23,796 research outputs found
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
We introduce a real-time, constrained, nonlinear Model Predictive Control for
the motion planning of legged robots. The proposed approach uses a constrained
optimal control algorithm known as SLQ. We improve the efficiency of this
algorithm by introducing a multi-processing scheme for estimating value
function in its backward pass. This pass has been often calculated as a single
process. This parallel SLQ algorithm can optimize longer time horizons without
proportional increase in its computation time. Thus, our MPC algorithm can
generate optimized trajectories for the next few phases of the motion within
only a few milliseconds. This outperforms the state of the art by at least one
order of magnitude. The performance of the approach is validated on a quadruped
robot for generating dynamic gaits such as trotting.Comment: 8 page
Batch Policy Learning under Constraints
When learning policies for real-world domains, two important questions arise:
(i) how to efficiently use pre-collected off-policy, non-optimal behavior data;
and (ii) how to mediate among different competing objectives and constraints.
We thus study the problem of batch policy learning under multiple constraints,
and offer a systematic solution. We first propose a flexible meta-algorithm
that admits any batch reinforcement learning and online learning procedure as
subroutines. We then present a specific algorithmic instantiation and provide
performance guarantees for the main objective and all constraints. To certify
constraint satisfaction, we propose a new and simple method for off-policy
policy evaluation (OPE) and derive PAC-style bounds. Our algorithm achieves
strong empirical results in different domains, including in a challenging
problem of simulated car driving subject to multiple constraints such as lane
keeping and smooth driving. We also show experimentally that our OPE method
outperforms other popular OPE techniques on a standalone basis, especially in a
high-dimensional setting
Least absolute deviation estimation of linear econometric models: A literature review
Econometricians generally take for granted that the error terms in the econometric models are generated by distributions having a finite variance. However, since the time of Pareto the existence of error distributions with infinite variance is known. Works of many econometricians, namely, Meyer & Glauber (1964), Fama (1965) and Mandlebroth (1967), on economic data series like prices in financial and commodity markets confirm that infinite variance distributions exist abundantly. The distribution of firms by size, behaviour of speculative prices and various other recent economic phenomena also display similar trends. Further, econometricians generally assume that the disturbance term, which is an influence of innumerably many factors not accounted for in the model, approaches normality according to the Central Limit Theorem. But Bartels (1977) is of the opinion that there are limit theorems, which are just likely to be relevant when considering the sum of number of components in a regression disturbance that leads to non-normal stable distribution characterized by infinite variance. Thus, the possibility of the error term following a non-normal distribution exists. The Least Squares method of estimation of parameters of linear (regression) models performs well provided that the residuals (disturbances or errors) are well behaved (preferably normally or near-normally distributed and not infested with large size outliers) and follow Gauss-Markov assumptions. However, models with the disturbances that are prominently non-normally distributed and contain sizeable outliers fail estimation by the Least Squares method. An intensive research has established that in such cases estimation by the Least Absolute Deviation (LAD) method performs well. This paper is an attempt to survey the literature on LAD estimation of single as well as multi-equation linear econometric models.Lad estimator; Least absolute deviation estimation; econometric model; LAD Estimator; Minimum Absolute Deviation; Robust; Outliers; L1 Estimator; Review of literature
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