• Corpus ID: 245502582

Learning Linear Complementarity Systems

  title={Learning Linear Complementarity Systems},
  author={Wanxin Jin and Alp Aydinoglu and Mathew Halm and Michael Posa},
This paper investigates the learning, or system identification, of a class of piecewiseaffine dynamical systems known as linear complementarity systems (LCSs). We propose a violation-based loss which enables efficient learning of the LCS parameterization, without prior knowledge of the hybrid mode boundaries, using gradient-based methods. The proposed violation-based loss incorporates both dynamics prediction loss and a novel complementarity violation loss. We show several properties attained… 

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