20,646 research outputs found
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
Liveness of Randomised Parameterised Systems under Arbitrary Schedulers (Technical Report)
We consider the problem of verifying liveness for systems with a finite, but
unbounded, number of processes, commonly known as parameterised systems.
Typical examples of such systems include distributed protocols (e.g. for the
dining philosopher problem). Unlike the case of verifying safety, proving
liveness is still considered extremely challenging, especially in the presence
of randomness in the system. In this paper we consider liveness under arbitrary
(including unfair) schedulers, which is often considered a desirable property
in the literature of self-stabilising systems. We introduce an automatic method
of proving liveness for randomised parameterised systems under arbitrary
schedulers. Viewing liveness as a two-player reachability game (between
Scheduler and Process), our method is a CEGAR approach that synthesises a
progress relation for Process that can be symbolically represented as a
finite-state automaton. The method is incremental and exploits both
Angluin-style L*-learning and SAT-solvers. Our experiments show that our
algorithm is able to prove liveness automatically for well-known randomised
distributed protocols, including Lehmann-Rabin Randomised Dining Philosopher
Protocol and randomised self-stabilising protocols (such as the Israeli-Jalfon
Protocol). To the best of our knowledge, this is the first fully-automatic
method that can prove liveness for randomised protocols.Comment: Full version of CAV'16 pape
Entanglement convertibility for infinite dimensional pure bipartite states
It is shown that the order property of pure bipartite states under SLOCC
(stochastic local operations and classical communications) changes radically
when dimensionality shifts from finite to infinite. In contrast to finite
dimensional systems where there is no pure incomparable state, the existence of
infinitely many mutually SLOCC incomparable states is shown for infinite
dimensional systems even under the bounded energy and finite information
exchange condition. These results show that the effect of the infinite
dimensionality of Hilbert space, the ``infinite workspace'' property, remains
even in physically relevant infinite dimensional systems
A mixed regularization approach for sparse simultaneous approximation of parameterized PDEs
We present and analyze a novel sparse polynomial technique for the
simultaneous approximation of parameterized partial differential equations
(PDEs) with deterministic and stochastic inputs. Our approach treats the
numerical solution as a jointly sparse reconstruction problem through the
reformulation of the standard basis pursuit denoising, where the set of jointly
sparse vectors is infinite. To achieve global reconstruction of sparse
solutions to parameterized elliptic PDEs over both physical and parametric
domains, we combine the standard measurement scheme developed for compressed
sensing in the context of bounded orthonormal systems with a novel mixed-norm
based regularization method that exploits both energy and sparsity. In
addition, we are able to prove that, with minimal sample complexity, error
estimates comparable to the best -term and quasi-optimal approximations are
achievable, while requiring only a priori bounds on polynomial truncation error
with respect to the energy norm. Finally, we perform extensive numerical
experiments on several high-dimensional parameterized elliptic PDE models to
demonstrate the superior recovery properties of the proposed approach.Comment: 23 pages, 4 figure
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