Quantum state engineering is a central task in Lyapunov-based quantum control. Given different initial states, better performance may be achieved if the control parameters, such as the Lyapunov function, are individually optimized for each initial state, however, at the expense of computing resources. To tackle this issue, we propose an initial-state-adaptive Lyapunov control strategy with machine learning, specifically, artificial neural networks trained through supervised learning. Two designs are presented and illustrated where the feedforward neural network and the general regression neural network are used to select control schemes and design Lyapunov functions, respectively. Since the sample generation and the training of neural networks are carried out in advance, the initial-state-adaptive Lyapunov control can be implemented without much increase of computational resources.