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…
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48 results for “closed-loop prediction”
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…
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.
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.
We utilize Wi-Fi communications from smartphones to predict their mobility mode, i.e. walking, biking and driving. Wi-Fi sensors were deployed at four strategic locations in a closed loop on streets in downtown Toronto. Deep neural network (Multilayer Perceptron) along with three decision tree based classifiers (Decisi…
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.
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.
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 .
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…
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.
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.
Bubblewrap predicts neural dynamics online, scaling to thousands of neurons.
problem Direct testing of neural population hypotheses requires online inference of neural state.
method Soft tiling of neural manifold with fast, stable dimensionality reduction.
result Bubblewrap model outperforms existing methods in noisy conditions.
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…
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…
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…
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.
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.
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.
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.
Dynamic Weight Optimization for Double Linear Policy: A Stochastic Model Predictive Control Approacheess.SY
A new approach optimizes weights in DLP for better risk-adjusted performance.
problem Optimizing time-varying weights in Double Linear Policy (DLP) for better risk-adjusted performance.
method Stochastic Model Predictive Control (SMPC) framework to maximize risk-adjusted returns while enforcing constraints.
result Empirical results show improved risk-adjusted performance and drawdown control.
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…
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.
Geometrical and appearance quality requirements set the limits of the current industrial performance in injection molding. To guarantee the product's quality, it is necessary to adjust the process settings in a closed loop. Those adjustments cannot rely on the final quality because a part takes days to be geometrically…
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.
PandaAI: A practical agent for neuro-symbolic data analysis and decision-making in finance
problem Sequential decision-making in finance
method Leveraging LLMs for market regime modeling and constrained alpha generation
result PandaAI achieves higher Rank IC and lower maximum drawdown
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…
Proposes a recursive MPC scheme with probabilistic safety guarantees for uncertain dynamic systems.
problem Probabilistic safety guarantees for MPC in dynamic environments with unknown stochastic agents.
method Uses conformal prediction to derive high-confidence prediction regions and gradually relax safety constraints online.
result Ensures recursive feasibility of MPC schemes by relaxing safety constraints over time.
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.
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.
New framework optimizes forecasting and decision-making in dynamic systems.
problem Optimizing forecasting and decision-making processes in dynamic systems.
method Closed-loop framework using bilevel optimization.
result The proposed methodology yields consistently better performance than the standard open-loop approach.
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.
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.
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…
TIE framework detects out-of-distribution samples and estimates uncertainty without external datasets.
problem Detecting and estimating uncertainty for out-of-distribution samples in neural networks.
method TIE framework extends a classifier to an (n+1)-class model, iteratively refining through training, inversion, and exclusion.
result Unified and interpretable framework for robust anomaly detection and calibrated uncertainty estimation.
DISTANA predicts and denoises spatial wave dynamics.
problem Identifying causality in spatially distributed, non-linear dynamical processes.
method Generative, recurrent graph convolution neural network architecture (DISTANA).
result DISTANA outperforms alternative approaches in denoising and predicting complex spatial wave propagation.
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.
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…
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…
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.
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.
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…
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…
In this work, we take a representation learning perspective on hierarchical reinforcement learning, where the problem of learning lower layers in a hierarchy is transformed into the problem of learning trajectory-level generative models. We show that we can learn continuous latent representations of trajectories, which…
Paper identifies tensor ranks via prior predictive matching, solving system of equations.
problem Determining the latent dimensions (ranks) in tensor factorization models.
method Prior predictive moment matching to transform moment matching conditions into a log-linear system of equations.
result Identifies which tensor models have identifiable ranks and derives rank estimators.
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…
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,…