Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation

The control of nonlinear dynamical systems remains a major challenge for autonomous agents. Current trends in reinforcement learning (RL) focus on complex representations of dynamics and policies, which have yielded impressive results in solving a variety of hard control tasks. However, this new sophistication and extremely over-parameterized models have come with the cost of an overall reduction in our ability to interpret the resulting policies. In this paper, we take inspiration from the control community and apply the principles of hybrid switching systems in order to break down complex dynamics into simpler components. We exploit the rich representational power of probabilistic graphical models and derive an expectation-maximization (EM) algorithm for learning a sequence model to capture the temporal structure of the data and automatically decompose nonlinear dynamics into stochastic switching linear dynamical systems. Moreover, we show how this framework of switching models enables extracting hierarchies of Markovian and auto-regressive locally linear controllers from nonlinear experts in an imitation learning scenario.Comment: 2nd Annual Conference on Learning for Dynamics and Contro

Model Creation and Equivalence Proofs of Cellular Automata and Artificial Neural Networks

Computational methods and mathematical models have invaded arguably every scientific discipline forming its own field of research called computational science. Mathematical models are the theoretical foundation of computational science. Since Newton's time, differential equations in mathematical models have been widely and successfully used to describe the macroscopic or global behaviour of systems. With spatially inhomogeneous, time-varying, local element-specific, and often non-linear interactions, the dynamics of complex systems is in contrast more efficiently described by local rules and thus in an algorithmic and local or microscopic manner. The theory of mathematical modelling taking into account these characteristics of complex systems has to be established still. We recently presented a so-called allagmatic method including a system metamodel to provide a framework for describing, modelling, simulating, and interpreting complex systems. Implementations of cellular automata and artificial neural networks were described and created with that method. Guidance from philosophy were helpful in these first studies focusing on programming and feasibility. A rigorous mathematical formalism, however, is still missing. This would not only more precisely describe and define the system metamodel, it would also further generalise it and with that extend its reach to formal treatment in applied mathematics and theoretical aspects of computational science as well as extend its applicability to other mathematical and computational models such as agent-based models. Here, a mathematical definition of the system metamodel is provided. Based on the presented formalism, model creation and equivalence of cellular automata and artificial neural networks are proved. It thus provides a formal approach for studying the creation of mathematical models as well as their structural and operational comparison.Comment: 13 pages, 1 tabl