Abstract:Many existing region-of-attraction (ROA) analysis tools find difficulty in addressing feedback systems with large-scale neural network (NN) policies and/or highdimensional sensing modalities such as cameras. In this letter, we tailor the projected gradient descent (PGD) attack method as a general-purpose ROA analysis tool for highdimensional nonlinear systems and end-to-end perceptionbased control. We show that the ROA analysis can be approximated as a constrained maximization problem such that PGD-based itera… Show more
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