149,166 research outputs found
Methods for evaluating Decision Problems with Limited Information
LImited Memory Influence Diagrams (LIMIDs) are general models of decision problems for representing limited memory policies (Lauritzen and Nilsson (2001)). The evaluation of LIMIDs can be done by Single Policy Updating that produces a local maximum strategy in which no single policy modification can increase the expected utility. This paper examines the quality of the obtained local maximum strategy and proposes three different methods for evaluating LIMIDs. The first algorithm, Temporal Policy Updating, resembles Single Policy Updating. The second algorithm, Greedy Search, successively updates the policy that gives the highest expected utility improvement. The final algorithm, Simulating Annealing, differs from the two preceeding by allowing the search to take some downhill steps to escape a local maximum. A careful comparison of the algorithms is provided both in terms of the quality of the obtained strategies, and in terms of implementation of the algorithms including some considerations of the computational complexity
Learning to Race through Coordinate Descent Bayesian Optimisation
In the automation of many kinds of processes, the observable outcome can
often be described as the combined effect of an entire sequence of actions, or
controls, applied throughout its execution. In these cases, strategies to
optimise control policies for individual stages of the process might not be
applicable, and instead the whole policy might have to be optimised at once. On
the other hand, the cost to evaluate the policy's performance might also be
high, being desirable that a solution can be found with as few interactions as
possible with the real system. We consider the problem of optimising control
policies to allow a robot to complete a given race track within a minimum
amount of time. We assume that the robot has no prior information about the
track or its own dynamical model, just an initial valid driving example.
Localisation is only applied to monitor the robot and to provide an indication
of its position along the track's centre axis. We propose a method for finding
a policy that minimises the time per lap while keeping the vehicle on the track
using a Bayesian optimisation (BO) approach over a reproducing kernel Hilbert
space. We apply an algorithm to search more efficiently over high-dimensional
policy-parameter spaces with BO, by iterating over each dimension individually,
in a sequential coordinate descent-like scheme. Experiments demonstrate the
performance of the algorithm against other methods in a simulated car racing
environment.Comment: Accepted as conference paper for the 2018 IEEE International
Conference on Robotics and Automation (ICRA
Sample Efficient Policy Search for Optimal Stopping Domains
Optimal stopping problems consider the question of deciding when to stop an
observation-generating process in order to maximize a return. We examine the
problem of simultaneously learning and planning in such domains, when data is
collected directly from the environment. We propose GFSE, a simple and flexible
model-free policy search method that reuses data for sample efficiency by
leveraging problem structure. We bound the sample complexity of our approach to
guarantee uniform convergence of policy value estimates, tightening existing
PAC bounds to achieve logarithmic dependence on horizon length for our setting.
We also examine the benefit of our method against prevalent model-based and
model-free approaches on 3 domains taken from diverse fields.Comment: To appear in IJCAI-201
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