Learned Lyapunov Shielding for Adaptive Control

ArXi:2605.06934v1 Announce Type: new We augment the Slotine--Li adaptive controller for Euler--Lagrange systems with three learned components: a structured-quadratic Lyapuno function \(V_\psi\) whose positive-definiteness follows from a Cholesky parameterization, a residual Soft Actor--Critic policy that adds bounded torque corrections to the analytic baseline, and a physics-informed neural network that estimates unmodeled dynamics.