arXiv subjects

Aaron Tuor

Publications and source records attributed to Aaron Tuor.

At least 19 recordsLinked to original sources

arXiv2026

Dead Cognitions: A Census of Misattributed Insights

This essay identifies a failure mode of AI chat systems that we term attribution laundering: the model performs substantive cognitive work and then rhetorically credits the user for having generated the resulting insights. Unlike transparent versions of glad handing sycophancy, attribution laundering is systematically occluded to the person it affects and self-reinforcing -- eroding users' ability to accurately assess their own cognitive contributions over time. We trace the mechanisms at both individual and societal scales, from the chat interface that discourages scrutiny to the institutional pressures that reward adoption over accountability. The document itself is an artifact of the process it describes, and is color-coded accordingly -- though the views expressed are the authors' own, not those of any affiliated institution, and the boundary between the human author's views and Claude's is, as the essay argues, difficult to draw.

cs.AI↗

arXiv2026

Data Center Chiller Plant Optimization via Mixed-Integer Nonlinear Differentiable Predictive Control

We present a computationally tractable framework for real-time predictive control of multi-chiller plants that involve both discrete and continuous control decisions coupled through nonlinear dynamics, resulting in a mixed-integer optimal control problem. To address this challenge, we extend Differentiable Predictive Control (DPC) -- a self-supervised, model-based learning methodology for approximately solving parametric optimal control problems -- to accommodate mixed-integer control policies. We benchmark the proposed framework against a state-of-the-art Model Predictive Control (MPC) solver and a fast heuristic Rule-Based Controller (RBC). Simulation results demonstrate that our approach achieves significant energy savings over the RBC while maintaining orders-of-magnitude faster computation times than MPC, offering a scalable and practical alternative to conventional combinatorial mixed-integer control formulations.

eess.SY↗

arXiv2025

Homotopy-Guided Self-Supervised Learning of Parametric Solutions for AC Optimal Power Flow

Learning to optimize (L2O) parametric approximations of AC optimal power flow (AC-OPF) solutions offers the potential for fast, reusable decision-making in real-time power system operations. However, the inherent nonconvexity of AC-OPF results in challenging optimization landscapes, and standard learning approaches often fail to converge to feasible, high-quality solutions. This work introduces a \textit{homotopy-guided self-supervised L2O method} for parametric AC-OPF problems. The key idea is to construct a continuous deformation of the objective and constraints during training, beginning from a relaxed problem with a broad basin of attraction and gradually transforming it toward the original problem. The resulting learning process improves convergence stability and promotes feasibility without requiring labeled optimal solutions or external solvers. We evaluate the proposed method on standard IEEE AC-OPF benchmarks and show that homotopy-guided L2O significantly increases feasibility rates compared to non-homotopy baselines, while achieving objective values comparable to full OPF solvers. These findings demonstrate the promise of homotopy-based heuristics for scalable, constraint-aware L2O in power system optimization.

cs.LG↗

arXiv2022

Domain-aware Control-oriented Neural Models for Autonomous Underwater Vehicles

Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain, require a large number of observations and lack operational guarantees for safety-critical systems. Data-driven models leveraging available partially characterized dynamics have potential to provide reliable systems models in a typical data-limited scenario for high value complex systems, thereby avoiding months of expensive expert modeling time. In this work we explore this middle-ground between expert-modeled and pure data-driven modeling. We present control-oriented parametric models with varying levels of domain-awareness that exploit known system structure and prior physics knowledge to create constrained deep neural dynamical system models. We employ universal differential equations to construct data-driven blackbox and graybox representations of the AUV dynamics. In addition, we explore a hybrid formulation that explicitly models the residual error related to imperfect graybox models. We compare the prediction performance of the learned models for different distributions of initial conditions and control inputs to assess their accuracy, generalization, and suitability for control.

math.DS↗

arXiv2022

Differentiable Predictive Control with Safety Guarantees: A Control Barrier Function Approach

We develop a novel form of differentiable predictive control (DPC) with safety and robustness guarantees based on control barrier functions. DPC is an unsupervised learning-based method for obtaining approximate solutions to explicit model predictive control (MPC) problems. In DPC, the predictive control policy parametrized by a neural network is optimized offline via direct policy gradients obtained by automatic differentiation of the MPC problem. The proposed approach exploits a new form of sampled-data barrier function to enforce offline and online safety requirements in DPC settings while only interrupting the neural network-based controller near the boundary of the safe set. The effectiveness of the proposed approach is demonstrated in simulation.

eess.SY↗

arXiv2022

Structural Inference of Networked Dynamical Systems with Universal Differential Equations

Networked dynamical systems are common throughout science in engineering; e.g., biological networks, reaction networks, power systems, and the like. For many such systems, nonlinearity drives populations of identical (or near-identical) units to exhibit a wide range of nontrivial behaviors, such as the emergence of coherent structures (e.g., waves and patterns) or otherwise notable dynamics (e.g., synchrony and chaos). In this work, we seek to infer (i) the intrinsic physics of a base unit of a population, (ii) the underlying graphical structure shared between units, and (iii) the coupling physics of a given networked dynamical system given observations of nodal states. These tasks are formulated around the notion of the Universal Differential Equation, whereby unknown dynamical systems can be approximated with neural networks, mathematical terms known a priori (albeit with unknown parameterizations), or combinations of the two. We demonstrate the value of these inference tasks by investigating not only future state predictions but also the inference of system behavior on varied network topologies. The effectiveness and utility of these methods is shown with their application to canonical networked nonlinear coupled oscillators.

math.DS↗

arXiv2022

Neural Lyapunov Differentiable Predictive Control

We present a learning-based predictive control methodology using the differentiable programming framework with probabilistic Lyapunov-based stability guarantees. The neural Lyapunov differentiable predictive control (NLDPC) learns the policy by constructing a computational graph encompassing the system dynamics, state and input constraints, and the necessary Lyapunov certification constraints, and thereafter using the automatic differentiation to update the neural policy parameters. In conjunction, our approach jointly learns a Lyapunov function that certifies the regions of state-space with stable dynamics. We also provide a sampling-based statistical guarantee for the training of NLDPC from the distribution of initial conditions. Our offline training approach provides a computationally efficient and scalable alternative to classical explicit model predictive control solutions. We substantiate the advantages of the proposed approach with simulations to stabilize the double integrator model and on an example of controlling an aircraft model.

eess.SY↗

arXiv2022

Neuro-physical dynamic load modeling using differentiable parametric optimization

In this work, we investigate a data-driven approach for obtaining a reduced equivalent load model of distribution systems for electromechanical transient stability analysis. The proposed reduced equivalent is a neuro-physical model comprising of a traditional ZIP load model augmented with a neural network. This neuro-physical model is trained through differentiable programming. We discuss the formulation, modeling details, and training of the proposed model set up as a differential parametric program. The performance and accuracy of this neurophysical ZIP load model is presented on a medium-scale 350-bus transmission-distribution network.

eess.SY↗

arXiv2022

Koopman-based Differentiable Predictive Control for the Dynamics-Aware Economic Dispatch Problem

The dynamics-aware economic dispatch (DED) problem embeds low-level generator dynamics and operational constraints to enable near real-time scheduling of generation units in a power network. DED produces a more dynamic supervisory control policy than traditional economic dispatch (T-ED) that leads to reduced overall generation costs. However, the incorporation of differential equations that govern the system dynamics makes DED an optimization problem that is computationally prohibitive to solve. In this work, we present a new data-driven approach based on differentiable programming to efficiently obtain parametric solutions to the underlying DED problem. In particular, we employ the recently proposed differentiable predictive control (DPC) for offline learning of explicit neural control policies using an identified Koopman operator (KO) model of the power system dynamics. We demonstrate the high solution quality and five orders of magnitude computational-time savings of the DPC method over the original online optimization-based DED approach on a 9-bus test power grid network.

eess.SY↗

arXiv2022

Learning Stochastic Parametric Differentiable Predictive Control Policies

The problem of synthesizing stochastic explicit model predictive control policies is known to be quickly intractable even for systems of modest complexity when using classical control-theoretic methods. To address this challenge, we present a scalable alternative called stochastic parametric differentiable predictive control (SP-DPC) for unsupervised learning of neural control policies governing stochastic linear systems subject to nonlinear chance constraints. SP-DPC is formulated as a deterministic approximation to the stochastic parametric constrained optimal control problem. This formulation allows us to directly compute the policy gradients via automatic differentiation of the problem's value function, evaluated over sampled parameters and uncertainties. In particular, the computed expectation of the SP-DPC problem's value function is backpropagated through the closed-loop system rollouts parametrized by a known nominal system dynamics model and neural control policy which allows for direct model-based policy optimization. We provide theoretical probabilistic guarantees for policies learned via the SP-DPC method on closed-loop stability and chance constraints satisfaction. Furthermore, we demonstrate the computational efficiency and scalability of the proposed policy optimization algorithm in three numerical examples, including systems with a large number of states or subject to nonlinear constraints.

cs.LG↗

arXiv2022

Neural Ordinary Differential Equations for Nonlinear System Identification

Neural ordinary differential equations (NODE) have been recently proposed as a promising approach for nonlinear system identification tasks. In this work, we systematically compare their predictive performance with current state-of-the-art nonlinear and classical linear methods. In particular, we present a quantitative study comparing NODE's performance against neural state-space models and classical linear system identification methods. We evaluate the inference speed and prediction performance of each method on open-loop errors across eight different dynamical systems. The experiments show that NODEs can consistently improve the prediction accuracy by an order of magnitude compared to benchmark methods. Besides improved accuracy, we also observed that NODEs are less sensitive to hyperparameters compared to neural state-space models. On the other hand, these performance gains come with a slight increase of computation at the inference time.

cs.LG↗

arXiv2021

Deep Learning Explicit Differentiable Predictive Control Laws for Buildings

We present a differentiable predictive control (DPC) methodology for learning constrained control laws for unknown nonlinear systems. DPC poses an approximate solution to multiparametric programming problems emerging from explicit nonlinear model predictive control (MPC). Contrary to approximate MPC, DPC does not require supervision by an expert controller. Instead, a system dynamics model is learned from the observed system's dynamics, and the neural control law is optimized offline by leveraging the differentiable closed-loop system model. The combination of a differentiable closed-loop system and penalty methods for constraint handling of system outputs and inputs allows us to optimize the control law's parameters directly by backpropagating economic MPC loss through the learned system model. The control performance of the proposed DPC method is demonstrated in simulation using learned model of multi-zone building thermal dynamics.

eess.SY↗

arXiv2021

Prototypical Region Proposal Networks for Few-Shot Localization and Classification

Recently proposed few-shot image classification methods have generally focused on use cases where the objects to be classified are the central subject of images. Despite success on benchmark vision datasets aligned with this use case, these methods typically fail on use cases involving densely-annotated, busy images: images common in the wild where objects of relevance are not the central subject, instead appearing potentially occluded, small, or among other incidental objects belonging to other classes of potential interest. To localize relevant objects, we employ a prototype-based few-shot segmentation model which compares the encoded features of unlabeled query images with support class centroids to produce region proposals indicating the presence and location of support set classes in a query image. These region proposals are then used as additional conditioning input to few-shot image classifiers. We develop a framework to unify the two stages (segmentation and classification) into an end-to-end classification model -- PRoPnet -- and empirically demonstrate that our methods improve accuracy on image datasets with natural scenes containing multiple object classes.

cs.CV↗

arXiv2021

Constrained Block Nonlinear Neural Dynamical Models

Neural network modules conditioned by known priors can be effectively trained and combined to represent systems with nonlinear dynamics. This work explores a novel formulation for data-efficient learning of deep control-oriented nonlinear dynamical models by embedding local model structure and constraints. The proposed method consists of neural network blocks that represent input, state, and output dynamics with constraints placed on the network weights and system variables. For handling partially observable dynamical systems, we utilize a state observer neural network to estimate the states of the system's latent dynamics. We evaluate the performance of the proposed architecture and training methods on system identification tasks for three nonlinear systems: a continuous stirred tank reactor, a two tank interacting system, and an aerodynamics body. Models optimized with a few thousand system state observations accurately represent system dynamics in open loop simulation over thousands of time steps from a single set of initial conditions. Experimental results demonstrate an order of magnitude reduction in open-loop simulation mean squared error for our constrained, block-structured neural models when compared to traditional unstructured and unconstrained neural network models.

math.DS↗

arXiv2020

Dissipative Deep Neural Dynamical Systems

In this paper, we provide sufficient conditions for dissipativity and local asymptotic stability of discrete-time dynamical systems parametrized by deep neural networks. We leverage the representation of neural networks as pointwise affine maps, thus exposing their local linear operators and making them accessible to classical system analytic and design methods. This allows us to "crack open the black box" of the neural dynamical system's behavior by evaluating their dissipativity, and estimating their stationary points and state-space partitioning. We relate the norms of these local linear operators to the energy stored in the dissipative system with supply rates represented by their aggregate bias terms. Empirically, we analyze the variance in dynamical behavior and eigenvalue spectra of these local linear operators with varying weight factorizations, activation functions, bias terms, and depths.

cs.LG↗

arXiv2020

Physics-Informed Neural State Space Models via Learning and Evolution

Recent works exploring deep learning application to dynamical systems modeling have demonstrated that embedding physical priors into neural networks can yield more effective, physically-realistic, and data-efficient models. However, in the absence of complete prior knowledge of a dynamical system's physical characteristics, determining the optimal structure and optimization strategy for these models can be difficult. In this work, we explore methods for discovering neural state space dynamics models for system identification. Starting with a design space of block-oriented state space models and structured linear maps with strong physical priors, we encode these components into a model genome alongside network structure, penalty constraints, and optimization hyperparameters. Demonstrating the overall utility of the design space, we employ an asynchronous genetic search algorithm that alternates between model selection and optimization and obtains accurate physically consistent models of three physical systems: an aerodynamics body, a continuous stirred tank reactor, and a two tank interacting system.

cs.NE↗

arXiv2020

Deep Learning Alternative to Explicit Model Predictive Control for Unknown Nonlinear Systems

We present differentiable predictive control (DPC) as a deep learning-based alternative to the explicit model predictive control (MPC) for unknown nonlinear systems. In the DPC framework, a neural state-space model is learned from time-series measurements of the system dynamics. The neural control policy is then optimized via stochastic gradient descent approach by differentiating the MPC loss function through the closed-loop system dynamics model. The proposed DPC method learns model-based control policies with state and input constraints, while supporting time-varying references and constraints. In embedded implementation using a Raspberry-Pi platform, we experimentally demonstrate that it is possible to train constrained control policies purely based on the measurements of the unknown nonlinear system. We compare the control performance of the DPC method against explicit MPC and report efficiency gains in online computational demands, memory requirements, policy complexity, and construction time. In particular, we show that our method scales linearly compared to exponential scalability of the explicit MPC solved via multiparametric programming.

eess.SY↗

arXiv2020

Fuzzy Simplicial Networks: A Topology-Inspired Model to Improve Task Generalization in Few-shot Learning

Deep learning has shown great success in settings with massive amounts of data but has struggled when data is limited. Few-shot learning algorithms, which seek to address this limitation, are designed to generalize well to new tasks with limited data. Typically, models are evaluated on unseen classes and datasets that are defined by the same fundamental task as they are trained for (e.g. category membership). One can also ask how well a model can generalize to fundamentally different tasks within a fixed dataset (for example: moving from category membership to tasks that involve detecting object orientation or quantity). To formalize this kind of shift we define a notion of "independence of tasks" and identify three new sets of labels for established computer vision datasets that test a model's ability to generalize to tasks which draw on orthogonal attributes in the data. We use these datasets to investigate the failure modes of metric-based few-shot models. Based on our findings, we introduce a new few-shot model called Fuzzy Simplicial Networks (FSN) which leverages a construction from topology to more flexibly represent each class from limited data. In particular, FSN models can not only form multiple representations for a given class but can also begin to capture the low-dimensional structure which characterizes class manifolds in the encoded space of deep networks. We show that FSN outperforms state-of-the-art models on the challenging tasks we introduce in this paper while remaining competitive on standard few-shot benchmarks.

cs.LG↗