Stochastic Hybrid Model Predictive Control using Gaussian Processes for Systems with Piecewise Residual Dynamics
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Bibliographic record
Abstract
Due to their ability to model complex functions and their suitability for control design, Gaussian Processes (GPs) have recently found widespread use to learn residual dynamics that account for the mismatch between the nominal system model and the true underlying system dynamics. However, in cases where the residual dynamics differ drastically over regions of the state/input space, a single GP-based residual model could be inaccurate. When used to design controllers, this could result in controllers with poor performance that could violate state/input constraints. We propose the use of a GP-based hybrid residual dynamics model, which switches between different residual models across regions of the state and input space. We also design a Model Predictive Controller (MPC) that can leverage this hybrid residual dynamics model to ensure probabilistic constraint satisfaction. Through numerical studies, we demonstrate how the proposed controller outperforms a baseline single GP-based MPC baseline. Simulations show a 45% improvement in control performance in the best-case and probability of constraint violations within the desired threshold in contrast to the baseline approach.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it