Author

F. Yaghmaie

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Preprint Sep 2026

Policy Iteration for Domain Randomized Linear Quadratic Systems

In this work, we study policy optimization under domain randomization for linear quadratic control, focusing on learning a single state-feedback controller that minimizes the average cost across systems with uncertain dynamics. We propose a policy iteration algorithm with a step-size rule that preserves stability acros...

Abbas Pasdar, F. Yaghmaie · 0 citations

Preprint Jul 2026

Direct Data Driven Natural Gradient Descent for Control

This paper proposes two data-driven NGD formulations that incorporate the closed-loop covariance matrix through the Fisher Information Matrix (FIM), allowing gradient updates to be preconditioned according to the system's intrinsic uncertainty.

Ramin Esmzad, F. Yaghmaie, Bahare Kiumarsi et al. · 0 citations