This paper addresses the problem of learning the optimal control policy for a nonlinear stochastic dynamical system with continuous state space, continuous action space and unknown dynamics. This class of problems are typically addressed in stochastic adaptive control and reinforcement learning literature using model-b…
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48 results for “Closed-Loop Simulator”
DQN outperforms static policies in a dynamic fee environment for automated market makers.
problem How automated market makers (AMMs) perform under dynamic fees is unknown.
method Constructed a closed-loop simulator with dynamic fees, noise flow, and arbitrage.
result A small DQN policy outperforms static policies in a dynamic fee environment.
Framework learns robust control policies from expert demonstrations.
problem Adversarial robustness and closed-loop generalization in feedback control policies.
method Lipschitz-constrained loss minimization for certified robustness and generalization.
result Finite sample bound on policy learning error and robust closed-loop stability.
We propose a reinforcement learning (RL) based closed loop power control algorithm for the downlink of the voice over LTE (VoLTE) radio bearer for an indoor environment served by small cells. The main contributions of our paper are to 1) use RL to solve performance tuning problems in an indoor cellular network for voic…
Fault detection problem for closed loop uncertain dynamical systems, is investigated in this paper, using different deep learning based methods. Traditional classifier based method does not perform well, because of the inherent difficulty of detecting system level faults for closed loop dynamical system. Specifically, …
Combines Gaussian processes and polynomial chaos for stochastic control.
problem Uncertainties in dynamic models lead to performance issues in predictive control.
method Combines Gaussian processes with polynomial chaos expansions to estimate probability distributions of nonlinear functions.
result Demonstrates accurate approximation and closed-loop performance in stochastic nonlinear model predictive control.
Study bounds the length of shortest periodic geodesics on certain curved spaces.
problem Bounding the length of shortest periodic geodesics on curved spaces.
method Analyzing the space of closed loops and their homotopy.
result The length of a shortest periodic geodesic is bounded by .
ApolloRL offers a platform for RL research in autonomous driving.
problem Improving reinforcement learning for autonomous driving.
method Open platform with training, simulation, and evaluation components.
result Baseline agents perform well in the ApolloRL environment.
For large-scale industrial processes under closed-loop control, process dynamics directly resulting from control action are typical characteristics and may show different behaviors between real faults and normal changes of operating conditions. However, conventional distributed monitoring approaches do not consider the…
Paper predicts recycling bin full events to reduce RVM downtime.
problem Predicting bin full events to increase RVM uptime.
method Hybrid approach combining machine learning and statistical approximation.
result Forecasting leads to less downtime and costs compared to emptying strategies.
Lost in Retraining: Roaming the Parameter Space of Exponential Families Under Closed-Loop Learningcs.LG
Study on parameter dynamics in exponential families under closed-loop learning.
problem Understanding and preventing convergence to biased absorbing states in model parameter estimation.
method Derived equations of motion for parameter dynamics in exponential families. Showed convergence to biased states under maximum likelihood estimation and proposed solutions.
result Closed-loop learning can lead to biased parameter estimates, but can be mitigated by using maximum a posteriori estimation or regularisation.
Geometrically characterizes virtual nonlinear nonholonomic constraints using symplectic methods.
problem Characterizing virtual nonlinear nonholonomic constraints geometrically.
method Geometric characterization using symplectic structures and Chetaev equations.
result A unique control law exists to satisfy virtual constraints, and closed-loop dynamics are projections of uncontrolled dynamics.
Closed Loop Solitons and Sigma Functions: Classical and Quantized Elasticas with Genera One and Twomath.DG
Closed loop solitons in a plane, whose curvatures obey the modified Korteweg-de Vries equation, were investigated. It was shown that their tangential vectors are expressed by ratio of Weierstrass sigma functions for genus one case and ratio of Baker's sigma functions for the genus two case. This study is closely relate…
Adjustment formulas for learning causal steady-state models from closed-loop operational dataeess.SY
Formula adjusts steady-state models for control confounding.
problem Learning steady-state models from operational data can be flawed due to control confounding.
method Derives a formula to adjust for control confounding using structural dynamical causal models.
result Estimates a causal steady-state model from closed-loop operational data.
Learning Pose Estimation for UAV Autonomous Navigation andLanding Using Visual-Inertial Sensor Datacs.LG
In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an end-to-end fashion to estimate the current vehicle pose from streams of visual an…
The paper provides guarantees for feedback control with sensor errors.
problem Certifying performance and safety in feedback control systems with sensor errors.
method Solving a supervised learning problem to characterize sensor errors and providing uniform error bounds.
result Finite-time convergence rate on sub-optimality of using a regressor in closed-loop for waypoint tracking.
Data-efficient reinforcement learning (RL) in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. We consider a particularly important instance of this challenge, the pixels-to-torques problem, where an RL agent learns a closed-loop con…
Data-efficient learning in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. In this paper, we consider one instance of this challenge, the pixels to torques problem, where an agent must learn a closed-loop control policy from pixel i…
Neural Networks (NN) have been proposed in the past as an effective means for both modeling and control of systems with very complex dynamics. However, despite the extensive research, NN-based controllers have not been adopted by the industry for safety critical systems. The primary reason is that systems with learning…
Deep neural networks are known to be fragile to small adversarial perturbations. This issue becomes more critical when a neural network is interconnected with a physical system in a closed loop. In this paper, we show how to combine recent works on neural network certification tools (which are mainly used in static set…
Robust model predictive control (MPC) is a well-known control technique for model-based control with constraints and uncertainties. In classic robust tube-based MPC approaches, an open-loop control sequence is computed via periodically solving an online nominal MPC problem, which requires prior model information and fr…
Study shows how multiple traders can trade together without excessive price impact.
problem Coordination issues in trading to exploit a common signal.
method Closed-loop Nash competition model for stochastic differential games.
result Excessive trading reduced but not significantly for practical parameters.
In-silico Risk Analysis of Personalized Artificial Pancreas Controllers via Rare-event Simulationcs.LG
Modern treatments for Type 1 diabetes (T1D) use devices known as artificial pancreata (APs), which combine an insulin pump with a continuous glucose monitor (CGM) operating in a closed-loop manner to control blood glucose levels. In practice, poor performance of APs (frequent hyper- or hypoglycemic events) is common en…
Robot science discovers new materials faster.
problem Discovering advanced materials in complex synthesis landscapes.
method Closed-loop, active learning-driven autonomous system.
result Discovery of a novel epitaxial nanocomposite phase-change memory material.
This work discusses a closed-loop control strategy for complex systems utilizing scarce and streaming data. A discrete embedding space is first built using hash functions applied to the sensor measurements from which a Markov process model is derived, approximating the complex system's dynamics. A control strategy is t…
This paper uses NLDT to find interpretable control rules from complex DRL policies.
problem Complex, non-interpretable policies from black-box AI methods.
method Evolutionary optimization of NLDT for hierarchical control rules.
result Interpretable control rules with similar performance to black-box DRL.
CLQT benchmarks LLM portfolio managers by evaluating their decision-making process, not just returns.
problem Most benchmarks rank LLMs by returns, ignoring their decision-making process and potential for look-ahead leakage.
method CLQT reframes evaluation as diagnosis, using a closed-loop, cost-aware, strategy-consistent environment with a five-stage cycle.
result CLQT provides a durable map of agent competencies and limitations, separating outcome from process.
Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representationscs.RO
End-to-end learnable network for safer self-driving with interpretable intermediate representations.
problem Safe motion planning for self-driving vehicles.
method Differentiable semantic occupancy representation for cost calculation in motion planning.
result Significantly outperforms state-of-the-art planners in imitating human behaviors and producing safer trajectories.
Analyzes how learning algorithms affect and are affected by data manipulation.
problem Characterizing the closed-loop behavior of learning algorithms in the presence of decision-dependent data.
method Analyzes repeated risk minimization as perturbed gradient flows of performative risk minimization, considering multiple local minimizers.
result Characterizes the region of attraction for various equilibria and introduces performative alignment.
Traditional collaborative filtering (CF) based recommender systems tend to perform poorly when the user-item interactions/ratings are highly scarce. To address this, we propose a learning framework that improves collaborative filtering with a synthetic feedback loop (CF-SFL) to simulate the user feedback. The proposed …
A homothety surface can be assembled from polygons by identifying their edges in pairs via homotheties, which are compositions of translation and scaling. We consider linear trajectories on a 1-parameter family of genus-2 homothety surfaces. The closure of a trajectory on each of these surfaces always has Hausdorff dim…
Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data, such as a camera image. Our approach is to use a learned perception map that predi…
Deep RL improves blood glucose control for T1D patients.
problem Managing blood glucose levels for people with type 1 diabetes.
method Developed deep reinforcement learning techniques for automated blood glucose control.
result Deep RL approach outperforms baseline control algorithms, reducing glycemic risk and hypoglycemia.
Study finds loops with specific curvature exist using Hardy's inequality.
problem Existence of closed planar loops with prescribed curvature.
method Variational approach, Hardy's inequality and associated functional space.
result Existence of loops with specific curvature proven.
MPC outperforms reactive budgeting in non-stationary return environments.
problem Optimizing budget allocation under non-stationary returns.
method Receding-horizon Model Predictive Control (MPC) compared to reactive policies.
result MPC consistently outperforms reactive budgeting when return dynamics are predictable.
Paper tackles stochastic control with mean and higher-order moments, finding Nash equilibria.
problem Time-inconsistent stochastic control problems with mean and higher-order moments.
method Developed closed-loop and open-loop Nash equilibrium controls using PDEs and maximum principles.
result Identical closed-loop and open-loop Nash equilibria controls, independent of state value and random path.
ANFIS system improves satellite attitude estimation and control.
problem Improving accuracy of satellite attitude estimation and control.
method Adaptive neuro-fuzzy integrated (ANFIS) model for satellite attitude estimation and control.
result ANFIS controller outperforms optimal PID controller in time and smoothness.
A geometric approach to differential game theory is illustrated. The parallel pursuit is considered as a two-player zero-sum differential game. The optimal strategies of each player is designed based on Riemann-Finsler geometry. Our approach incorporates a closed loop optimal control and the presentation is familiar wi…
Researchers develop a method to control nonlinear systems with Koopman operator regression.
problem Controlling nonlinear systems with finite action spaces.
method Koopman operator regression for dynamics estimation and model predictive control for control.
result The method yields a linear switching predictive model for control.
New budget quantifies drift in closed-loop learning, improving reproducibility.
problem Characterizing statistical learning under distributional drift in closed-loop settings.
method Introduces an intrinsic drift budget quantifying cumulative information-geometric motion of the data distribution.
result Proves a drift-feedback bound of order for prequential reproducibility, up to controlled second-order remainder terms.
Model-free Reinforcement Learning (RL) works well when experience can be collected cheaply and model-based RL is effective when system dynamics can be modeled accurately. However, both assumptions can be violated in real world problems such as robotics, where querying the system can be expensive and real-world dynamics…
Local Writhing Dynamicscond-mat.soft
We present an alternative local definition of the writhe of a self-avoiding closed loop which differs from the traditional non-local definition by an integer. When studying dynamics this difference is immaterial. We employ a formula due to Aldinger, Klapper and Tabor for the change in writhe and propose a set of local,…
PenduMAV is a 6-input omnidirectional MAV without internal forces.
problem Designing a MAV without internal forces and structural costs.
method Multibody dynamics derivation, SE(3) control, Lyapunov analysis, Gazebo simulations.
result Asymptotic stabilization of the closed-loop system under parametric uncertainty and actuator noise.
The paper tackles performative risk optimization under weak convexity assumptions.
problem Optimizing performative risk in a closed-loop prediction system with weak convexity.
method Relaxing convexity assumptions to maintain optimization feasibility.
result Iterative optimization methods remain applicable even with weakened convexity conditions.
Deep RL controls anesthesia more accurately than traditional methods.
problem Controlling the level of unconsciousness during anesthesia.
method Deep Reinforcement Learning (DRL) to map patient state to propofol dosage.
result Deep RL model outperformed traditional controllers (1.7% vs 3.4% median absolute performance error).
Filling length measures the length of the contracting closed loops in a null-homotopy. The filling length function of Gromov for a finitely presented group measures the filling length as a function of length of edge-loops in the Cayley 2-complex. We give a bound on the filling length function in terms of the log of an …
The feasibility of existing data stream algorithms is often hindered by the weakly supervised condition of data streams. A self-evolving deep neural network, namely Parsimonious Network (ParsNet), is proposed as a solution to various weakly-supervised data stream problems. A self-labelling strategy with hedge (SLASH) i…
Sequential learning of tasks using gradient descent leads to an unremitting decline in the accuracy of tasks for which training data is no longer available, termed catastrophic forgetting. Generative models have been explored as a means to approximate the distribution of old tasks and bypass storage of real data. Here …