Automating Vehicles by Deep Reinforcement Learning using Task Separation with Hill Climbing

Within the context of autonomous driving a model-based reinforcement learning algorithm is proposed for the design of neural network-parameterized controllers. Classical model-based control methods, which include sampling- and lattice-based algorithms and model predictive control, suffer from the trade-off between model complexity and computational burden required for the online solution of expensive optimization or search problems at every short sampling time. To circumvent this trade-off, a 2-step procedure is motivated: first learning of a controller during offline training based on an arbitrarily complicated mathematical system model, before online fast feedforward evaluation of the trained controller. The contribution of this paper is the proposition of a simple gradient-free and model-based algorithm for deep reinforcement learning using task separation with hill climbing (TSHC). In particular, (i) simultaneous training on separate deterministic tasks with the purpose of encoding many motion primitives in a neural network, and (ii) the employment of maximally sparse rewards in combination with virtual velocity constraints (VVCs) in setpoint proximity are advocated.Comment: 10 pages, 6 figures, 1 tabl

Multigrid methods for two-player zero-sum stochastic games

We present a fast numerical algorithm for large scale zero-sum stochastic games with perfect information, which combines policy iteration and algebraic multigrid methods. This algorithm can be applied either to a true finite state space zero-sum two player game or to the discretization of an Isaacs equation. We present numerical tests on discretizations of Isaacs equations or variational inequalities. We also present a full multi-level policy iteration, similar to FMG, which allows to improve substantially the computation time for solving some variational inequalities.Comment: 31 page

Subsampling Algorithms for Semidefinite Programming

We derive a stochastic gradient algorithm for semidefinite optimization using randomization techniques. The algorithm uses subsampling to reduce the computational cost of each iteration and the subsampling ratio explicitly controls granularity, i.e. the tradeoff between cost per iteration and total number of iterations. Furthermore, the total computational cost is directly proportional to the complexity (i.e. rank) of the solution. We study numerical performance on some large-scale problems arising in statistical learning.Comment: Final version, to appear in Stochastic System

Enhancing Domain Word Embedding via Latent Semantic Imputation

We present a novel method named Latent Semantic Imputation (LSI) to transfer external knowledge into semantic space for enhancing word embedding. The method integrates graph theory to extract the latent manifold structure of the entities in the affinity space and leverages non-negative least squares with standard simplex constraints and power iteration method to derive spectral embeddings. It provides an effective and efficient approach to combining entity representations defined in different Euclidean spaces. Specifically, our approach generates and imputes reliable embedding vectors for low-frequency words in the semantic space and benefits downstream language tasks that depend on word embedding. We conduct comprehensive experiments on a carefully designed classification problem and language modeling and demonstrate the superiority of the enhanced embedding via LSI over several well-known benchmark embeddings. We also confirm the consistency of the results under different parameter settings of our method.Comment: ACM SIGKDD 201

Valuation Perspectives and Decompositions for Variable Annuities with GMWB riders

The guaranteed minimum withdrawal benefit (GMWB) rider, as an add on to a variable annuity (VA), guarantees the return of premiums in the form of peri- odic withdrawals while allowing policyholders to participate fully in any market gains. GMWB riders represent an embedded option on the account value with a fee structure that is different from typical financial derivatives. We consider fair pricing of the GMWB rider from a financial economic perspective. Particular focus is placed on the distinct perspectives of the insurer and policyholder and the unifying relationship. We extend a decomposition of the VA contract into components that reflect term-certain payments and embedded derivatives to the case where the policyholder has the option to surrender, or lapse, the contract early.Comment: 18 pages, proof of Lemma A.1 expanded for clarit