From Random Lines to Metric Spaces

Consider an improper Poisson line process, marked by positive speeds so as to satisfy a scale-invariance property (actually, scale-equivariance). The line process can be characterized by its intensity measure, which belongs to a one-parameter family if scale and Euclidean invariance are required. This paper investigates a proposal by Aldous, namely that the line process could be used to produce a scale-invariant random spatial network (SIRSN) by means of connecting up points using paths which follow segments from the line process at the stipulated speeds. It is shown that this does indeed produce a scale-invariant network, under suitable conditions on the parameter; indeed that this produces a parameter-dependent random geodesic metric for d-dimensional space ($d\geq2$), where geodesics are given by minimum-time paths. Moreover in the planar case it is shown that the resulting geodesic metric space has an almost-everywhere-unique-geodesic property, that geodesics are locally of finite mean length, and that if an independent Poisson point process is connected up by such geodesics then the resulting network places finite length in each compact region. It is an open question whether the result is a SIRSN (in Aldous' sense; so placing finite mean length in each compact region), but it may be called a pre-SIRSN.Comment: Version 1: 46 pages, 10 figures Version 2: 47 pages, 10 figures (various typos and stylistic amendments, added dedication to Burkholder, added references concerning Lipschitz property and Sobolev space

Actor-Critic Reinforcement Learning for Control with Stability Guarantee

Reinforcement Learning (RL) and its integration with deep learning have achieved impressive performance in various robotic control tasks, ranging from motion planning and navigation to end-to-end visual manipulation. However, stability is not guaranteed in model-free RL by solely using data. From a control-theoretic perspective, stability is the most important property for any control system, since it is closely related to safety, robustness, and reliability of robotic systems. In this paper, we propose an actor-critic RL framework for control which can guarantee closed-loop stability by employing the classic Lyapunov's method in control theory. First of all, a data-based stability theorem is proposed for stochastic nonlinear systems modeled by Markov decision process. Then we show that the stability condition could be exploited as the critic in the actor-critic RL to learn a controller/policy. At last, the effectiveness of our approach is evaluated on several well-known 3-dimensional robot control tasks and a synthetic biology gene network tracking task in three different popular physics simulation platforms. As an empirical evaluation on the advantage of stability, we show that the learned policies can enable the systems to recover to the equilibrium or way-points when interfered by uncertainties such as system parametric variations and external disturbances to a certain extent.Comment: IEEE RA-L + IROS 202

Glosarium Matematika

273 p.; 24 cm

Optimization with Sparsity-Inducing Penalties

Sparse estimation methods are aimed at using or obtaining parsimonious representations of data or models. They were first dedicated to linear variable selection but numerous extensions have now emerged such as structured sparsity or kernel selection. It turns out that many of the related estimation problems can be cast as convex optimization problems by regularizing the empirical risk with appropriate non-smooth norms. The goal of this paper is to present from a general perspective optimization tools and techniques dedicated to such sparsity-inducing penalties. We cover proximal methods, block-coordinate descent, reweighted $\ell_2$-penalized techniques, working-set and homotopy methods, as well as non-convex formulations and extensions, and provide an extensive set of experiments to compare various algorithms from a computational point of view

Variational approximation of functionals defined on 1-dimensional connected sets: the planar case

In this paper we consider variational problems involving 1-dimensional connected sets in the Euclidean plane, such as the classical Steiner tree problem and the irrigation (Gilbert-Steiner) problem. We relate them to optimal partition problems and provide a variational approximation through Modica-Mortola type energies proving a $\Gamma$-convergence result. We also introduce a suitable convex relaxation and develop the corresponding numerical implementations. The proposed methods are quite general and the results we obtain can be extended to $n$-dimensional Euclidean space or to more general manifold ambients, as shown in the companion paper [11].Comment: 30 pages, 5 figure