mlsanityData to 7 Oct 2026

Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics

arXiv 2107.04989 ↗First posted 11 Jul 2021cs.RO cs.SY eess.SYcited by 33

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Abstract (arXiv)

The lack of stability guarantee restricts the practical use of learning-based methods in core control problems in robotics. We develop new methods for learning neural control policies and neural Lyapunov critic functions in the model-free reinforcement learning (RL) setting. We use sample-based approaches and the Almost Lyapunov function conditions to estimate the region of attraction and invariance properties through the learned Lyapunov critic functions. The methods enhance stability of neural controllers for various nonlinear systems including automobile and quadrotor control.

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Jul 2021.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 3; 2023: 12; 2024: 8; 2025: 6; 2026: 2.

33 papers.

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  1. 2023Iterative Reachability Estimation for Safe Reinforcement Learningcited by 33
  2. 2022Learning Control Policies for Stochastic Systems with Reach-avoid Guaranteescited by 21
  3. 2023Neural Lyapunov Control for Discrete-Time Systemscited by 21
  4. 2024Formally Verifying Deep Reinforcement Learning Controllers with Lyapunov Barrier Certificatescited by 15
  5. 2022Policy Optimization with Advantage Regularization for Long-Term Fairness in Decision Systemscited by 13
  6. 2023Compositional Policy Learning in Stochastic Control Systems with Formal Guaranteescited by 12
  7. 2023Stable and Safe Reinforcement Learning via a Barrier-Lyapunov Actor-Critic Approachcited by 11
  8. 2024Hamilton-Jacobi Reachability in Reinforcement Learning: A Surveycited by 11
  9. 2023Physics-Regulated Deep Reinforcement Learning: Invariant Embeddingscited by 8
  10. 2023DexCatch: Learning to Catch Arbitrary Objects with Dexterous Handscited by 8
  11. 2021Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Controlcited by 5
  12. 2023Learning Control-Oriented Dynamical Structure from Datacited by 5
21 more
  1. 2022Learning Provably Stabilizing Neural Controllers for Discrete-Time Stochastic Systemscited by 4
  2. 2024Safe and Reliable Training of Learning-Based Aerospace Controllerscited by 4
  3. 2024Critic as Lyapunov function (CALF): a model-free, stability-ensuring agentcited by 4
  4. 2023Physical Deep Reinforcement Learning Towards Safety Guaranteecited by 3
  5. 2023Certifiably Robust Reinforcement Learning through Model-Based Abstract Interpretationcited by 2
  6. 2023Stabilizing reinforcement learning control: A modular framework for optimizing over all stable behaviorcited by 2
  7. 2024Simplex-enabled Safe Continual Learning Machinecited by 2
  8. 2025Reinforcement Learning-based Control via Y-wise Affine Neural Networks (YANNs)cited by 2
  9. 2025Off Policy Lyapunov Stability in Reinforcement Learningcited by 2
  10. 2021Learn Proportional Derivative Controllable Latent Space from Pixelscited by 0
  11. 2023A Policy Optimization Method Towards Optimal-time Stabilitycited by 0
  12. 2023Efficient Exploration Using Extra Safety Budget in Constrained Policy Optimizationcited by 0
  13. 2024Extremum-Seeking Action Selection for Accelerating Policy Optimizationcited by 0
  14. 2024A novel agent with formal goal-reaching guarantees: an experimental study with a mobile robotcited by 0
  15. 2024Physics-model-guided Worst-case Sampling for Safe Reinforcement Learningcited by 0
  16. 2025Is Bellman Equation Enough for Learning Control?cited by 0
  17. 2025A Fast Initialization Method for Neural Network Controllers: A Case Study of Image-based Visual Servoing Control for the multicopter Interceptioncited by 0
  18. 2025Real-DRL: Teach and Learn in Realitycited by 0
  19. 2025MSACL: Multi-Step Actor-Critic Learning with Lyapunov Certificates for Exponentially Stabilizing Controlcited by 0
  20. 2026Reinforcement Learning for Control with Probabilistic Stability Guarantee: A Finite-Sample Approachcited by 0
  21. 2026Reinforcement Learning-based Control via Y-wise Affine Neural Networks: Comparative Case Studies for Chemical Processescited by 0