# APECS: Adaptive Personalized Control System Architecture

arXiv: https://arxiv.org/abs/2503.09624 · HTML: https://mlsanity.com/paper/2503.09624/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 46 references that are in the map.
- First posted on arXiv 10 Mar 2025.

## Builds on (most cited first, 16 of 16)

- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [Spectral Normalization for Generative Adversarial Networks](https://mlsanity.com/paper/1802.05957/) (2018)
- [Spectrally-normalized margin bounds for neural networks](https://mlsanity.com/paper/1706.08498/) (2017)
- [Regularisation of Neural Networks by Enforcing Lipschitz Continuity](https://mlsanity.com/paper/1804.04368/) (2018)
- [Efficient and Accurate Estimation of Lipschitz Constants for Deep Neural Networks](https://mlsanity.com/paper/1906.04893/) (2019)
- [Lipschitz-Margin Training: Scalable Certification of Perturbation Invariance for Deep Neural Networks](https://mlsanity.com/paper/1802.04034/) (2018)
- [Globally-Robust Neural Networks](https://mlsanity.com/paper/2102.08452/) (2021)
- [Orthogonalizing Convolutional Layers with the Cayley Transform](https://mlsanity.com/paper/2104.07167/) (2021)
- [Lipschitz constant estimation of Neural Networks via sparse polynomial optimization](https://mlsanity.com/paper/2004.08688/) (2020)
- [Training Certifiably Robust Neural Networks with Efficient Local Lipschitz Bounds](https://mlsanity.com/paper/2111.01395/) (2021)
- [A Dynamical System Perspective for Lipschitz Neural Networks](https://mlsanity.com/paper/2110.12690/) (2021)
- [A Unified Algebraic Perspective on Lipschitz Neural Networks](https://mlsanity.com/paper/2303.03169/) (2023)
- [Almost-Orthogonal Layers for Efficient General-Purpose Lipschitz Networks](https://mlsanity.com/paper/2208.03160/) (2022)
- [PythonRobotics: a Python code collection of robotics algorithms](https://mlsanity.com/paper/1808.10703/) (2018)
- [Decision-Making in Driver-Automation Shared Control: A Review and Perspectives](https://mlsanity.com/paper/2007.12597/) (2020)
- [Personalized On-line Adaptation of Kinematic Synergies for Human-Prosthesis Interfaces](https://mlsanity.com/paper/1902.07313/) (2019)

## Abstract (arXiv)

This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appropriate constraints for the system objectives. A method for enacting Lipschitz and sector bounds on the resulting controller is derived to ensure desirable control properties. An analysis of worst-case loss functions and the optimal loss function weighting is made to implement an effective training scheme. Finally, simulations are carried out to demonstrate the effectiveness of the proposed architecture. This architecture resulted in a 4.5% performance increase compared to the human operator and 9% to an unconstrained feedforward neural network trained in the same way.