Continuous-Time Critic as a Lyapunov Function: Projected Adaptation and Cart-Pole Stabilization

arXiv:2610.09988 · eess.SY, cs.SY, math.DS, math.OC · Submitted 2026-10-07 · Read on arXiv

eess.SY, cs.SY, math.DS, math.OC

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• Adaptation — 15× in this paper · explained in 1 episode
• Actor — 7× in this paper · explained in 3 episodes
• Lyapunov function — 7× in this paper · explained in 2 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Actor-Critic Framework — 2× in this paper · explained in 1 episode
• Verification — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Formal Verification — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

Sources

• Clarabel: An interior-point solver for conic programs with quadratic objectives
• A framework for online, stabilizing reinforcement learning

Related papers

• One Request, Multiple Experts: LLM Orchestrates Domain Specific Models via Adaptive Task Routing
• A Geometric Decision Procedure for STL Feasibility and Repair
• Submodular Multi-Agent Policy Learning for Online Distributed Task Allocation in Open Multi-Agent Systems
• Policy-Level Recursive Self-Improvement for Embodied AI with a Criticality World Model
• Minimal Experiments for Robust Stabilization: Information, Spectral Geometry, and Duration
• Decentralized Power-Optimal Coordination for Spacecraft Swarms Using Time-Varying Magnetorquer Actuation