Finding aircraft collision-avoidance strategies using policy search methods

A progress report describing the application of policy gradient and policy search by dynamic programming methods to an aircraft collision avoidance problem inspired by the requirements of next-generation TCAS

Policy Search: Any Local Optimum Enjoys a Global Performance Guarantee

Local Policy Search is a popular reinforcement learning approach for handling large state spaces. Formally, it searches locally in a paramet erized policy space in order to maximize the associated value function averaged over some predefined distribution. It is probably commonly b elieved that the best one can hope in general from such an approach is to get a local optimum of this criterion. In this article, we show th e following surprising result: \emph{any} (approximate) \emph{local optimum} enjoys a \emph{global performance guarantee}. We compare this g uarantee with the one that is satisfied by Direct Policy Iteration, an approximate dynamic programming algorithm that does some form of Poli cy Search: if the approximation error of Local Policy Search may generally be bigger (because local search requires to consider a space of s tochastic policies), we argue that the concentrability coefficient that appears in the performance bound is much nicer. Finally, we discuss several practical and theoretical consequences of our analysis

On the Performance Bounds of some Policy Search Dynamic Programming Algorithms

We consider the infinite-horizon discounted optimal control problem formalized by Markov Decision Processes. We focus on Policy Search algorithms, that compute an approximately optimal policy by following the standard Policy Iteration (PI) scheme via an -approximate greedy operator (Kakade and Langford, 2002; Lazaric et al., 2010). We describe existing and a few new performance bounds for Direct Policy Iteration (DPI) (Lagoudakis and Parr, 2003; Fern et al., 2006; Lazaric et al., 2010) and Conservative Policy Iteration (CPI) (Kakade and Langford, 2002). By paying a particular attention to the concentrability constants involved in such guarantees, we notably argue that the guarantee of CPI is much better than that of DPI, but this comes at the cost of a relative--exponential in $\frac{1}{\epsilon}$-- increase of time complexity. We then describe an algorithm, Non-Stationary Direct Policy Iteration (NSDPI), that can either be seen as 1) a variation of Policy Search by Dynamic Programming by Bagnell et al. (2003) to the infinite horizon situation or 2) a simplified version of the Non-Stationary PI with growing period of Scherrer and Lesner (2012). We provide an analysis of this algorithm, that shows in particular that it enjoys the best of both worlds: its performance guarantee is similar to that of CPI, but within a time complexity similar to that of DPI

Learning a Unified Control Policy for Safe Falling

Being able to fall safely is a necessary motor skill for humanoids performing highly dynamic tasks, such as running and jumping. We propose a new method to learn a policy that minimizes the maximal impulse during the fall. The optimization solves for both a discrete contact planning problem and a continuous optimal control problem. Once trained, the policy can compute the optimal next contacting body part (e.g. left foot, right foot, or hands), contact location and timing, and the required joint actuation. We represent the policy as a mixture of actor-critic neural network, which consists of n control policies and the corresponding value functions. Each pair of actor-critic is associated with one of the n possible contacting body parts. During execution, the policy corresponding to the highest value function will be executed while the associated body part will be the next contact with the ground. With this mixture of actor-critic architecture, the discrete contact sequence planning is solved through the selection of the best critics while the continuous control problem is solved by the optimization of actors. We show that our policy can achieve comparable, sometimes even higher, rewards than a recursive search of the action space using dynamic programming, while enjoying 50 to 400 times of speed gain during online execution

Active sequential hypothesis testing

Consider a decision maker who is responsible to dynamically collect observations so as to enhance his information about an underlying phenomena of interest in a speedy manner while accounting for the penalty of wrong declaration. Due to the sequential nature of the problem, the decision maker relies on his current information state to adaptively select the most ``informative'' sensing action among the available ones. In this paper, using results in dynamic programming, lower bounds for the optimal total cost are established. The lower bounds characterize the fundamental limits on the maximum achievable information acquisition rate and the optimal reliability. Moreover, upper bounds are obtained via an analysis of two heuristic policies for dynamic selection of actions. It is shown that the first proposed heuristic achieves asymptotic optimality, where the notion of asymptotic optimality, due to Chernoff, implies that the relative difference between the total cost achieved by the proposed policy and the optimal total cost approaches zero as the penalty of wrong declaration (hence the number of collected samples) increases. The second heuristic is shown to achieve asymptotic optimality only in a limited setting such as the problem of a noisy dynamic search. However, by considering the dependency on the number of hypotheses, under a technical condition, this second heuristic is shown to achieve a nonzero information acquisition rate, establishing a lower bound for the maximum achievable rate and error exponent. In the case of a noisy dynamic search with size-independent noise, the obtained nonzero rate and error exponent are shown to be maximum.Comment: Published in at http://dx.doi.org/10.1214/13-AOS1144 the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Approximate Policy Iteration Schemes: A Comparison

We consider the infinite-horizon discounted optimal control problem formalized by Markov Decision Processes. We focus on several approximate variations of the Policy Iteration algorithm: Approximate Policy Iteration, Conservative Policy Iteration (CPI), a natural adaptation of the Policy Search by Dynamic Programming algorithm to the infinite-horizon case (PSDP$_\infty$), and the recently proposed Non-Stationary Policy iteration (NSPI(m)). For all algorithms, we describe performance bounds, and make a comparison by paying a particular attention to the concentrability constants involved, the number of iterations and the memory required. Our analysis highlights the following points: 1) The performance guarantee of CPI can be arbitrarily better than that of API/API($\alpha$), but this comes at the cost of a relative---exponential in $\frac{1}{\epsilon}$---increase of the number of iterations. 2) PSDP$_\infty$ enjoys the best of both worlds: its performance guarantee is similar to that of CPI, but within a number of iterations similar to that of API. 3) Contrary to API that requires a constant memory, the memory needed by CPI and PSDP$_\infty$ is proportional to their number of iterations, which may be problematic when the discount factor $\gamma$ is close to 1 or the approximation error $\epsilon$ is close to $0$; we show that the NSPI(m) algorithm allows to make an overall trade-off between memory and performance. Simulations with these schemes confirm our analysis.Comment: ICML (2014

Computing policy parameters for stochastic inventory control using stochastic dynamic programming approaches

The objective of this work is to introduce techniques for the computation of optimal and near-optimal inventory control policy parameters for the stochastic inventory control problem under Scarf’s setting. A common aspect of the solutions presented herein is the usage of stochastic dynamic programming approaches, a mathematical programming technique introduced by Bellman. Stochastic dynamic programming is hybridised with branch-and-bound, binary search, constraint programming and other computational techniques to develop innovative and competitive solutions. In this work, the classic single-item, single location-inventory control with penalty cost under the independent stochastic demand is extended to model a fixed review cost. This cost is charged when the inventory level is assessed at the beginning of a period. This operation is costly in practice and including it can lead to significant savings. This makes it possible to model an order cancellation penalty charge. The first contribution hereby presented is the first stochastic dynamic program- ming that captures Bookbinder and Tan’s static-dynamic uncertainty control policy with penalty cost. Numerous techniques are available in the literature to compute such parameters; however, they all make assumptions on the de- mand probability distribution. This technique has many similarities to Scarf’s stochastic dynamic programming formulation, and it does not require any ex- ternal solver to be deployed. Memoisation and binary search techniques are deployed to improve computational performances. Extensive computational studies show that this new model has a tighter optimality gap compared to the state of the art. The second contribution is to introduce the first procedure to compute cost- optimal parameters for the well-known (R, s, S) policy. Practitioners widely use such a policy; however, the determination of its parameters is considered com- putationally prohibitive. A technique that hybridises stochastic dynamic pro- gramming and branch-and-bound is presented, alongside with computational enhancements. Computing the optimal policy allows the determination of op- timality gaps for future heuristics. This approach can solve instances of consid- erable size, making it usable by practitioners. The computational study shows the reduction of the cost that such a system can provide. Thirdly, this work presents the first heuristics for determining the near-optimal parameters for the (R,s,S) policy. The first is an algorithm that formally models the (R,s,S) policy computation in the form of a functional equation. The second is a heuristic formed by a hybridisation of (R,S) and (s,S) policy parameters solvers. These heuristics can compute near-optimal parameters in a fraction of time compared to the exact methods. They can be used to speed up the optimal branch-and-bound technique. The last contribution is the introduction of a technique to encode dynamic programming in constraint programming. Constraint programming provides the user with an expressive modelling language and delegates the search for the solution to a specific solver. The possibility to seamlessly encode dynamic programming provides new modelling options, e.g. the computation of optimal (R,s,S) policy parameters. The performances in this specific application are not competitive with the other techniques proposed herein; however, this encoding opens up new connections between constraint programming and dynamic programming. The encoding allows deploying DP based constraints in modelling languages such as MiniZinc. The computational study shows how this technique can outperform a similar encoding for mixed-integer programming