Nikolai Matni – Publications

Please see my Google Scholar page for citations.

We release all code needed to reproduce examples in papers originating from our group on the Unstable Zeros github repo.

Journals

• B. D. Lee, T. T.C.K. Zhang, H. Hassani, and N. Matni, Performance-Robustness Tradeoffs in Adversarially Robust Control and Estimation, Submitted, 2023.
  

• Control for Societal-Scale Challenges Roadmap 2030, IEEE CSS Publication, 2023.
  

• A. Tsiamis, I. Ziemann, N. Matni, and G. J. Pappas, Statistical Learning Theory for Control: A Finite Sample Perspective, IEEE Control Systems Magazine, 2023.
  

• L. Lindemann, A. Robey, L. Jiang, S. Tu, and N Matni, Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations, Submitted, 2023. [code]
  

• S. Chen, V. M. Preciado, M. Morari, and N. Matni, Robust Model Predictive Control with Polytopic Model Uncertainty through System Level Synthesis , Automatica, Conditionally Accepted, 2023. [code]
  

• L. Lindemann, L. Jiang, N. Matni, and G. J. Pappas Risk of Stochastic Systems for Temporal Logic Specifications, ACM Transactions on Embedded Computing Systems, 2023.
  

• C. Amo Alonso, J. S. Li, J. Anderson, and N. Matni, Distributed and Localized Model Predictive Control. Part I: Synthesis and Implementation, IEEE Transactions on the Control of Network Systems (TCONES), 2022. [code]
  

• C. Amo Alonso, J. S. Li, N. Matni, and J. Anderson, Distributed and Localized Model Predictive Control. Part II: Theoretical Guarantees, IEEE Transactions on the Control of Network Systems (TCONES), 2023. [code]
  

• C. Amo Alonso, F. Yang, and N. Matni, Data-driven Distributed and Localized Model Predictive Control, IEEE Open Journal of Control Systems, 2022. [code]
  

• S. Fattahi, N. Matni, and S. Sojoudi, Efficient Learning of Distributed Linear-Quadratic Controllers, SIAM Journal on Control and Optimization (SICON), 2020. (arXiv) [code]
  

• J. Anderson, J. C. Doyle, S. H. Low, and N. Matni, System Level Synthesis, Annual Reviews in Control, 2019.
  

• S. Dean, H. Mania, N. Matni, B. Recht, and S. Tu, On the Sample Complexity of the Linear Quadratic Regulator, Journal of Foundations of Computational Mathemtaics (FoCM), 2019. (arXiv)
  

• N. Wu, Y. Bi, N. Michael, A. Tang, J. C. Doyle and N. Matni, A Control-Theoretic Approach to In-Network Congestion Management , IEEE Transactions on Networking, 2018.
  

• Y.-S. Wang, N. Matni, and J. C. Doyle, Separable and Localized System Level Synthesis for Large-Scale Systems , IEEE Transactions on Automatic Control, 2018.
  

• Y.-S. Wang, N. Matni, and J. C. Doyle, A System Level Approach to Controller Synthesis , IEEE Transactions on Automatic Control, 2019. 2021 IEEE CSS George S. Axelby Award.
  

• V. Jonsson, C. Blakely, ..., N. Matni, ..., J. C. Doyle and T. Bivona, Novel computational method for predicting polytherapy switching strategies to overcome tumor heterogeneity and evolution, Nature Scientific Reports.

• N. Matni and V. Chandrasekaran, Regularization for Design, IEEE Transactions on Automatic Control, 2016 (arXiv, ieeexplore)

• N. Matni, Communication Delay Co-design in H2 Distributed Control Using Atomic Norm Minimization, IEEE Transactions on Control of Network Systems, 2017. (arXiv, ieeexplore)

• M. Oishi, N. Matni, A. Ashoori, and M. J. McKeown, Switching restrictions for stability despite switching delay: Application to switched tracking tasks in Parkinson's disease, Journal of Nonlinear Systems and Applications, Special issue on hybrid systems, vol. 2, no. 1-2, p. 16-25, 2011.
  

Refereed Conference Proceedings

• T. T.C.K. Zhang, L. F. Toso, J. Anderson, and N. Matni Meta-Learning Operators to Optimality from Multi-Task Non-IID Data, Submitted, 2023.

• I. Ziemann, S. Tu, G. Pappas, and N. Matni, The noise level in linear regression with dependent data, NeurIPS, 2023.

• A. Srikanthan, F. Yang, I. Spasojevic, D. Thakur, V. Kumar, and N. Matni, A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023.

• I. Ziemann, A. Tsiamis, B. Lee, Y. Jedra, N. Matni, and G. J. Pappas A Tutorial on the Non-Asymptotic Theory of System Identification, IEEE Conference on Decision and Control, 2023.

• B. D. Lee, I. Ziemann, A. Tsiamis, H. Sandberg, and N. Matni, The Fundamental Limitations of Learning Linear-Quadratic Regulators, IEEE Conference on Decision and Control, 2023.

• S. Chen, K. Y. Chee, N. Matni, M. A. Hsieh, and G. J. Pappas, Safety Filter Design for Neural Network Systems via Convex Optimization, IEEE Conference on Decision and Control, 2023.

• D. Pfrommer, M. Simchowitz, T. Westenbroek, N. Matni, and S. Tu, The Power of Learned Locally Linear Models for Nonlinear Policy Optimization, International Conference on Machine Learning (ICML), 2023.

• B. D. Lee, T. T.C.K. Zhang, H. Hassani, and N. Matni, Adversarial Tradeoffs in Robust State Estimation, IEEE American Control Conference, 2023.
  

• T. TCK Zhang, K. Kang, B. D. Lee, C. Tomlin, S. Levine, S. Tu, and N. Matni, Multi-Task Imitation Learning for Linear Dynamical Systems, Conference on Learning for Dynamics and Control (L4DC), 2023.

• K. Y. Chee, M. A. Hsieh, and N. Matni, Learning-enhanced Nonlinear Model Predictive Control using Knowledge-based Neural Ordinary Differential Equations and Deep Ensembles, Conference on Learning for Dynamics and Control (L4DC), 2023.

• D. Brandfonbrener, S. Tu, A. Singh, S. Welker, C. Boodoo, N. Matni, and J. Varley, Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning, International Conference on Robotics and Automation, 2023. [website]
  

• H. Wu, T. Tagomori, A. Robey, F. Yang, N. Matni, G. Pappas, H. Hassani, C. Pasareanu, and C. Barrett, Toward Certified Robustness Against Real-World Distribution Shifts, First IEEE Conference on Secure and Trustworthy Machine Learning (SaTML), 2023.
  

• I. Ziemann, A. Tsiamis, H. Sandberg, and N. Matni, How are policy gradient methods affected by the limits of control?, IEEE Conference on Decision and Control, 2022.
  

• B. D. Lee, T. T.C.K. Zhang, H. Hassani, and N. Matni, Performance-Robustness Tradeoffs in Adversarially Robust Linear-Quadratic Control, IEEE Conference on Decision and Control, 2022.
  

• F. Yang, F. Gama, S. Sojoudi, and N. Matni, Distributed Optimal Control of Graph Symmetric Systems Via Graph Filters, IEEE Conference on Decision and Control, 2022.
  

• S. Chen, N.-Y. Li, V. M. Preciado, and N. Matni Robust Model Predictive Control of Time-Delay Systems through System Level Synthesis, IEEE Conference on Decision and Control, 2022.
  

• D. Pfrommer, T. T.C.K. Zhang, S. Tu, N. Matni, TaSIL: Taylor Series Imitation Learning, NeurIPS, 2022. [code]
  

• I. Ziemann, H. Sandberg, and N. Matni, Single Trajectory Nonparametric Learning of Nonlinear Dynamics, Conference on Learning Theory (CoLT), 2022.
  

• A. Tsiamis, I. Ziemann, M. Morari, N. Matni, and G. J. Pappas, Learning to Control Linear Systems can be Hard, Conference on Learning Theory (CoLT), 2022.
  

• G. Georgakis, B. Bucher, A. Arapin, K. Schmeckpeper, N. Matni, and K. Daniilidis, Uncertainty-driven Planner for Exploration and Navigation, International Conference on Robotics and Automation, 2022. [github]
  

• S. Tu, A. Robey, T. Zhang, and N. Matni, On the Sample Complexity of Stability Constrained Imitation Learning, Learning for Dynamics and Control (L4DC), 2022. (one of 16/176 papers selected for oral presentation)
  

• B. Bianchini, M. Halm, N. Matni, and M. Posa, Generalization bounds for implicit learning of nearly discontinuous functions, Learning for Dynamics and Control (L4DC), 2022.
  

• T. T.C.K. Zhang, S. Tu, N. M. Boffi, J.-J. E. Slotine, and N. Matni, Adversarially Robust Stability Certificates can be Sample-Efficient, Learning for Dynamics and Control (L4DC), 2022.
  

• D. Pfrommer, and N. Matni, Linear Variational State Space Filtering, Submitted, 2022. [github]
  

• F. Yang, and N. Matni, Communication Topology Co-Design in Graph Recurrent Neural Network Based Distributed Control, IEEE Conference on Decision and Control, 2021. [code]
  

• L. Lindemann, N. Matni, and G. J. Pappas, STL Robustness Risk over Discrete-Time Stochastic Processes, IEEE Conference on Decision and Control, 2021.
  

• C. Amo Alonso, J. S. Li, N. Matni, and J. Anderson, Robust Distributed and Localized Model Predictive Control, 2021, Submitted.
  

• B. Bucher, K. Schmeckpeper, N. Matni, and K. Daniilidis, An Adversarial Objective for Scalable Exploration , IEEE International Workshop on Intelligent Robots and Systems (IROS), 2021.
  

• A. Robey, L. Lindemann, S. Tu, and N. Matni, Learning Robust Hybrid Control Barrier Functions for Uncertain Systems, IFAC Conference on the Analysis and Design of Hybrid Systems, 2021. [github]
  

• J. Xu, B. Lee, N. Matni, and D. Jayaraman, How Are Learned Perception-Based Controllers Impacted by the Limits of Robust Control?, Learning for Decision and Control, 2021. [project website]
  

• A. Xue, and N. Matni, Data-Driven System Level Synthesis, Learning for Decision and Control, 2021. [github]
  

• L. Lindemann, H. Hu, A. Robey, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, Learning Hybrid Control Barrier Functions from Data, Conference on Robot Learning (CoRL), 2020. [github] [short talk]
  

• N. M. Boffi, S. Tu, N. Matni, J.-J. E. Slotine, V. Sindhwani, Learning Stability Certificates from Data , Conference on Robot Learning (CoRL), 2020. [short talk]
  

• A. Robey, H. Hu, L. Lindemann, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, Learning Control Barrier Functions from Expert Demonstrations, IEEE Conference on Decision and Control (CDC), 2020. [github] [talk]
  

• H. Wang, S. Chen, M. Morari, V. Preciado, and N. Matni, Robust Model Predictive Control via System Level Synthesis, IEEE Conference on Decision and Control (CDC), 2020. [github]
  

• C. Amo Alonso, N. Matni, and J. Anderson, Explicit Distributed and Localized Model Predictive Control via System Level Synthesis, IEEE Conference on Decision and Control (CDC), 2020. [github][video]
  

• C. Amo Alonso, and N. Matni, Distributed and Localized Model Predictive Control via System Level Synthesis, IEEE Conference on Decision and Control (CDC), 2020. [github][video]
  

• L. Jarin-Lipschitz, R. Li, T. Nguyen, V. Kumar, N. Matni, Evaluating Robust, Perception Based Controllers with Quadrotors, International Conference on Intelligent Robots and Systems (IROS), 2020.
  

• A. Tsiamis, N. Matni, G. Pappas, Sample Complexity of Kalman Filtering for Unknown Systems , Learning for Decision and Control 2020. (one of 14/135 papers selected for oral presentation)
  

• S. Dean, N. Matni, B. Recht, and V. Ye, Robust Guarantees for Perception-Based Control, Learning for Decision and Control 2020. [github]
  

• J. Anderson, N. Matni, and Y. Chen, Sparsity Preserving Discretization With Error Bounds, 21st World Congress of the International Federation of Automatic Control, 2020.
  

• S. Park, O. Bastani, N. Matni, I. Lee, PAC Confidence Sets for Deep Neural Networks via Calibrated Prediction, International Conference on Learning Representations (ICLR) 2020. [github]
  

• N. Matni and A. Sarma, Robust Performance Guarantees for System Level Synthesis, IEEE American Control Conference 2020. [github]
  

• N. Bernat, J. Chen, N. Matni, and J. C. Doyle, The driver and the engineer: reinforcement learning and robust control, IEEE American Control Conference 2020.
  

• N. Matni, A. Proutiere, A. Rantzer and S. Tu, From Self-Tuning Regulators to Reinforcement Learning and Back Again (tutorial session and paper), IEEE Conference on Decision and Control, 2019.
  

• N. Matni, and S. Tu, A Tutorial on Concentration Bounds for System Identification (tutorial companion paper), IEEE Conference on Decision and Control, 2019.
  

• S. Fattahi, N. Matni, and S. Sojoudi, Learning Sparse Dynamical Systems from a Single Sample Trajectory, IEEE Conference on Decision and Control, 2019.
  

• S. Dean, S. Tu, N. Matni, and B. Recht, Safely Learning to Control the Constrained Linear Quadratic Regulator, IEEE American Control Conference, 2019.
  

• S. Dean, H. Mania, N. Matni, B. Recht, and S. Tu, Regret Bounds for Robust Adaptive Control of the Linear Quadratic Regulator, Neural Information Processing Systems (NeurIPS), 2018. [github]
  

• R. Boczar, N. Matni, and B. Recht, Finite-Data Performance Guarantees for the Output-Feedback Control of an Unknown System, IEEE Conference on Decision and Control, 2018. [github]
  

• D. Ho, N. Matni, and J. C. Doyle, Passive-Aggressive Learning and Control, IEEE American Control Conference, 2018. (Invited paper).
  

• J. Anderson and N. Matni, Structured State Space Realizations for SLS Distributed Controllers, IEEE 55th Annual Allerton Conference on Communication, Control, and Computing, 2017.
  

• N. Wu, Y. Bi, N. Michael, A. Tang, J. C. Doyle and N. Matni HFTraC: High-Frequency Traffic Control, SIGMETRICS '17 Abstracts, Proceedings of the 2017 ACM SIGMETRICS / International Conference on Measurement and Modeling of Computer Systems.
  

• J. C. Doyle, N. Matni, Y.-S. Wang, J. Anderson and S. Low. System Level Synthesis: A Tutorial, IEEE Conference on Decision and Control, 2017.
  

• N. Matni, Y.-S. Wang, and J. Anderson Scalable system level synthesis for virtually localizable systems , IEEE Conference on Decision and Control, 2017. (Invited Paper)
  

• Y.-S. Wang, N. Matni, and J. C. Doyle, System Level Parameterizations, Constraints and Synthesis , IEEE American Control Conference, 2017. Best student paper award ( Journal version with proofs and additional discussion )
  

• N. Matni, Optimal Zero-Queue Congestion Control using ADMM, IEEE American Control Conference, 2017.
  

• J. C. Doyle, Y. Nakahria, Y.-P. Leong, ..., N. Matni, Teaching control theory in high school, IEEE Conference on Decision and Control, 2016. Tutorial paper.
  

• N. Matni and J. C. Doyle, A Theory of Dynamics, Control and Optimization in Layered Architectures, IEEE American Control Conference, 2016. (Extended version)
  

• Y.-S. Wang, N. Matni and J. C. Doyle, Localized LQR Control with Actuator Regularization, IEEE American Control Conference, 2016.
  

• Y.-S. Wang and N. Matni, Localized LQG Optimal Control for Large-Scale Systems (Extended version), IEEE American Control Conference, 2016. (Invited paper)
  

• Y.-S. Wang, S. You and N. Matni, Localized Distributed Kalman Filters for Large-Scale Systems, 5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2015.
  

• Y. Nakahira, N. Matni and J. C. Doyle Hard limits on robust control over delayed and quantized communication channels with applications to sensorimotor control, IEEE 54th Annual Conference on Decision and Control, 2015.
  

• S. You and N. Matni, A convex approach to sparse H-infinity analysis and synthesis, IEEE 54th Annual Conference on Decision and Control, 2015.
  

• N. Matni, A. Tang and J. C. Doyle, A case study in network architecture tradeoffs, ACM Sigcomm Symposium on SDN Research (SOSR), 2015. (Technical Report)
  

• N. Matni and M. B. Horowitz, A convex approach to consensus on SO(n), IEEE 52nd Annual Allerton Conference on Communication, Control, and Computing, 2014. (arXiv)
  

• Y.-S. Wang and N. Matni, Localized Distributed Optimal Control with Output Feedback and Communication Delays, IEEE 52nd Annual Allerton Conference on Communication, Control, and Computing, 2014.
  

• N. Matni and V. Chandrasekaran, Regularization for Design , IEEE 53rd Annual Conference on Decision and Control, 2014. Invited paper. (arXiv)
  

• N. Matni, Distributed Control Subject to Delays Satisfying an H-infinity Norm Bound, IEEE 53rd Annual Conference on Decision and Control, 2014. Invited paper. (arXiv)
  

• Y.-S. Wang, N. Matni and J. C. Doyle, Localized LQR Optimal Control, IEEE 53rd Annual Conference on Decision and Control, 2014. (arXiv)
  

• V. Jonsson, N. Matni and R. M. Murray, Synthesizing Combination Therapies for Evolutionary Dynamics of Disease for Nonlinear Pharmacodynamics, IEEE 53rd Annual Conference on Decision and Control, 2014. Invited paper. (biorXiv)
  

• N. Matni, A. Lamperski and J. C. Doyle, Optimal Two Player LQR State Feedback with Varying Delay, 19th World Congress of the International Federation of Automatic Control, 2014.
  

• Y.-S. Wang, N. Matni, S. You and J. C. Doyle, Localized Distributed State Feedback Control with Communication Delays, IEEE American Control Conference, 2014.
  

• M. Horowitz, N. Matni and J. Burdick, Convex Relaxations of SE(2) and SE(3) for Visual Pose Estimation, IEEE International Conference on Robotics and Automation, 2014.
  

• N. Matni, Y.P. Leong, Y.-S. Wang, S. You, M. B. Horowitz and J. C. Doyle, Resilience in Large Scale Distributed Systems, Conference on Systems and Engineering Research, 2014.
  

• N. Matni, Communication Delay Co-design in H2 Decentralized Control Using Atomic Norm Minimization (ieeexplore), IEEE 52nd Annual Conference on Decision and Control, 2013. Best student paper award.
  

• N. Matni and J.C. Doyle, Optimal Distributed LQG State Feedback with Varying Communication Delays (ieeexplore), IEEE 52nd Annual Conference on Decision and Control, 2013.
  

• V. Jonsson, N. Matni and R.M. Murray, Reverse Engineering Combination Therapies for Evolutionary Dynamics of Disease: An Hinf Approach (ieeexplore), IEEE 52nd Annual Conference on Decision and Control, 2013.
  

• N. Matni and J.C. Doyle, A Dual Problem in H2 Decentralized Control Subject to Delays (ieeexplore), IEEE American Control Conference, 2013.
  

• N. Matni and J.C. Doyle, A Heuristic for Sub-Optimal H2 Decentralized Control Subject to Delay in Non-Quadratically-Invariant Systems (ieeexplore), IEEE American Control Conference, 2013.
  

• N. Matni, A Projection Framework for Near-Potential Polynomial Games (ieeexplore), IEEE 51st Annual Conference on Decision and Control, Maui, HI, December 2012, p. 6507-6512.
  

• N. Matni, M. Oishi, Stability of switched block upper-triangular linear systems with bounded switching delay: Application to large distributed systems, In the Proceedings of the American Control Conference, San Francisco, CA, June 2011, p. 1440-1445.
  

• N. Matni and M. Oishi, Reachability analysis for continuous systems under shared control: Application to user-interface design, In the Proceedings of the IEEE Conference on Decision and Control, Shanghai, China, December 2009, p 5929-5934. Interactive paper prize.
  

• M. Oishi and N. Matni, Towards provably safe control of smart wheelchairs, In the Proceedings of the AAAI Symposium, AI in Eldercare, Washington, DC, November 2008.
  

• N. Matni and M. Oishi, Reachability-based abstraction for an aircraft landing under shared control, In the Proceedings of the American Control Conference, Seattle, WA, June 2008.
  

Patents

• CIT 7323 Data Network Controlled and Optimized Using Layered Architectures: Nikolai Matni and John C. Doyle.
  

• CIT 14-135 Designing Combination Therapies for Interacting Drugs and Nonlinear Pharmacodynamics for Evolutionary Dynamics of Disease using Optimal Control: Vanessa Jonsson, Nikolai Matni, Anders Rantzer and Bo Bernhardsson.
  

Working notes

• N. Matni and A. Rantzer, Low-Rank and Low-Order Decompositions for Local System Identification