We study how to design learning-based adaptive controllers that enable fast and accurate online adaptation in changing environments. In these settings, learning is typically done during an initial (offline) design phase, where the vehicle is exposed to different environmental conditions and disturbances (e.g., a drone exposed to different winds) to collect training data. Our work is motivated by the observation that real-world disturbances fall into two categories: 1) those that can be directly monitored or controlled during training, which we call "manageable"; and 2) those that cannot be directly measured or controlled (e.g., nominal model mismatch, air plate effects, and unpredictable wind), which we call "latent". Imprecise modeling of these effects can result in degraded control performance, particularly when latent disturbances continuously vary. This paper presents the Hierarchical Meta-learning-based Adaptive Controller (HMAC) to learn and adapt to such multi-source disturbances. Within HMAC, we develop two techniques: 1) Hierarchical Iterative Learning, which jointly trains representations to caption the various sources of disturbances, and 2) Smoothed Streaming Meta-Learning, which learns to capture the evolving structure of latent disturbances over time (in addition to standard meta-learning on the manageable disturbances). Experimental results demonstrate that HMAC exhibits more precise and rapid adaptation to multi-source disturbances than other adaptive controllers.1

We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown \emph{environment-dependent} nonlinear dynamics, under the assumption that the environment-dependent dynamics can be well captured with some shared representation. Our approach is motivated by robot control, where a robotic system encounters a sequence of new environmental conditions that it must quickly adapt to. A key emphasis is to integrate online representation learning with established methods from control theory, in order to arrive at a unified framework that yields both control-theoretic and learning-theoretic guarantees. We provide instantiations of our approach under varying conditions, leading to the first non-asymptotic end-to-end convergence guarantee for multi-task nonlinear control. OMAC can also be integrated with deep representation learning. Experiments show that OMAC significantly outperforms conventional adaptive control approaches which do not learn the shared representation, in inverted pendulum and 6-DoF drone control tasks under varying wind conditions.

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly account for these complex effects and fall short in accomplishing smooth landing. In this paper, we present a novel deep-learning-based robust nonlinear controller (Neural-Lander) that improves control performance of a quadrotor during landing. Our approach combines a nominal dynamics model with a Deep Neural Network (DNN) that learns high-order interactions. We apply spectral normalization (SN) to constrain the Lipschitz constant of the DNN. Leveraging this Lipschitz property, we design a nonlinear feedback linearization controller using the learned model and prove system stability with disturbance rejection. To the best of our knowledge, this is the first DNN-based nonlinear feedback controller with stability guarantees that can utilize arbitrarily large neural nets. Experimental results demonstrate that the proposed controller significantly outperforms a Baseline Nonlinear Tracking Controller in both landing and cross-table trajectory tracking cases. We also empirically show that the DNN generalizes well to unseen data outside the training domain.

BACKGROUND: The evaluation of statistical significance has become a critical process in identifying differentially expressed genes in microarray studies. Classical p-value adjustment methods for multiple comparisons such as family-wise error rate (FWER) have been found to be too conservative in analyzing large-screening microarray data, and the False Discovery Rate (FDR), the expected proportion of false positives among all positives, has been recently suggested as an alternative for controlling false positives. Several statistical approaches have been used to estimate and control FDR, but these may not provide reliable FDR estimation when applied to microarray data sets with a small number of replicates. RESULTS: We propose a rank-invariant resampling (RIR) based approach to FDR evaluation. Our proposed method generates a biologically relevant null distribution, which maintains similar variability to observed microarray data. We compare the performance of our RIR-based FDR estimation with that of four other popular methods. Our approach outperforms the other methods both in simulated and real microarray data. CONCLUSION: We found that the SAM's random shuffling and SPLOSH approaches were liberal and the other two theoretical methods were too conservative while our RIR approach provided more accurate FDR estimation than the other approaches.

MOTIVATION: In microarray studies gene discovery based on fold-change values is often misleading because error variability for each gene is heterogeneous under different biological conditions and intensity ranges. Several statistical testing methods for differential gene expression have been suggested, but some of these approaches are underpowered and result in high false positive rates because within-gene variance estimates are based on a small number of replicated arrays. RESULTS: We propose to use local-pooled-error (LPE) estimates and robust statistical tests for evaluating significance of each gene's differential expression. Our LPE estimation is based on pooling errors within genes and between replicate arrays for genes in which expression values are similar. We have applied our LPE method to compare gene expression in naïve and activated CD8+ T-cells. Our results show that the LPE method effectively identifies significant differential-expression patterns with a small number of replicated arrays. AVAILABILITY: The methodology is implemented with S-PLUS and R functions available at http://hesweb1.med.virginia.edu/bioinformatics

UNLABELLED: TargetDB is a relational database designed to represent data on protein targeting sequences, mutant signals, subcellular targets and source organisms. AVAILABILITY: TargetDB is accessible at http://molbio.nmsu.edu:81. The web interface supports both direct data authoring and database query functions. CONTACT: moconnel@nmsu. edu, [email protected]