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lucid
0.0.1
Lifting-based Uncertain Control Invariant Dynamics
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This section describes briefly the features supported by Lucid.
The color legend below describes the status of each feature in the library.
flowchart TB
a["Available"]:::available
i["In active development"]:::in-development
p["Planned for the future"]:::planned
n["Not planned"]:::not-planned
classDef available stroke:#0b0,stroke-width:2px;
classDef in-development stroke:#bb0,stroke-width:2px,stroke-dasharray:2px;
classDef planned stroke:#0bb,stroke-width:2px,stroke-dasharray:5px;
classDef not-planned stroke:#b00,stroke-width:2px,stroke-dasharray:15px;
flowchart TB
Estimator["Estimator"]
u{{"Unsupervised"}}:::not-planned
c{{"Classification"}}:::not-planned
r{{"Regression"}}
s{{"Supervised"}}
p{{"Parametric"}}:::not-planned
np{{"Non parametric"}}
GP["Gaussian Process"]:::planned
KR["Kernel Ridge"]:::available
SVR["SVR"]:::planned
Estimator --> s
Estimator --> u
s --> r
s --> c
r ---> np
r --> p
np --> KR
np --> SVR
np --> GP
classDef available stroke:#0b0,stroke-width:2px;
classDef in-development stroke:#bb0,stroke-width:2px,stroke-dasharray:2px;
classDef planned stroke:#0bb,stroke-width:2px,stroke-dasharray:5px;
classDef not-planned stroke:#b00,stroke-width:2px,stroke-dasharray:15px;A regression technique that combines ridge regression with kernel methods.
$$ \ell(w) = \frac{1}{2} |Y - w^T\Phi(X)|^2_2 + \frac{1}{2} \( \lambda \) n |w|^2_2 $$
where:
To obtain the optimal weights, we solve the following equation:
$$ w = \Phi(X)(\Phi(X)^T\Phi(X) + \( \lambda \) n I)^{-1}Y $$
To predict a new output \(\hat{y}\) for a new input \( x \), we use the following formula:
$$ \hat{y} = w^T \Phi(x) = y(\Phi(X)^T\Phi(X) + \( \lambda \) n I)^{-1}\Phi(x)^T\Phi(X) = y(K + \( \lambda \) n I)^{-1}\kappa(x) $$
where \( K \) is the Gram matrix computed from the training data, and \(\kappa(x)\) is the kernel function applied to the new input \( x \) against all training inputs.
flowchart TB
gaussian["Gaussian"]:::available
l["Linear"]:::planned
p["Polynomial"]:::planned
s["Sigmoid"]:::planned
classDef available stroke:#0b0,stroke-width:2px;
classDef in-development stroke:#bb0,stroke-width:2px,stroke-dasharray:2px;
classDef planned stroke:#0bb,stroke-width:2px,stroke-dasharray:5px;
classDef not-planned stroke:#b00,stroke-width:2px,stroke-dasharray:15px;