3,984 research outputs found
From Uncertainty Data to Robust Policies for Temporal Logic Planning
We consider the problem of synthesizing robust disturbance feedback policies
for systems performing complex tasks. We formulate the tasks as linear temporal
logic specifications and encode them into an optimization framework via
mixed-integer constraints. Both the system dynamics and the specifications are
known but affected by uncertainty. The distribution of the uncertainty is
unknown, however realizations can be obtained. We introduce a data-driven
approach where the constraints are fulfilled for a set of realizations and
provide probabilistic generalization guarantees as a function of the number of
considered realizations. We use separate chance constraints for the
satisfaction of the specification and operational constraints. This allows us
to quantify their violation probabilities independently. We compute disturbance
feedback policies as solutions of mixed-integer linear or quadratic
optimization problems. By using feedback we can exploit information of past
realizations and provide feasibility for a wider range of situations compared
to static input sequences. We demonstrate the proposed method on two robust
motion-planning case studies for autonomous driving
Vibration-based adaptive novelty detection method for monitoring faults in a kinematic chain
Postprint (published version
Fast Bayesian Optimization of Machine Learning Hyperparameters on Large Datasets
Bayesian optimization has become a successful tool for hyperparameter
optimization of machine learning algorithms, such as support vector machines or
deep neural networks. Despite its success, for large datasets, training and
validating a single configuration often takes hours, days, or even weeks, which
limits the achievable performance. To accelerate hyperparameter optimization,
we propose a generative model for the validation error as a function of
training set size, which is learned during the optimization process and allows
exploration of preliminary configurations on small subsets, by extrapolating to
the full dataset. We construct a Bayesian optimization procedure, dubbed
Fabolas, which models loss and training time as a function of dataset size and
automatically trades off high information gain about the global optimum against
computational cost. Experiments optimizing support vector machines and deep
neural networks show that Fabolas often finds high-quality solutions 10 to 100
times faster than other state-of-the-art Bayesian optimization methods or the
recently proposed bandit strategy Hyperband
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