Abraar Chaudhry \(\) We present generalizations of Newton’s method that incorporate derivatives of an arbitrary order \(d\) but maintain a polynomial dependence on dimension in their cost per iteration. At each step, our \(d^{\text{th}}\)-order method uses semidefinite programming to construct and minimize a sum of squares-convex approximation to the \(d^{\text{th}}\)-order Taylor expansion of the function we wish … Read more
\(\) A fundamental challenge in learning an unknown dynamical system is to reduce model uncertainty by making measurements while maintaining safety. In this work, we formulate a mathematical definition of what it means to safely learn a dynamical system by sequentially deciding where to initialize the next trajectory. In our framework, the state of the … Read more
A fundamental challenge in learning to control an unknown dynamical system is to reduce model uncertainty by making measurements while maintaining safety. In this work, we formulate a mathematical definition of what it means to safely learn a dynamical system by sequentially deciding where to initialize the next trajectory. In our framework, the state of … Read more