447724","display_name":"Xiaonan Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Xiaonan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129664898","display_name":"M. Khalid Jawed","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jawed, M. Khalid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.6172000169754028,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.6172000169754028,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.09070000052452087,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.05260000005364418,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6161999702453613},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5288000106811523},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49709999561309814},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49300000071525574},{"id":"https://openalex.org/keywords/backpropagation","display_name":"Backpropagation","score":0.46959999203681946},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4571000039577484},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4284000098705292},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.3476000130176544}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6161999702453613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.590399980545044},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5288000106811523},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49709999561309814},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49300000071525574},{"id":"https://openalex.org/C155032097","wikidata":"https://www.wikidata.org/wiki/Q798503","display_name":"Backpropagation","level":3,"score":0.46959999203681946},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4571000039577484},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4345000088214874},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.3476000130176544},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.3427000045776367},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.33340001106262207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3319000005722046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3253999948501587},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3158000111579895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31529998779296875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C165551260","wikidata":"https://www.wikidata.org/wiki/Q4428962","display_name":"Adjoint equation","level":3,"score":0.2973000109195709},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2948000133037567},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.28870001435279846},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.288100004196167},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.27090001106262207},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.26100000739097595}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.03288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.03288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.03288","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.03288","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4842164218425751}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Many":[0],"physical":[1],"AI":[2],"tasks":[3],"require":[4],"sequential":[5],"implicit":[6,70,171],"computation:":[7],"at":[8],"each":[9],"step,":[10],"boundary":[11,52],"controls":[12],"are":[13],"applied,":[14],"and":[15,49,71,76,86,145,155,162,164],"the":[16,66],"resulting":[17],"configuration":[18],"is":[19,69,83],"obtained":[20],"by":[21,116],"solving":[22],"an":[23,121],"equilibrium":[24,102,118,172],"problem.":[25],"This":[26],"setting":[27],"arises":[28],"naturally":[29],"in":[30],"deformable":[31,38],"object":[32,40],"manipulation,":[33,158],"where":[34],"even":[35],"bending":[36],"a":[37,43,92,106,168],"linear":[39],"(DLO)":[41],"to":[42,142,167],"target":[44],"shape":[45],"can":[46],"be":[47],"nonlinear":[48],"multistable:":[50],"identical":[51],"conditions":[53,119],"may":[54],"produce":[55],"different":[56],"configurations":[57],"depending":[58],"on":[59,131,153],"actuation":[60],"history.":[61],"Unlike":[62],"explicit":[63],"transition":[64],"models,":[65],"control-to-configuration":[67],"relation":[68],"history-dependent,":[72],"making":[73],"long-horizon":[74],"learning":[75],"control":[77],"brittle;":[78],"backpropagating":[79],"through":[80,98],"iterative":[81],"solves":[82,103],"also":[84],"memory-":[85],"compute-intensive.":[87],"We":[88,149],"propose":[89],"Neural":[90,110,138,151],"Control,":[91],"boundary-control":[93],"framework":[94],"that":[95],"propagates":[96],"gradients":[97,115],"branch-dependent":[99],"sequences":[100],"of":[101],"rather":[104],"than":[105],"single":[107],"fixed":[108],"point.":[109],"Control":[111,139,152],"computes":[112],"trajectory-dependent":[113],"proxy":[114],"differentiating":[117],"with":[120,135],"adjoint":[122],"formulation,":[123],"avoiding":[124],"solver":[125],"unrolling":[126],"while":[127],"keeping":[128],"forward":[129],"rollouts":[130],"converged":[132],"equilibria.":[133],"Combined":[134],"receding-horizon":[136],"continuation,":[137],"re-anchors":[140],"optimization":[141],"realized":[143],"equilibria":[144],"mitigates":[146],"basin":[147],"switching.":[148],"validate":[150],"simulated":[154],"real":[156],"DLO":[157],"compare":[159],"against":[160],"SPSA":[161],"iCEM,":[163],"demonstrate":[165],"applicability":[166],"learned":[169],"DEQ-style":[170],"model.":[173]},"counts_by_year":[],"updated_date":"2026-07-02T06:12:58.138171","created_date":"2026-05-07T00:00:00"}