Difference of Convex Functions Programming Applied to Control with Expert Data

This paper reports applications of Difference of Convex functions (DC) programming to Learning from Demonstrations (LfD) and Reinforcement Learning (RL) with expert data. This is made possible because the norm of the Optimal Bellman Residual (OBR), which is at the heart of many RL and LfD algorithms, is DC. Improvement in performance is demonstrated on two specific algorithms, namely Reward-regularized Classification for Apprenticeship Learning (RCAL) and Reinforcement Learning with Expert Demonstrations (RLED), through experiments on generic Markov Decision Processes (MDP), called Garnets

Neural network ensembles: Evaluation of aggregation algorithms

Ensembles of artificial neural networks show improved generalization capabilities that outperform those of single networks. However, for aggregation to be effective, the individual networks must be as accurate and diverse as possible. An important problem is, then, how to tune the aggregate members in order to have an optimal compromise between these two conflicting conditions. We present here an extensive evaluation of several algorithms for ensemble construction, including new proposals and comparing them with standard methods in the literature. We also discuss a potential problem with sequential aggregation algorithms: the non-frequent but damaging selection through their heuristics of particularly bad ensemble members. We introduce modified algorithms that cope with this problem by allowing individual weighting of aggregate members. Our algorithms and their weighted modifications are favorably tested against other methods in the literature, producing a sensible improvement in performance on most of the standard statistical databases used as benchmarks.Comment: 35 pages, 2 figures, In press AI Journa