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- W4382119384 abstract "This paper develops a framework for differentiating sparse optimal control inputs with respect to cost parameters. The difficulty lies in the non-smoothness induced by a sparsity-enhancing regularizer. To avoid this, we identify the optimal inputs as a unique zero point of a function using the proximal technique. This enables us to characterize the differentiability and employ the implicit function theorem.We also demonstrate the effectiveness of our approach using a numerical example of inverse optimal control." @default.
- W4382119384 created "2023-06-27" @default.
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- W4382119384 date "2023-01-01" @default.
- W4382119384 modified "2023-09-26" @default.
- W4382119384 title "Differentiable Sparse Optimal Control" @default.
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- W4382119384 doi "https://doi.org/10.1109/lcsys.2023.3289269" @default.
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