A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
Paper proposes a method for optimizing local policies for trajectory-centric reinforcement learning.
problem Challenges in global policy optimization for non-linear systems and poor performance of open-loop trajectory optimization.
method Formulates trajectory optimization and local policy synthesis as a single optimization problem and solves it as a nonlinear programming instance.
result Demonstrates improved performance of the proposed technique under simplifying assumptions.
Trajectory optimization using a learned model of the environment is one of the core elements of model-based reinforcement learning. This procedure often suffers from exploiting inaccuracies of the learned model. We propose to regularize trajectory optimization by means of a denoising autoencoder that is trained on the …
Many AI problems, in robotics and other domains, are goal-directed, essentially seeking a trajectory leading to some goal state. In such problems, the way we choose to represent a trajectory underlies algorithms for trajectory prediction and optimization. Interestingly, most all prior work in imitation and reinforcemen…
The study analyzes optimization trajectories in neural networks to reveal redundancy and redundancy-reducing strategies.
problem Understanding the directional structure and redundancy in neural network optimization.
method Introducing natural notions of complexity for optimization trajectories and analyzing their directional nature.
result Training only scalar batchnorm parameters can match the performance of training the entire network, indicating potential for hybrid optimization schemes.
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.
Optimal execution of portfolio transactions is the essential part of algorithmic trading. In this paper we present in simple analytical form the optimal trajectory for risk-averse trader with the assumption of exponential market recovery and short-time investment horizon.
The problem of continuous inverse optimal control (over finite time horizon) is to learn the unknown cost function over the sequence of continuous control variables from expert demonstrations. In this article, we study this fundamental problem in the framework of energy-based model, where the observed expert trajectori…
We present a novel clustering approach for moving object trajectories that are constrained by an underlying road network. The approach builds a similarity graph based on these trajectories then uses modularity-optimization hiearchical graph clustering to regroup trajectories with similar profiles. Our experimental stud…
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…
Learning optimal feedback control laws capable of executing optimal trajectories is essential for many robotic applications. Such policies can be learned using reinforcement learning or planned using optimal control. While reinforcement learning is sample inefficient, optimal control only plans an optimal trajectory fr…
We consider in this paper the regularity problem for time-optimal trajectories of a single-input control-affine system on a n-dimensional manifold. We prove that, under generic conditions on the drift and the controlled vector field, any control u associated with an optimal trajectory is smooth out of a countable set o…
Policy optimization is an effective reinforcement learning approach to solve continuous control tasks. Recent achievements have shown that alternating online and offline optimization is a successful choice for efficient trajectory reuse. However, deciding when to stop optimizing and collect new trajectories is non-triv…
Model-free reinforcement learning algorithms such as Deep Deterministic Policy Gradient (DDPG) often require additional exploration strategies, especially if the actor is of deterministic nature. This work evaluates the use of model-based trajectory optimization methods used for exploration in Deep Deterministic Policy…
A large body of animation research focuses on optimization of movement control, either as action sequences or policy parameters. However, as closed-form expressions of the objective functions are often not available, our understanding of the optimization problems is limited. Building on recent work on analyzing neural …
We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the distribution over future state trajectories conditioned on past state, past acti…
New research suggests continual learning should focus on both optimization objective and optimization trajectory.
problem Even with perfect joint loss approximation, continual learning still suffers from forgetting when starting a new task.
method Proposes focusing on both optimization objective and optimization trajectory, combining replay-approximated joint objectives with gradient projection-based optimization routines.
result Combining replay-approximated joint objectives with gradient projection-based optimization routines did not show clear benefits in initial experiments.
Measuring similarities between unlabeled time series trajectories is an important problem in domains as diverse as medicine, astronomy, finance, and computer vision. It is often unclear what is the appropriate metric to use because of the complex nature of noise in the trajectories (e.g. different sampling rates or out…