Learning an Approximate Model Predictive Controller with Guarantees

A supervised learning framework is proposed to approximate a model predictive controller (MPC) with reduced computational complexity and guarantees on stability and constraint satisfaction. The framework can be used for a wide class of nonlinear systems. Any standard supervised learning technique (e.g. neural networks) can be employed to approximate the MPC from samples. In order to obtain closed-loop guarantees for the learned MPC, a robust MPC design is combined with statistical learning bounds. The MPC design ensures robustness to inaccurate inputs within given bounds, and Hoeffding's Inequality is used to validate that the learned MPC satisfies these bounds with high confidence. The result is a closed-loop statistical guarantee on stability and constraint satisfaction for the learned MPC. The proposed learning-based MPC framework is illustrated on a nonlinear benchmark problem, for which we learn a neural network controller with guarantees.Comment: 6 pages, 3 figures, to appear in IEEE Control Systems Letter

An SMDP-based Resource Management Scheme for Distributed Cloud Systems

In this paper, the resource management problem in geographically distributed cloud systems is considered. The Follow Me Cloud concept which enables service migration across federated data centers (DCs) is adopted. Therefore, there are two types of service requests to the DC, i.e., new requests (NRs) initiated in the local service area and migration requests (MRs) generated when mobile users move across service areas. A novel resource management scheme is proposed to help the resource manager decide whether to accept the service requests (NRs or MRs) or not and determine how much resources should be allocated to each service (if accepted). The optimization objective is to maximize the average system reward and keep the rejection probability of service requests under a certain threshold. Numerical results indicate that the proposed scheme can significantly improve the overall system utility as well as the user experience compared with other resource management schemes.Comment: 5 pages, 5 figures, conferenc

Structure fusion based on graph convolutional networks for semi-supervised classification

Suffering from the multi-view data diversity and complexity for semi-supervised classification, most of existing graph convolutional networks focus on the networks architecture construction or the salient graph structure preservation, and ignore the the complete graph structure for semi-supervised classification contribution. To mine the more complete distribution structure from multi-view data with the consideration of the specificity and the commonality, we propose structure fusion based on graph convolutional networks (SF-GCN) for improving the performance of semi-supervised classification. SF-GCN can not only retain the special characteristic of each view data by spectral embedding, but also capture the common style of multi-view data by distance metric between multi-graph structures. Suppose the linear relationship between multi-graph structures, we can construct the optimization function of structure fusion model by balancing the specificity loss and the commonality loss. By solving this function, we can simultaneously obtain the fusion spectral embedding from the multi-view data and the fusion structure as adjacent matrix to input graph convolutional networks for semi-supervised classification. Experiments demonstrate that the performance of SF-GCN outperforms that of the state of the arts on three challenging datasets, which are Cora,Citeseer and Pubmed in citation networks

Combining Subgoal Graphs with Reinforcement Learning to Build a Rational Pathfinder

In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1) efficient path planning to eliminate first-move lags; (2) collision-free and smooth for agents with kinematic constraints satisfied. SG-RL works in a two-level manner. At the first level, SG-RL uses a geometric path-planning method, i.e., Simple Subgoal Graphs (SSG), to efficiently find optimal abstract paths, also called subgoal sequences. At the second level, SG-RL uses an RL method, i.e., Least-Squares Policy Iteration (LSPI), to learn near-optimal motion-planning policies which can generate kinematically feasible and collision-free trajectories between adjacent subgoals. The first advantage of the proposed method is that SSG can solve the limitations of sparse reward and local minima trap for RL agents; thus, LSPI can be used to generate paths in complex environments. The second advantage is that, when the environment changes slightly (i.e., unexpected obstacles appearing), SG-RL does not need to reconstruct subgoal graphs and replan subgoal sequences using SSG, since LSPI can deal with uncertainties by exploiting its generalization ability to handle changes in environments. Simulation experiments in representative scenarios demonstrate that, compared with existing methods, SG-RL can work well on large-scale maps with relatively low action-switching frequencies and shorter path lengths, and SG-RL can deal with small changes in environments. We further demonstrate that the design of reward functions and the types of training environments are important factors for learning feasible policies.Comment: 20 page

Tensor Analysis and Fusion of Multimodal Brain Images

Current high-throughput data acquisition technologies probe dynamical systems with different imaging modalities, generating massive data sets at different spatial and temporal resolutions posing challenging problems in multimodal data fusion. A case in point is the attempt to parse out the brain structures and networks that underpin human cognitive processes by analysis of different neuroimaging modalities (functional MRI, EEG, NIRS etc.). We emphasize that the multimodal, multi-scale nature of neuroimaging data is well reflected by a multi-way (tensor) structure where the underlying processes can be summarized by a relatively small number of components or "atoms". We introduce Markov-Penrose diagrams - an integration of Bayesian DAG and tensor network notation in order to analyze these models. These diagrams not only clarify matrix and tensor EEG and fMRI time/frequency analysis and inverse problems, but also help understand multimodal fusion via Multiway Partial Least Squares and Coupled Matrix-Tensor Factorization. We show here, for the first time, that Granger causal analysis of brain networks is a tensor regression problem, thus allowing the atomic decomposition of brain networks. Analysis of EEG and fMRI recordings shows the potential of the methods and suggests their use in other scientific domains.Comment: 23 pages, 15 figures, submitted to Proceedings of the IEE