arXiv research

Paper develops online learning-based risk-averse MPC for uncertain systems.

Bayesian optimisation tackles stochastic MPC hyper-parameter tuning.

Proposes a recursive MPC scheme with probabilistic safety guarantees for uncertain dynamic systems.

MPC outperforms reactive budgeting in non-stationary return environments.

Differentially private method for synthetic data generation from vertically partitioned data.

In recent studies on model-based reinforcement learning (MBRL), incorporating uncertainty in forward dynamics is a state-of-the-art strategy to enhance learning performance, making MBRLs competitive to cutting-edge model free methods, especially in simulated robotics tasks. Probabilistic ensembles with trajectory sampl…

Paper tackles SMPC for linear systems with unknown noise distribution.

This paper proposes an Adaptive Stochastic Model Predictive Control (MPC) strategy for stable linear time-invariant systems in the presence of bounded disturbances. We consider multi-input, multi-output systems that can be expressed by a Finite Impulse Response (FIR) model. The parameters of the FIR model corresponding…

Even though model predictive control (MPC) is currently the main algorithm for insulin control in the artificial pancreas (AP), it usually requires complex online optimizations, which are infeasible for resource-constrained medical devices. MPC also typically relies on state estimation, an error-prone process. In this …

We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of leveraging and combining the advantages of model-free and model-based approaches. Specifically, we differentiate through MPC by usin…

Review of integrating Bayesian methods with neural network-based MPC.

This paper develops a framework for training and evaluating neural networks for MPC.

Iterative method learns unknown constraints for MPC control.

The paper explores how ReLU DNNs can represent MPC policies and vice versa.

EHR-MPC optimizes sepsis treatment using digital twins and inference-time control.

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…

We prove that the kernels of the restrictions of symplectic Dirac or symplectic Dirac-Dolbeault operators on natural subspaces of polynomial valued spinor fields are finite dimensional on a compact symplectic manifold. We compute those kernels for the complex projective spaces. We construct injections of subgroups of t…

Optimizes asset allocation with illiquid assets using MPC.

In the present paper, we propose an extension of the Deep Planning Network (PlaNet), also referred to as PlaNet of the Bayesians (PlaNet-Bayes). There has been a growing demand in model predictive control (MPC) in partially observable environments in which complete information is unavailable because of, for example, la…

Model-based Reinforcement Learning (MBRL) allows data-efficient learning which is required in real world applications such as robotics. However, despite the impressive data-efficiency, MBRL does not achieve the final performance of state-of-the-art Model-free Reinforcement Learning (MFRL) methods. We leverage the stren…

Model predictive control (MPC) has become one of the well-established modern control methods for three-phase inverters with an output LC filter, where a high-quality voltage with low total harmonic distortion (THD) is needed. Although it is an intuitive controller, easy to understand and implement, it has the significa…

MPC framework reduces execution costs and schedule deviations in trading.

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…

Robo-advisors use MPC to create dynamic investment strategies.

Given a symplectic manifold $(M,ω)$ admitting a metaplectic structure, and choosing a positive $ω$-compatible almost complex structure $J$ and a linear connection $\nabla$ preserving $ω$ and $J$, Katharina and Lutz Habermann have constructed two Dirac operators $D$ and ${\wt{D}}$ acting on sections of a bundle of sympl…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training for thousands of hours equivalent real robot time. To address this shortcoming, we…

In this paper, we show the implementation of deep neural networks applied in process control. In our approach, we based the training of the neural network on model predictive control. Model predictive control is popular for its ability to be tuned by the weighting matrices and by the fact that it respects the constrain…

We describe an optimal adversarial attack formulation against autoregressive time series forecast using Linear Quadratic Regulator (LQR). In this threat model, the environment evolves according to a dynamical system; an autoregressive model observes the current environment state and predicts its future values; an attac…

In this paper, we introduce an actor-critic algorithm called Deep Value Model Predictive Control (DMPC), which combines model-based trajectory optimization with value function estimation. The DMPC actor is a Model Predictive Control (MPC) optimizer with an objective function defined in terms of a value function estimat…

The paper tackles ride-hailing fleet repositioning with a calibrated demand approach.

Enhanced metrics for multiclass classification improve on existing methods.

Bayesian Gaussian Processes improve exoplanet transit and Hubble constant inference.

Privacy concern has been increasingly important in many machine learning (ML) problems. We study empirical risk minimization (ERM) problems under secure multi-party computation (MPC) frameworks. Main technical tools for MPC have been developed based on cryptography. One of limitations in current cryptographically priva…

Trial-and-error based reinforcement learning (RL) has seen rapid advancements in recent times, especially with the advent of deep neural networks. However, the majority of autonomous RL algorithms require a large number of interactions with the environment. A large number of interactions may be impractical in many real…

Due to the drastic increase of mobile traffic, wireless caching is proposed to serve repeated requests for content download. To determine the caching scheme for decentralized caching networks, the content preference learning problem based on mobility prediction is studied. We first formulate preference prediction as a …

A new metric-based principal curve method learns 1D manifolds from spatial data.

How to train a machine learning model while keeping the data private and secure? We present CodedPrivateML, a fast and scalable approach to this critical problem. CodedPrivateML keeps both the data and the model information-theoretically private, while allowing efficient parallelization of training across distributed w…

HDP-VFL hybridizes DP for VFL, reducing privacy costs.

This paper improves linear system solving by optimizing matrix diagonal scaling.

In this paper, we introduce a large system of interacting financial agents in which each agent is faced with the decision of how to allocate his capital between a risky stock or a risk-less bond. The investment decision of investors, derived through an optimization, drives the stock price. The model has been inspired b…

Dark matter in the universe evolves through gravity to form a complex network of halos, filaments, sheets and voids, that is known as the cosmic web. Computational models of the underlying physical processes, such as classical N-body simulations, are extremely resource intensive, as they track the action of gravity in …

Optimizes trading policies using future price forecasts.

In this work, we consider the optimal portfolio selection problem under hard constraints on trading volume amounts when the dynamics of the risky asset returns are governed by a discrete-time approximation of the Markov-modulated geometric Brownian motion. The states of Markov chain are interpreted as the states of an …

Efficient privacy-preserving machine learning framework using random transformations.

Improved bounds for proximal gradient algorithms with computational errors.

This work presents an explicit-implicit procedure to compute a model predictive control (MPC) law with guarantees on recursive feasibility and asymptotic stability. The approach combines an offline-trained fully-connected neural network with an online primal active set solver. The neural network provides a control inpu…

Model-based reinforcement learning has the potential to be more sample efficient than model-free approaches. However, existing model-based methods are vulnerable to model bias, which leads to poor generalization and asymptotic performance compared to model-free counterparts. In addition, they are typically based on the…

Privacy is a major issue in learning from distributed data. Recently the cryptographic literature has provided several tools for this task. However, these tools either reduce the quality/accuracy of the learning algorithm---e.g., by adding noise---or they incur a high performance penalty and/or involve trusting externa…