27,843 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-
Dealing with Label Switching in Mixture Models Under Genuine Multimodality
The fitting of finite mixture models is an ill-defined estimation problem as completely different parameterizations can induce similar mixture distributions. This leads to multiple modes in the likelihood which is a problem for frequentist maximum likelihood estimation, and complicates statistical inference of Markov chain Monte Carlo draws in Bayesian estimation. For the analysis of the posterior density of these draws a suitable separation into different modes is desirable. In addition, a unique labelling of the component specific estimates is necessary to solve the label
switching problem. This paper presents and compares two approaches to achieve these goals: relabelling under multimodality and constrained clustering. The algorithmic details are discussed and their application is demonstrated on artificial and real-world data
Overcommitment in Cloud Services -- Bin packing with Chance Constraints
This paper considers a traditional problem of resource allocation, scheduling
jobs on machines. One such recent application is cloud computing, where jobs
arrive in an online fashion with capacity requirements and need to be
immediately scheduled on physical machines in data centers. It is often
observed that the requested capacities are not fully utilized, hence offering
an opportunity to employ an overcommitment policy, i.e., selling resources
beyond capacity. Setting the right overcommitment level can induce a
significant cost reduction for the cloud provider, while only inducing a very
low risk of violating capacity constraints. We introduce and study a model that
quantifies the value of overcommitment by modeling the problem as a bin packing
with chance constraints. We then propose an alternative formulation that
transforms each chance constraint into a submodular function. We show that our
model captures the risk pooling effect and can guide scheduling and
overcommitment decisions. We also develop a family of online algorithms that
are intuitive, easy to implement and provide a constant factor guarantee from
optimal. Finally, we calibrate our model using realistic workload data, and
test our approach in a practical setting. Our analysis and experiments
illustrate the benefit of overcommitment in cloud services, and suggest a cost
reduction of 1.5% to 17% depending on the provider's risk tolerance
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