Keynotes

Representation-based Learning and Control for Dynamical Systems

Tuesday, July 16, 09:15 - 10:00

Abstract: The explosive growth of machine learning and data-driven methodologies have revolutionized numerous fields. Yet, the translation of these successes to the domain of dynamical physical systems remains a significant challenge. Closing the loop from data to actions in these systems faces many difficulties, stemming from the need for sample efficiency and computational feasibility, along with many other requirement such as verifiability, robustness, and safety. In this talk, we bridge this gap by introducing innovative representations to develop nonlinear stochastic control and reinforcement learning methods. Key in the representation is to  represent the stochastic, nonlinear  dynamics linearly onto a nonlinear feature space. We present a comprehensive framework to develop control and learning strategies which achieve efficiency, safety, robustness, and scalbility with provable performance. We also show how the representation could be used to close the sim-to-real gap. Lastly, we will briefly present some concrete real-world applications, discussing how domain knowledge is applied in practice to further close the loop from data to actions.

Bio: Na Li is a Winokur Family Professor of Electrical Engineering and Applied Mathematics at Harvard University.  She received her Bachelor's degree in Mathematics from Zhejiang University in 2007 and Ph.D. degree in Control and Dynamical systems from California Institute of Technology in 2013. She was a postdoctoral associate at the Massachusetts Institute of Technology 2013-2014.  She has held a variety of short-term visiting appointments including the Simons Institute for the Theory of Computing, MIT, and Google Brain. Her research lies in the control, learning, and optimization of networked systems, including theory development, algorithm design, and applications to real-world cyber-physical societal system.  She has been an associate editor for IEEE Transactions on Automatic Control, Systems & Control Letters, IEEE Control Systems Letters, and served on the organizing committee for a few conferences.  She received the NSF career award (2016), AFSOR Young Investigator Award (2017), ONR Young Investigator Award(2019),  Donald P. Eckman Award (2019), McDonald Mentoring Award (2020), the IFAC Manfred Thoma Medal (2023), along with some other awards.

Optogenetic Feedback Control of Gene Expression in Single Cells

Tuesday, July 16, 14:30 - 15:15

Abstract: In this talk I will discuss a novel approach for controlling gene expression dynamics in single cells that can be used to precisely drive expression in thousands of cells in parallel. Using recent advances in the fields of machine learning and control theory, we train a deep neural network to accurately predict the response of an optogenetic system in E. coli cells. We then use the network in a deep model predictive control framework to impose arbitrary and cell-specific gene expression dynamics on thousands of single cells in real time, applying the framework to generate complex time-varying patterns. We also showcase the framework’s ability to link expression patterns to dynamic functional outcomes by controlling expression of an antibiotic resistance gene. These approaches offer powerful methods that can be used to quantify and control cell-to-cell heterogeneity in antibiotic resistance, providing a detailed view into strategies bacteria can use to evade drug treatment.

Bio: Mary Dunlop is an Associate Professor of Biomedical Engineering at Boston University with additional appointments in Bioinformatics and in the Molecular Biology, Cell Biology & Biochemistry program. She graduated from Princeton University with a B.S.E. in Mechanical and Aerospace Engineering and a minor in Computer Science. She then received her Ph.D. from the California Institute of Technology, where she studied synthetic biology with a focus on dynamics and feedback in gene regulation. Her lab engineers novel synthetic feedback control systems and studies naturally occurring examples of feedback in gene regulation. In addition, her research has focused on understanding the role of cell-to-cell heterogeneity in bacterial systems. In recognition of her outstanding research contributions, she has received many honors including election as an AIMBE Fellow, the NSF Transitions Award, ACS Synthetic Biology Young Investigator Award, DOE Early Career Award, and NSF CAREER Award. She is also the recipient of several teaching awards, including Boston University’s Biomedical Engineering Professor of the Year Award and the College of Engineering Teaching Excellence Award.

Inductive Biases for Robot Reinforcement Learning

Wednesday, July 17, 11:15 - 12:00

Abstract: Autonomous robots that can assist humans in situations of daily life have been a long standing vision of robotics, artificial intelligence, and cognitive sciences. A first step towards this goal is to create robots that can learn tasks triggered by environmental context or higher level instruction. However, learning techniques have yet to live up to this promise as only few methods manage to scale to high-dimensional manipulator or humanoid robots. In this talk, we investigate a general framework suitable for learning motor skills in robotics which is based on the principles behind many analytical robotics approaches. To accomplish robot reinforcement learning learning from just few trials, the learning system can no longer explore all learn-able solutions but has to prioritize one solution over others – independent of the observed data. Such prioritization requires explicit or implicit assumptions, often called ‘induction biases’ in machine learning. Extrapolation to new robot learning tasks requires induction biases deeply rooted in general principles and domain knowledge from robotics, physics and control. Empirical evaluations on a several robot systems illustrate the effectiveness and applicability to learning control on an anthropomorphic robot arm. These robot motor skills range from toy examples (e.g., paddling a ball, ball-in-a-cup) to playing robot table tennis, juggling and manipulation of various objects.

Bio: Jan Peters is a full professor (W3) for Intelligent Autonomous Systems at the Computer Science Department of the Technische Universitaet Darmstadt since 2011, and, at the same time, he is the dept head of the research department on Systems AI for Robot Learning (SAIROL) at the German Research Center for Artificial Intelligence (Deutsches Forschungszentrum für Künstliche Intelligenz, DFKI) since 2022. He is also is a founding research faculty member of the Hessian Center for Artificial Intelligence. Jan Peters has received the Dick Volz Best 2007 US PhD Thesis Runner-Up Award, the Robotics: Science & Systems - Early Career Spotlight, the
INNS Young Investigator Award, and the IEEE Robotics & Automation Society's Early Career Award as well as numerous best paper awards. In 2015, he received an ERC Starting Grant and in 2019, he was appointed IEEE Fellow, in 2020 ELLIS fellow and in 2021 AAIA fellow.
Despite being a faculty member at TU Darmstadt only since 2011, Jan Peters has already nurtured a series of outstanding young researchers into successful careers. These include new faculty members at leading universities in the USA, Japan, Germany, Finland and Holland, postdoctoral scholars at top computer science departments (including MIT, CMU, and Berkeley) and young leaders at top AI companies (including Amazon, Boston Dynamics, Google and Facebook/Meta).
Jan Peters has studied Computer Science, Electrical, Mechanical and Control Engineering at TU Munich and FernUni Hagen in Germany, at the National University of Singapore (NUS) and the University of Southern California (USC). He has received four Master's degrees in these disciplines as well as a Computer Science PhD from USC. Jan Peters has performed research in Germany at DLR, TU Munich and the Max Planck Institute for Biological Cybernetics (in addition to the institutions above), in Japan at the Advanced Telecommunication Research Center (ATR), at USC and at both NUS and Siemens Advanced Engineering in Singapore. He has led research groups on Machine Learning for Robotics at the Max Planck Institutes for Biological Cybernetics (2007-2010) and Intelligent Systems (2010-2021).