Abstract: A class of Lyapunov functions for discrete-time Lurie systems with monotonic nonlinearities is proposed. The Lyapunov functions are composed of quadratic terms on the states and of the ...
Abstract: Safe motion control in unknown environments is one of the challenging tasks in robotics, such as autonomous navigation. Control Barrier Function (CBF), as a strong math-ematical tool, has ...
This repository contains the implementation of SLoPe (Sparse Low-rank Parameter-efficient adaptation), a novel method for efficient adaptation of large language models (LLMs). SLoPe combines sparse ...
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