Nikolai Matni

ORCID

Publication Activity (10 Years)

Years Active: 2008-2024
Publications (10 Years): 145

Top Venues

Publications

Bruce D. Lee, Ingvar M. Ziemann, George J. Pappas, Nikolai Matni
Active Learning for Control-Oriented Identification of Nonlinear Systems. CoRR (2024)
Nikolai Matni, Aaron D. Ames, John C. Doyle
Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control. CoRR (2024)
Bruce D. Lee, Anders Rantzer, Nikolai Matni
Nonasymptotic regret analysis of adaptive linear quadratic control with model misspecification. L4DC (2024)
Anish Bhattacharya, Ratnesh Madaan, Fernando Cladera Ojeda, Sai Vemprala, Rogerio Bonatti, Kostas Daniilidis, Ashish Kapoor, Vijay Kumar, Nikolai Matni, Jayesh K. Gupta
EvDNeRF: Reconstructing Event Data with Dynamic Neural Radiance Fields. WACV (2024)
Farhad Nawaz, Tianyu Li, Nikolai Matni, Nadia Figueroa
Learning Complex Motion Plans using Neural ODEs with Safety and Stability Guarantees. ICRA (2024)
Shaoru Chen, Victor M. Preciado, Manfred Morari, Nikolai Matni
Robust model predictive control with polytopic model uncertainty through System Level Synthesis. Autom. 162 (2024)
Bo Wu, Bruce D. Lee, Kostas Daniilidis, Bernadette Bucher, Nikolai Matni
Uncertainty-Aware Deployment of Pre-trained Language-Conditioned Imitation Learning Policies. CoRR (2024)
Hanli Zhang, Anusha Srikanthan, Spencer Folk, Vijay Kumar, Nikolai Matni
Why Change Your Controller When You Can Change Your Planner: Drag-Aware Trajectory Generation for Quadrotor Systems. CoRR (2024)
Anish Bhattacharya, Nishanth Rao, Dhruv Parikh, Pratik Kunapuli, Nikolai Matni, Vijay Kumar
Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance. CoRR (2024)
Bruce D. Lee, Leonardo F. Toso, Thomas T. C. K. Zhang, James Anderson, Nikolai Matni
Regret Analysis of Multi-task Representation Learning for Linear-Quadratic Adaptive Control. CoRR (2024)
Bruce D. Lee, Anders Rantzer, Nikolai Matni
Nonasymptotic Regret Analysis of Adaptive Linear Quadratic Control with Model Misspecification. CoRR (2024)
Brian Lee, Nikolai Matni
Single Trajectory Conformal Prediction. CoRR (2024)
Thomas T. C. K. Zhang, Leonardo Felipe Toso, James Anderson, Nikolai Matni
Sample-Efficient Linear Representation Learning from Non-IID Non-Isotropic Data. ICLR (2024)
Ingvar M. Ziemann, Stephen Tu, George J. Pappas, Nikolai Matni
Sharp Rates in Dependent Learning Theory: Avoiding Sample Size Deflation for the Square Loss. CoRR (2024)
Farhad Nawaz, Shaoting Peng, Lars Lindemann, Nadia Figueroa, Nikolai Matni
Reactive Temporal Logic-based Planning and Control for Interactive Robotic Tasks. CoRR (2024)
Ingvar M. Ziemann, Anastasios Tsiamis, Bruce D. Lee, Yassir Jedra, Nikolai Matni, George J. Pappas
A Tutorial on the Non-Asymptotic Theory of System Identification. CDC (2023)
Ingvar M. Ziemann, Stephen Tu, George J. Pappas, Nikolai Matni
The noise level in linear regression with dependent data. CoRR (2023)
David Brandfonbrener, Stephen Tu, Avi Singh, Stefan Welker, Chad Boodoo, Nikolai Matni, Jake Varley
Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning. ICRA (2023)
Anish Bhattacharya, Ratnesh Madaan, Fernando Cladera Ojeda, Sai Vemprala, Rogerio Bonatti, Kostas Daniilidis, Ashish Kapoor, Vijay Kumar, Nikolai Matni, Jayesh K. Gupta
EvDNeRF: Reconstructing Event Data with Dynamic Neural Radiance Fields. CoRR (2023)
Daniel Pfrommer, Max Simchowitz, Tyler Westenbroek, Nikolai Matni, Stephen Tu
The Power of Learned Locally Linear Models for Nonlinear Policy Optimization. CoRR (2023)
Bruce D. Lee, Thomas T. C. K. Zhang, Hamed Hassani, Nikolai Matni
Performance-Robustness Tradeoffs in Adversarially Robust Control and Estimation. CoRR (2023)
Bruce D. Lee, Ingvar M. Ziemann, Anastasios Tsiamis, Henrik Sandberg, Nikolai Matni
The Fundamental Limitations of Learning Linear-Quadratic Regulators. CDC (2023)
Thomas T. C. K. Zhang, Bruce D. Lee, Hamed Hassani, Nikolai Matni
Adversarial Tradeoffs in Robust State Estimation. ACC (2023)
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic, Dinesh Thakur, Vijay Kumar, Nikolai Matni
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems. IROS (2023)
Bruce D. Lee, Ingvar M. Ziemann, Anastasios Tsiamis, Henrik Sandberg, Nikolai Matni
The Fundamental Limitations of Learning Linear-Quadratic Regulators. CoRR (2023)
Kong Yao Chee, M. Ani Hsieh, Nikolai Matni
Learning-enhanced Nonlinear Model Predictive Control using Knowledge-based Neural Ordinary Differential Equations and Deep Ensembles. L4DC (2023)
Ingvar M. Ziemann, Anastasios Tsiamis, Bruce D. Lee, Yassir Jedra, Nikolai Matni, George J. Pappas
A Tutorial on the Non-Asymptotic Theory of System Identification. CoRR (2023)
Thomas T. C. K. Zhang, Katie Kang, Bruce D. Lee, Claire J. Tomlin, Sergey Levine, Stephen Tu, Nikolai Matni
Multi-Task Imitation Learning for Linear Dynamical Systems. L4DC (2023)
Haoze Wu, Teruhiro Tagomori, Alexander Robey, Fengjun Yang, Nikolai Matni, George J. Pappas, Hamed Hassani, Corina S. Pasareanu, Clark W. Barrett
Toward Certified Robustness Against Real-World Distribution Shifts. SaTML (2023)
Ingvar M. Ziemann, Stephen Tu, George J. Pappas, Nikolai Matni
The noise level in linear regression with dependent data. NeurIPS (2023)
Carmen Amo Alonso, Jing Shuang Li, James Anderson, Nikolai Matni
Distributed and Localized Model-Predictive Control-Part I: Synthesis and Implementation. IEEE Trans. Control. Netw. Syst. 10 (2) (2023)
Thomas T. C. K. Zhang, Leonardo F. Toso, James Anderson, Nikolai Matni
Meta-Learning Operators to Optimality from Multi-Task Non-IID Data. CoRR (2023)
Lars Lindemann, Lejun Jiang, Nikolai Matni, George J. Pappas
Risk of Stochastic Systems for Temporal Logic Specifications. ACM Trans. Embed. Comput. Syst. 22 (3) (2023)
Farhad Nawaz, Tianyu Li, Nikolai Matni, Nadia Figueroa
Learning Safe and Stable Motion Plans with Neural Ordinary Differential Equations. CoRR (2023)
Carmen Amo Alonso, Jing Shuang Li, Nikolai Matni, James Anderson
Distributed and Localized Model Predictive Control - Part II: Theoretical Guarantees. IEEE Trans. Control. Netw. Syst. 10 (3) (2023)
Anusha Srikanthan, Vijay Kumar, Nikolai Matni
Augmented Lagrangian Methods as Layered Control Architectures. CoRR (2023)
Shaoru Chen, Kong Yao Chee, Nikolai Matni, M. Ani Hsieh, George J. Pappas
Safety Filter Design for Neural Network Systems via Convex Optimization. CDC (2023)
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic, Dinesh Thakur, Vijay Kumar, Nikolai Matni
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems. CoRR (2023)
Daniel Pfrommer, Max Simchowitz, Tyler Westenbroek, Nikolai Matni, Stephen Tu
The Power of Learned Locally Linear Models for Nonlinear Policy Optimization. ICML (2023)
Shaoru Chen, Kong Yao Chee, Nikolai Matni, M. Ani Hsieh, George J. Pappas
Safety Filter Design for Neural Network Systems via Convex Optimization. CoRR (2023)
Bruce D. Lee, Thomas T. C. K. Zhang, Hamed Hassani, Nikolai Matni
Performance-Robustness Tradeoffs in Adversarially Robust Linear-Quadratic Control. CoRR (2022)
Fengjun Yang, Fernando Gama, Somayeh Sojoudi, Nikolai Matni
Distributed Optimal Control of Graph Symmetric Systems via Graph Filters. CDC (2022)
Thomas T. C. K. Zhang, Katie Kang, Bruce D. Lee, Claire J. Tomlin, Sergey Levine, Stephen Tu, Nikolai Matni
Multi-Task Imitation Learning for Linear Dynamical Systems. CoRR (2022)
Anastasios Tsiamis, Ingvar M. Ziemann, Manfred Morari, Nikolai Matni, George J. Pappas
Learning to Control Linear Systems can be Hard. CoRR (2022)
Ingvar M. Ziemann, Anastasios Tsiamis, Henrik Sandberg, Nikolai Matni
How are policy gradient methods affected by the limits of control? CDC (2022)
Shaoru Chen, Ning-Yuan Li, Victor M. Preciado, Nikolai Matni
Robust Model Predictive Control of Time-Delay Systems through System Level Synthesis. CoRR (2022)
Shaoru Chen, Victor M. Preciado, Manfred Morari, Nikolai Matni
Robust Model Predictive Control with Polytopic Model Uncertainty through System Level Synthesis. CoRR (2022)
Bruce D. Lee, Thomas T. C. K. Zhang, Hamed Hassani, Nikolai Matni
Performance-Robustness Tradeoffs in Adversarially Robust Linear-Quadratic Control. CDC (2022)
Georgios Georgakis, Bernadette Bucher, Anton Arapin, Karl Schmeckpeper, Nikolai Matni, Kostas Daniilidis
Uncertainty-driven Planner for Exploration and Navigation. CoRR (2022)
Shaoru Chen, Ning-Yuan Li, Victor M. Preciado, Nikolai Matni
Robust Model Predictive Control of Time-Delay Systems through System Level Synthesis. CDC (2022)
David Brandfonbrener, Stephen Tu, Avi Singh, Stefan Welker, Chad Boodoo, Nikolai Matni, Jake Varley
Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning. CoRR (2022)
Anastasios Tsiamis, Ingvar M. Ziemann, Nikolai Matni, George J. Pappas
Statistical Learning Theory for Control: A Finite Sample Perspective. CoRR (2022)
Daniel Pfrommer, Nikolai Matni
Linear Variational State Space Filtering. CoRR (2022)
Anastasios Tsiamis, Ingvar M. Ziemann, Manfred Morari, Nikolai Matni, George J. Pappas
Learning to Control Linear Systems can be Hard. COLT (2022)
Haoze Wu, Teruhiro Tagomori, Alexander Robey, Fengjun Yang, Nikolai Matni, George J. Pappas, Hamed Hassani, Corina S. Pasareanu, Clark W. Barrett
Toward Certified Robustness Against Real-World Distribution Shifts. CoRR (2022)
Thomas T. C. K. Zhang, Stephen Tu, Nicholas M. Boffi, Jean-Jacques E. Slotine, Nikolai Matni
Adversarially Robust Stability Certificates can be Sample-Efficient. L4DC (2022)
Georgios Georgakis, Bernadette Bucher, Anton Arapin, Karl Schmeckpeper, Nikolai Matni, Kostas Daniilidis
Uncertainty-driven Planner for Exploration and Navigation. ICRA (2022)
Fengjun Yang, Fernando Gama, Somayeh Sojoudi, Nikolai Matni
Distributed Optimal Control of Graph Symmetric Systems via Graph Filters. CoRR (2022)
Carmen Amo Alonso, Jing Shuang Li, Nikolai Matni, James Anderson
Distributed and Localized Model Predictive Control. Part II: Theoretical Guarantees. CoRR (2022)
Ingvar M. Ziemann, Henrik Sandberg, Nikolai Matni
Single Trajectory Nonparametric Learning of Nonlinear Dynamics. COLT (2022)
Stephen Tu, Alexander Robey, Tingnan Zhang, Nikolai Matni
On the Sample Complexity of Stability Constrained Imitation Learning. L4DC (2022)
Lars Lindemann, Lejun Jiang, Nikolai Matni, George J. Pappas
Risk of Stochastic Systems for Temporal Logic Specifications. CoRR (2022)
Daniel Pfrommer, Thomas T. C. K. Zhang, Stephen Tu, Nikolai Matni
TaSIL: Taylor Series Imitation Learning. CoRR (2022)
Ingvar M. Ziemann, Anastasios Tsiamis, Henrik Sandberg, Nikolai Matni
How are policy gradient methods affected by the limits of control? CoRR (2022)
Ingvar Ziemann, Henrik Sandberg, Nikolai Matni
Single Trajectory Nonparametric Learning of Nonlinear Dynamics. CoRR (2022)
Daniel Pfrommer, Thomas T. C. K. Zhang, Stephen Tu, Nikolai Matni
TaSIL: Taylor Series Imitation Learning. NeurIPS (2022)
Kong Yao Chee, M. Ani Hsieh, Nikolai Matni
Learning-enhanced Nonlinear Model Predictive Control using Knowledge-based Neural Ordinary Differential Equations and Deep Ensembles. CoRR (2022)
Bibit Bianchini, Mathew Halm, Nikolai Matni, Michael Posa
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions. L4DC (2022)
Lars Lindemann, Nikolai Matni, George J. Pappas
STL Robustness Risk over Discrete-Time Stochastic Processes. CoRR (2021)
Bibit Bianchini, Mathew Halm, Nikolai Matni, Michael Posa
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions. CoRR (2021)
Jingxi Xu, Bruce Lee, Nikolai Matni, Dinesh Jayaraman
How Are Learned Perception-Based Controllers Impacted by the Limits of Robust Control? CoRR (2021)
Fengjun Yang, Nikolai Matni
Communication Topology Co-Design in Graph Recurrent Neural Network Based Distributed Control. CoRR (2021)
Jingxi Xu, Bruce Lee, Nikolai Matni, Dinesh Jayaraman
How Are Learned Perception-Based Controllers Impacted by the Limits of Robust Control? L4DC (2021)
Bruce D. Lee, Thomas T. C. K. Zhang, Hamed Hassani, Nikolai Matni
Adversarial Tradeoffs in Linear Inverse Problems and Robust State Estimation. CoRR (2021)
Alexander Robey, Lars Lindemann, Stephen Tu, Nikolai Matni
Learning Robust Hybrid Control Barrier Functions for Uncertain Systems. ADHS (2021)
Stephen Tu, Alexander Robey, Nikolai Matni
Closing the Closed-Loop Distribution Shift in Safe Imitation Learning. CoRR (2021)
Fengjun Yang, Nikolai Matni
Communication Topology Co-Design in Graph Recurrent Neural Network based Distributed Control. CDC (2021)
Thomas T. C. K. Zhang, Stephen Tu, Nicholas M. Boffi, Jean-Jacques E. Slotine, Nikolai Matni
Adversarially Robust Stability Certificates can be Sample-Efficient. CoRR (2021)
Lars Lindemann, Nikolai Matni, George J. Pappas
STL Robustness Risk over Discrete-Time Stochastic Processes. CDC (2021)
Alexander Robey, Lars Lindemann, Stephen Tu, Nikolai Matni
Learning Robust Hybrid Control Barrier Functions for Uncertain Systems. CoRR (2021)
Bernadette Bucher, Karl Schmeckpeper, Nikolai Matni, Kostas Daniilidis
An Adversarial Objective for Scalable Exploration. IROS (2021)
Carmen Amo Alonso, Fengjun Yang, Nikolai Matni
Data-driven Distributed and Localized Model Predictive Control. CoRR (2021)
Lars Lindemann, Alexander Robey, Lejun Jiang, Stephen Tu, Nikolai Matni
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations. CoRR (2021)
Anton Xue, Nikolai Matni
Data-Driven System Level Synthesis. L4DC (2021)
Shaoru Chen, Nikolai Matni, Manfred Morari, Victor M. Preciado
System Level Synthesis-based Robust Model Predictive Control through Convex Inner Approximation. CoRR (2021)
Carmen Amo Alonso, Nikolai Matni
Distributed and Localized Closed Loop Model Predictive Control via System Level Synthesis. CDC (2020)
Nikolai Matni, Anish A. Sarma
Robust Performance Guarantees for System Level Synthesis. ACC (2020)
Anton Xue, Nikolai Matni
Data-Driven System Level Synthesis. CoRR (2020)
Sangdon Park, Osbert Bastani, Nikolai Matni, Insup Lee
PAC Confidence Sets for Deep Neural Networks via Calibrated Prediction. ICLR (2020)
Sarah Dean, Horia Mania, Nikolai Matni, Benjamin Recht, Stephen Tu
On the Sample Complexity of the Linear Quadratic Regulator. Found. Comput. Math. 20 (4) (2020)
Salar Fattahi, Nikolai Matni, Somayeh Sojoudi
Efficient Learning of Distributed Linear-Quadratic Control Policies. SIAM J. Control. Optim. 58 (5) (2020)
Laura Jarin-Lipschitz, Rebecca Li, Ty Nguyen, Vijay Kumar, Nikolai Matni
Evaluating Robust, Perception Based Control with Quadrotors. CoRR (2020)
Sarah Dean, Nikolai Matni, Benjamin Recht, Vickie Ye
Robust Guarantees for Perception-Based Control. L4DC (2020)
Laura Jarin-Lipschitz, Rebecca Li, Ty Nguyen, Vijay Kumar, Nikolai Matni
Robust, Perception Based Control with Quadrotors. IROS (2020)
Shaoru Chen, Han Wang, Manfred Morari, Victor M. Preciado, Nikolai Matni
Robust Closed-loop Model Predictive Control via System Level Synthesis. CDC (2020)
Nicholas M. Boffi, Stephen Tu, Nikolai Matni, Jean-Jacques E. Slotine, Vikas Sindhwani
Learning Stability Certificates from Data. CoRL (2020)
Anastasios Tsiamis, Nikolai Matni, George J. Pappas
Sample Complexity of Kalman Filtering for Unknown Systems. L4DC (2020)
Alexander Robey, Haimin Hu, Lars Lindemann, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu, Nikolai Matni
Learning Control Barrier Functions from Expert Demonstrations. CoRR (2020)
Carmen Amo Alonso, Nikolai Matni, James Anderson
Explicit Distributed and Localized Model Predictive Control via System Level Synthesis. CDC (2020)
Alexander Robey, Haimin Hu, Lars Lindemann, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu, Nikolai Matni
Learning Control Barrier Functions from Expert Demonstrations. CDC (2020)

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Publication Activity (10 Years)

Top Topics

Top Venues

Nikolai Matni