This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages. The proposed approach has the benefit of avoiding complex terramechanics analysis …
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48 results for “trajectory design”
Meta-learning improves drone trajectory design for dynamic wireless networks.
problem Designing optimal trajectories for energy-constrained drones in dynamic network environments.
method Proposes a meta-learning algorithm to adaptively tune a reinforcement learning solution for trajectory design.
result Meta-tuned RL yields faster convergence and improved communication performance compared to baseline algorithms.
Reinforcement Learning optimizes low-thrust interplanetary trajectories under disturbances.
problem Designing robust interplanetary trajectories in the presence of disturbances.
method Reformulated as a Markov Decision Process, RL algorithm Proximal Policy Optimization trained on a deep neural network.
result Deep neural network provides robust nominal trajectory and guidance law.
Efficient Preference-Based Reinforcement Learning: Randomized Exploration Meets Experimental Designcs.LG
Meta-algorithm for efficient reinforcement learning from human preferences.
problem Learning from human preference comparisons in Markov decision processes.
method Randomized exploration and experimental design for batch comparison queries.
result Meta-algorithm achieves both regret and last-iterate guarantees with minimal preference queries.
A new method infers neural trajectories in real-time, improving experimental design.
problem Real-time inference of neural trajectories for immediate feedback.
method Exponential family variational Kalman filter (eVKF) for online learning.
result eVKF achieves competitive performance on synthetic and real-world data.
Study shows different trajectory prediction models generalize better under OoD conditions.
problem Comparing trajectory prediction models' robustness across different datasets.
method Training models on Argoverse 2 and testing on Waymo Open Motion, and vice versa, with various augmentation strategies.
result Smallest model with highest inductive bias performs best in OoD generalization.
The aim of this paper is to present a new perspective on the generation of developable trajectory ruled surfaces in Minkowski 3-space. Involute trajectory ruled surfaces generated by the Frenet trihedron, moving along spacelike involutes of a given timelike space curve, is stated according to Lorentzian timelike angle …
New algorithm improves RL performance across different environments.
problem Improving reinforcement learning performance across various environments.
method Designing a fully model-free DRRL algorithm that learns from a single trajectory.
result Demonstrates superior robustness and sample efficiency compared to existing methods.
Framework learns continuous dynamics from sparse trajectories.
problem Learning dynamics from sparsely sampled and high-dimensional trajectories.
method Interpolative Multi-Marginal Flow Matching (IMMFM) framework.
result IMMFM outperforms existing methods in forecasting and downstream tasks.
A new neural network captures and explains trajectory patterns.
problem Analyzing complex spatial trajectories in urban planning and neuroscience.
method Composite Signal Neural Networks (CompSNN) combining three interpretable ANN modules.
result CompSNN outperforms individual modules and visualizes useful signal parts.
Trajectory owner prediction is the basis for many applications such as personalized recommendation, urban planning. Although much effort has been put on this topic, the results archived are still not good enough. Existing methods mainly employ RNNs to model trajectories semantically due to the inherent sequential attri…
Transportation agencies have an opportunity to leverage increasingly-available trajectory datasets to improve their analyses and decision-making processes. However, this data is typically purchased from vendors, which means agencies must understand its potential benefits beforehand in order to properly assess its value…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known. Generating smooth, dynamically feasible trajectories could be difficult for such sy…
A new reinforcement learning method reduces action complexity for robust control.
problem Deep reinforcement learning's susceptibility to spurious correlations.
method Minimizing trajectory entropy to encourage simple, predictable actions.
result Trajectory Entropy Reinforcement Learning achieves superior performance and robustness.
Which song will Smith listen to next? Which restaurant will Alice go to tomorrow? Which product will John click next? These applications have in common the prediction of user trajectories that are in a constant state of flux over a hidden network (e.g. website links, geographic location). What users are doing now may b…
Algorithm recovers graph from Glauber dynamics trajectory without mixing.
problem Learning Gaussian graphical models from a single Glauber dynamics trajectory.
method Three components: conditional variance estimation, pairwise influence test, robust median aggregation.
result Polynomial-time recovery of conditional independence graph from a single trajectory.
End-to-end framework optimizes constrained trajectories using data-driven methods.
problem Optimizing trajectories under constraints with limited dynamics knowledge.
method Data-driven approach decomposes trajectories into function basis, uses maximum a posteriori for optimization, and incorporates linear constraints.
result Commanding results in aeronautics and sailing route optimization.
Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via supervised pre-training with these trajectories may not perform as well and gen…
Proposes a method to learn system dynamics and region of attraction from trajectories.
problem Learning accurate dynamics and region of attraction from system trajectories.
method Uses local stability information as a prior to learn vector field and region of attraction.
result Efficient sampling and accurate estimate of dynamics in inner approximation of region of attraction.
AR design reduces multi-armed bandit experiment cost.
problem Comparing multi-armed bandit algorithms requires many restarts.
method Artificial Replay (AR) design for bandit experiments.
result AR reduces experimental cost by requiring only user interactions.
MSBM extends SB for multi-marginal trajectory inference.
problem Trajectory inference from multiple discrete snapshots.
method Multi-Marginal Schrödinger Bridge Matching (MSBM) using iterative Markovian fitting (IMF).
result MSBM effectively captures complex trajectories and respects intermediate distributions.
Robots need models of human behavior for both inferring human goals and preferences, and predicting what people will do. A common model is the Boltzmann noisily-rational decision model, which assumes people approximately optimize a reward function and choose trajectories in proportion to their exponentiated reward. Whi…
We propose an input design method for a general class of parametric probabilistic models, including nonlinear dynamical systems with process noise. The goal of the procedure is to select inputs such that the parameter posterior distribution concentrates about the true value of the parameters; however, exact computation…
SOCRATES: Simulation Optimization with Correlated Replicas and Adaptive Trajectory Evaluationsstat.ML
SOCRATES uses LLMs to automate simulation optimization of complex systems.
problem Optimizing complex, expensive-to-sample stochastic systems.
method Two-stage procedure: replica construction and meta-optimization.
result Adaptive hybrid optimization schedule for real systems.
Recent advances in deep reinforcement learning algorithms have shown great potential and success for solving many challenging real-world problems, including Go game and robotic applications. Usually, these algorithms need a carefully designed reward function to guide training in each time step. However, in real world, …
Boosted GFlowNets improve exploration by sequentially training GFlowNets with residual rewards.
problem GFlowNets struggle to evenly explore reward landscapes, leading to poor coverage of high-reward areas.
method Sequential training of an ensemble of GFlowNets, each optimizing a residual reward.
result Boosted GFlowNets achieve better exploration and sample diversity on multimodal benchmarks and peptide design tasks.
Probabilistic vehicle trajectory prediction is essential for robust safety of autonomous driving. Current methods for long-term trajectory prediction cannot guarantee the physical feasibility of predicted distribution. Moreover, their models cannot adapt to the driving policy of the predicted target human driver. In th…
New methods learn sampling distributions for particle filters without supervision.
problem Designing accurate sampling distributions for nonlinear dynamical systems.
method Proposed four unsupervised learning methods for multivariate Gaussian and nonparametric distributions.
result Learned sampling distributions outperform designed ones in accuracy.
Unified framework for multi-view diffusion geometries using intertwined diffusion trajectories.
problem Constructing multi-view diffusion geometries with flexible view interaction and fusion.
method Intertwined multi-view diffusion trajectories (MDTs) as a class of inhomogeneous diffusion processes.
result Established theoretical properties and derived diffusion distances and embeddings.
In Hindsight Experience Replay (HER), a reinforcement learning agent is trained by treating whatever it has achieved as virtual goals. However, in previous work, the experience was replayed at random, without considering which episode might be the most valuable for learning. In this paper, we develop an energy-based fr…
ProtoryNet interprets text sequences using prototype trajectories for better understanding.
problem Improving text classification interpretability and accuracy.
method ProtoryNet uses prototype trajectories to interpret text sequences, with prototype pruning for better interpretability.
result ProtoryNet outperforms baseline models and reduces performance gap compared to black-box models.
VLBM learns MDP transitions from limited data, improving OPE performance.
problem Limited coverage of state and action space in offline trajectories.
method VLBM uses variational inference with RSA and branching architecture.
result VLBM outperforms existing OPE methods on deep OPE benchmark.
Urban traffic systems worldwide are suffering from severe traffic safety problems. Traffic safety is affected by many complex factors, and heavily related to all drivers' behaviors involved in traffic system. Drivers with aggressive driving behaviors increase the risk of traffic accidents. In order to manage the safety…
Paper introduces IO-NPF for efficient Bayesian experimental design.
problem Efficient Bayesian experimental design in non-exchangeable settings.
method Inside-Out Nested Particle Filter (IO-NPF) for non-Markovian state-space models.
result IO-NPF achieves computational complexity, improving efficiency.
We study the problem of training sequential generative models for capturing coordinated multi-agent trajectory behavior, such as offensive basketball gameplay. When modeling such settings, it is often beneficial to design hierarchical models that can capture long-term coordination using intermediate variables. Furtherm…
Platoon trajectories generation: A unidirectional interconnected LSTM-based car following modelcs.LG
Car following models have been widely applied and made remarkable achievements in traffic engineering. However, the traffic micro-simulation accuracy of car following models in a platoon level, especially during traffic oscillations, still needs to be enhanced. Rather than using traditional individual car following mod…
Modern navigation services often provide multiple paths connecting the same source and destination for users to select. Hence, ranking such paths becomes increasingly important, which directly affects the service quality. We present PathRank, a data-driven framework for ranking paths based on historical trajectories us…
A new algorithm for offline RL with trajectory-wise reward reduces bias and variance errors.
problem Offline RL with trajectory-wise reward incurs large bias and variance errors.
method PARTED algorithm that decomposes trajectory return into proxy rewards and performs pessimistic value iteration.
result PARTED achieves provably efficient suboptimality bounds in general MDPs with trajectory-wise reward.
PlanGAN uses GANs to plan efficient trajectories for multi-goal tasks in sparse reward environments.
problem Learning with sparse rewards in multi-goal environments.
method PlanGAN combines GANs to generate trajectories leading to specified goals, then combines these into a planning algorithm.
result PlanGAN achieves comparable performance to model-free RL but is 4-8 times more sample efficient.
Paper optimizes UAV navigation for IoT data freshness and energy efficiency.
problem Improving data freshness and connectivity for IoT devices with UAVs.
method Deep reinforcement learning model with experience replay for energy-efficient UAV trajectory optimization.
result The proposed approach is 3.6% and 3.13% more energy efficient than greedy and baseline methods.
BALLAST optimizes Lagrangian observer placement for ocean vector fields.
problem Optimizing Lagrangian observer placement for time-dependent ocean vector fields.
method Bayesian active learning with look-ahead amendment for sea-drifter trajectories using a physics-informed spatio-temporal Gaussian process surrogate model.
result Noticeable benefits of BALLAST-aided observer placement strategies on synthetic and high-fidelity ocean models.
Persistent Neuronscs.LG
Persistent neurons improve neural network optimization by leveraging previous solutions.
problem Improving neural network optimization under different initialization and data distributions.
method Persistent neurons use information from previous converged solutions to explore new landscapes and avoid local minima.
result Persistent neurons converge to more optimal solutions and improve model performance under various initializations.
Method learns model for unknown stochastic system from data.
problem Modeling unknown stochastic dynamical systems.
method Autoencoder approach using deep neural networks (DNNs).
result Decoder serves as a predictive model for unknown stochastic systems.
This work tackles long-term visual planning by goal-conditioned hierarchical predictors.
problem Current learning approaches fail on long-horizon tasks due to lack of goal information and coarse-to-fine planning.
method Formulate goal-conditioned predictors (GCPs) and hierarchical models to predict trajectories between observations.
result GCPs enable effective long-term planning with much longer horizons than before.
Estimates drift functions in SDEs using denoising diffusion models.
problem Estimating time-homogeneous drift functions in multivariate SDEs.
method Formulates drift estimation as a denoising problem, trains a conditional diffusion model.
result Proposed estimator matches classical methods in low dimensions and remains competitive in higher dimensions.
Paper proposes a reinforcement learning method for trading using expert trajectories.
problem Inability of existing methods to handle long-term goals and delayed rewards in futures trading.
method Modeling futures trading as MDP, using reinforcement learning with expert trajectories and multiple short-term alpha factors.
result The proposed method outperforms traditional and deep learning methods in trading performance.
The design of multiple experiments is commonly undertaken via suboptimal strategies, such as batch (open-loop) design that omits feedback or greedy (myopic) design that does not account for future effects. This paper introduces new strategies for the optimal design of sequential experiments. First, we rigorously formul…
Estimating the travel time of a path is of great importance to smart urban mobility. Existing approaches are either based on estimating the time cost of each road segment which are not able to capture many cross-segment complex factors, or designed heuristically in a non-learning-based way which fail to utilize the exi…