{"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/neural-lyapunov-control-1","title":"Neural Lyapunov Control","arxiv_id":"2005.00611","date":"2020-05-01","proceeding":"NeurIPS 2019 12","authors":["Ya-Chien Chang","Nima Roohi","Sicun Gao"],"abstract":"We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and Lyapunov functions, and a falsifier that finds counterexamples to quickly guide the learner towards solutions. The procedure terminates when no counterexample is found by the falsifier, in which case the controlled nonlinear system is provably stable. The approach significantly simplifies the process of Lyapunov control design, provides end-to-end correctness guarantee, and can obtain much larger regions of attraction than existing methods such as LQR and SOS/SDP. We show experiments on how the new methods obtain high-quality solutions for challenging control problems.","url_abs":"https://arxiv.org/abs/2005.00611v4","url_pdf":"https://arxiv.org/pdf/2005.00611v4.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":"neural-lyapunov-control-1","repo_url":"https://github.com/YaChienChang/Neural-Lyapunov-Control","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2005.00611","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2005.00611"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/YaChienChang/Neural-Lyapunov-Control","reach":null}],"summary":{"unverified":1},"by_repo_kind":{},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":1,"samples":[{"code_sha256_prefix":"adf1e35d9990d872","entry":"CheckLyapunov","repo":null,"repo_kind":null,"path":null,"file_url":null,"link_basis":"identical_code_first_harvested_elsewhere","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":null,"inline_ok":false,"mcp_get_code":{"code_sha256":"adf1e35d9990d872"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}