Iterative Learning Control

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14 papers3 papers in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

Differentiable Iterative Learning Control for Black-Box Position-Commanded Manipulators
Oct 31, 2026Mohammed Al-Ghaili, Yakoop Qasim, Hassan AlmubarakIterative Learning Control Robot Trajectory Tracking
Control & Instrumentation Engineering Department, KFUPM, Dhahran, Saudi Arabia.
Learning Dynamic Games for Cooperative Iterative Tasks
Oct 20, 2026Mark Pustilnik, Francesco BorrelliMulti-Agent Control Game Theory
University of California at Berkeley, USA
Reinforced Iterative Learning Control for elastic joint arms: Guaranteed cross-trajectory generalization under model uncertainties
Oct 20, 2026Yuri De Santis, Michele Pierallini, Franco Angelini +1Robot Trajectory Tracking Iterative Learning Control
Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Largo Lucio Lazzarino 1, Pisa, 56122, Italy · Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Via G. Caruso 16, Pisa, 56122, Italy
Design and Control of a Cable-Driven Switchable Actuator with Torque/Tension Dual Modes for Exoskeletons
Sep 20, 2026YuanLong Ji, Xu Liu, Xinyuan Cai +8Robotic Control Robotics
School of Biological Science and Medical Engineering, Beihang University; the Key Laboratory of Biomechanics and Mechanobiology (Beihang University), Ministry of Education; Key Laboratory of Innovation and Transformation of Advanced Medical Devices, Ministry of Industry and Information Technology; National Medical Innovation Platform for Industry-Education Integration in Advanced Medical Devices (Interdiscipline of Medicine and Engineering), Beihang University, Beijing, 100191, China · School of Engineering Medicine, Beihang University, Beijing, 100191, China · School of Physics and Mechanical and Electrical Engineering, Longyan University, Longyan, 364012, China
Tri-Space Operational Control of Redundant Multilink and Hybrid Cable-Driven Parallel Robots Using an Iterative-Learning based Reactive Approach
Jul 31, 2026Dipankar Bhattacharya, Yin Pok Chan, Siqi Shang +3Robotic Control Robot Trajectory Tracking
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR. · Faculty of Engineering and Information Technology, The University of Melbourne, Parkville, VIC 3010, Australia
Energy-Optimal Spatial Iterative Learning within a Virtual Tube
Jun 30, 2026Chen Min, Shuli Lv, Pengda Mao +3Trajectory Optimization UAV Navigation
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China · Tianmushan Laboratory, Beihang University, Hangzhou, 311115
VFILC: Accurate Frequency Extrapolations in Imitation Learning via Sampling Frequency ILC
Jun 18, 2026Nozomu Masuya, Toshiaki Tsuji, Sho SakainoImitation Learning Robot Imitation Learning
Grad. School of Science and Technology University of Tsukuba Tsukuba, Japan · Grad. School of Science and Engineering Saitama University Saitama, Japan · Systems and Information Engineering University of Tsukuba Tsukuba, Japan
Learning Dynamic Swing-Up of an Inverted Pendulum using Remote Magnetic Actuation
Jun 11, 2026Viacheslav Sydora, Jasan Zughaibi, Denis von Arx +2Robotic Control Iterative Learning Control
Learning and Dynamical Systems, Max Planck Institute for Intelligent Systems, Tübingen, Germany · Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zürich, Zürich, Switzerland · Medical Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zürich, Zürich, Switzerland
Learning Control as Enabling Layer for Embodied Intelligence Research explored with Soft Robotic Swimming in diverse Flow Speeds
Jun 9, 2026Fabian Schwab, Federico Allione, Bingcheng Wang +5Robotic Control Robust Control
1Engineering Sciences Department, Swiss Federal Laboratories for Materials Science and Technology, Switzerland · Institute for NeuroInformatics, University of Zurich, Switzerland · Department of Electronic Engineering, University of Rome Tor Vergata, Italy
Refinement of Accelerated Demonstrations via Incremental Iterative Reference Learning Control for Fast Contact-Rich Imitation Learning
Apr 18, 2026Koki Yamane, Cristian C. Beltran-Hernandez, Steven Oh +2Robot Trajectory Tracking Contact-Rich Robotic Manipulation
OMRON SINIC X Corporation, Bunkyo-ku, Tokyo 113-0033, Japan · Waseda University, Shinjuku-ku, Tokyo, 169-8050, Japan · University of Tsukuba, Tsukuba, Ibaraki 305-8573, Japan
Iterative Learning Control-Informed Reinforcement Learning for Batch Process Control
Mar 16, 2026Runze Lin, Ziqi Zhuo, Junghui Chen +2Iterative Learning Control RL Control
State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou 310027, China · Department of Chemical Engineering, Chung-Yuan Christian University, Taoyuan 32023, Taiwan, R.O.C.
Learning Dynamic Rope Manipulation Using Task-Level Iterative Learning Control
Feb 24, 2026Krishna Suresh, Chris AtkesonIterative Learning Control Dynamic Robotic Manipulation
Carnegie Mellon University
Quasi-Periodic Gaussian Process Predictive Iterative Learning Control
Feb 20, 2026Unnati Nigam, Radhendushka Srivastava, Faezeh Marzbanrad +1Iterative Learning Control Robotic Control
IITB-Monash Research Academy, IIT Bombay, Mumbai, India · Department of Mathematics, IIT Bombay, Mumbai, India · Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Melbourne, Australia
SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks
Feb 18, 2026Zirui Zang, Ahmad Amine, Nick-Marios T. Kokolakis +3Iterative Learning Control Model Predictive Control
University of Pennsylvania, Philadelphia, PA 19104, USA · Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL 32816, USA · Lyric, Italia 152 Catania Italy

Oct 31, 2026J/K move · Enter open · S save

Differentiable Iterative Learning Control for Black-Box Position-Commanded Manipulators

Mohammed Al-Ghaili, Yakoop Qasim, Hassan Almubarak

Control & Instrumentation Engineering Department, KFUPM, Dhahran, Saudi Arabia.

Iterative Learning Control Robot Trajectory Tracking Bilevel Optimization

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High-accuracy repetitive tracking is challenging for position-commanded manipulators whose low-level controllers are inaccessible, while constrained model-based iterative learning control (ILC) can require substantial manual parameter tuning. We present Differentiable Iterative Learning Control (Diff-ILC), an online bilevel framework that adapts the parameters of a constrained ILC update between physical robot executions. A closed-loop differential model is identified once from paired smooth perturbations and subsequently kept fixed. At each trial, a constrained quadratic program computes a feasible command correction, while a real-anchored next-trial prediction defines a task-level objective. Hypergradients are obtained by implicitly differentiating the locally active KKT system, enabling multiple computational parameter updates without additional robot executions. Experiments on a 6-DoF DOBOT CR3 across unseen planar and three-dimensional trajectories show substantially faster physical-trial convergence than fixed-parameter model-based ILC. Across the four primary trajectories, after only two trial-to-trial updates, Diff-ILC achieves 78.8% and 76.4% lower mean joint-vector and Cartesian RMSE, respectively, than fixed-parameter model-based ILC.