456,105 research outputs found
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems
Learning-based control algorithms require data collection with abundant
supervision for training. Safe exploration algorithms ensure the safety of this
data collection process even when only partial knowledge is available. We
present a new approach for optimal motion planning with safe exploration that
integrates chance-constrained stochastic optimal control with dynamics learning
and feedback control. We derive an iterative convex optimization algorithm that
solves an \underline{Info}rmation-cost \underline{S}tochastic
\underline{N}onlinear \underline{O}ptimal \underline{C}ontrol problem
(Info-SNOC). The optimization objective encodes both optimal performance and
exploration for learning, and the safety is incorporated as distributionally
robust chance constraints. The dynamics are predicted from a robust regression
model that is learned from data. The Info-SNOC algorithm is used to compute a
sub-optimal pool of safe motion plans that aid in exploration for learning
unknown residual dynamics under safety constraints. A stable feedback
controller is used to execute the motion plan and collect data for model
learning. We prove the safety of rollout from our exploration method and
reduction in uncertainty over epochs, thereby guaranteeing the consistency of
our learning method. We validate the effectiveness of Info-SNOC by designing
and implementing a pool of safe trajectories for a planar robot. We demonstrate
that our approach has higher success rate in ensuring safety when compared to a
deterministic trajectory optimization approach.Comment: Submitted to RA-L 2020, review-
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems
Learning-based control algorithms require data collection with abundant supervision for training. Safe exploration algorithms ensure the safety of this data collection process even when only partial knowledge is available. We present a new approach for optimal motion planning with safe exploration that integrates chance-constrained stochastic optimal control with dynamics learning and feedback control. We derive an iterative convex optimization algorithm that solves an Information-cost Stochastic Nonlinear Optimal Control problem (Info-SNOC). The optimization objective encodes control cost for performance and exploration cost for learning, and the safety is incorporated as distributionally robust chance constraints. The dynamics are predicted from a robust regression model that is learned from data. The Info-SNOC algorithm is used to compute a sub-optimal pool of safe motion plans that aid in exploration for learning unknown residual dynamics under safety constraints. A stable feedback controller is used to execute the motion plan and collect data for model learning. We prove the safety of rollout from our exploration method and reduction in uncertainty over epochs, thereby guaranteeing the consistency of our learning method. We validate the effectiveness of Info-SNOC by designing and implementing a pool of safe trajectories for a planar robot. We demonstrate that our approach has higher success rate in ensuring safety when compared to a deterministic trajectory optimization approach
FLEX: an Adaptive Exploration Algorithm for Nonlinear Systems
Model-based reinforcement learning is a powerful tool, but collecting data to
fit an accurate model of the system can be costly. Exploring an unknown
environment in a sample-efficient manner is hence of great importance. However,
the complexity of dynamics and the computational limitations of real systems
make this task challenging. In this work, we introduce FLEX, an exploration
algorithm for nonlinear dynamics based on optimal experimental design. Our
policy maximizes the information of the next step and results in an adaptive
exploration algorithm, compatible with generic parametric learning models and
requiring minimal resources. We test our method on a number of nonlinear
environments covering different settings, including time-varying dynamics.
Keeping in mind that exploration is intended to serve an exploitation
objective, we also test our algorithm on downstream model-based classical
control tasks and compare it to other state-of-the-art model-based and
model-free approaches. The performance achieved by FLEX is competitive and its
computational cost is low.Comment: Accepted at ICML 202
SchNet: A continuous-filter convolutional neural network for modeling quantum interactions
Deep learning has the potential to revolutionize quantum chemistry as it is
ideally suited to learn representations for structured data and speed up the
exploration of chemical space. While convolutional neural networks have proven
to be the first choice for images, audio and video data, the atoms in molecules
are not restricted to a grid. Instead, their precise locations contain
essential physical information, that would get lost if discretized. Thus, we
propose to use continuous-filter convolutional layers to be able to model local
correlations without requiring the data to lie on a grid. We apply those layers
in SchNet: a novel deep learning architecture modeling quantum interactions in
molecules. We obtain a joint model for the total energy and interatomic forces
that follows fundamental quantum-chemical principles. This includes
rotationally invariant energy predictions and a smooth, differentiable
potential energy surface. Our architecture achieves state-of-the-art
performance for benchmarks of equilibrium molecules and molecular dynamics
trajectories. Finally, we introduce a more challenging benchmark with chemical
and structural variations that suggests the path for further work
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