{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/deluca-a-differentiable-control-library","title":"Deluca -- A Differentiable Control Library: Environments, Methods, and Benchmarking","arxiv_id":"2102.09968","date":"2021-02-19","proceeding":null,"authors":["Paula Gradu","John Hallman","Daniel Suo","Alex Yu","Naman Agarwal","Udaya Ghai","Karan Singh","Cyril Zhang","Anirudha Majumdar","Elad Hazan"],"abstract":"We present an open-source library of natively differentiable physics and robotics environments, accompanied by gradient-based control methods and a benchmark-ing suite. The introduced environments allow auto-differentiation through the simulation dynamics, and thereby permit fast training of controllers. The library features several popular environments, including classical control settings from OpenAI Gym. We also provide a novel differentiable environment, based on deep neural networks, that simulates medical ventilation. We give several use-cases of new scientific results obtained using the library. This includes a medical ventilator simulator and controller, an adaptive control method for time-varying linear dynamical systems, and new gradient-based methods for control of linear dynamical systems with adversarial perturbations.","url_abs":"https://arxiv.org/abs/2102.09968v1","url_pdf":"https://arxiv.org/pdf/2102.09968v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"deluca-a-differentiable-control-library","repo_url":"https://github.com/google/deluca","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"jax","reach":{"status":"unanswered"}}],"tasks":[{"task_slug":"benchmarking","task_name":"Benchmarking"},{"task_slug":"openai-gym","task_name":"OpenAI Gym"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2102.09968","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}