2,555 research outputs found

    Risk Aversion in Finite Markov Decision Processes Using Total Cost Criteria and Average Value at Risk

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    In this paper we present an algorithm to compute risk averse policies in Markov Decision Processes (MDP) when the total cost criterion is used together with the average value at risk (AVaR) metric. Risk averse policies are needed when large deviations from the expected behavior may have detrimental effects, and conventional MDP algorithms usually ignore this aspect. We provide conditions for the structure of the underlying MDP ensuring that approximations for the exact problem can be derived and solved efficiently. Our findings are novel inasmuch as average value at risk has not previously been considered in association with the total cost criterion. Our method is demonstrated in a rapid deployment scenario, whereby a robot is tasked with the objective of reaching a target location within a temporal deadline where increased speed is associated with increased probability of failure. We demonstrate that the proposed algorithm not only produces a risk averse policy reducing the probability of exceeding the expected temporal deadline, but also provides the statistical distribution of costs, thus offering a valuable analysis tool

    Markov Decision Processes with Risk-Sensitive Criteria: An Overview

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    The paper provides an overview of the theory and applications of risk-sensitive Markov decision processes. The term 'risk-sensitive' refers here to the use of the Optimized Certainty Equivalent as a means to measure expectation and risk. This comprises the well-known entropic risk measure and Conditional Value-at-Risk. We restrict our considerations to stationary problems with an infinite time horizon. Conditions are given under which optimal policies exist and solution procedures are explained. We present both the theory when the Optimized Certainty Equivalent is applied recursively as well as the case where it is applied to the cumulated reward. Discounted as well as non-discounted models are reviewe

    Markov Decision Processes with Average-Value-at-Risk criteria

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    We investigate the problem of minimizing the Average-Value-at-Risk (AV aRr) of the discounted cost over a finite and an infinite horizon which is generated by a Markov Decision Process (MDP). We show that this problem can be reduced to an ordinary MDP with extended state space and give conditions under which an optimal policy exists. We also give a time-consistent interpretation of the AV aRr . At the end we consider a numerical example which is a simple repeated casino game. It is used to discuss the influence of the risk aversion parameter r of the AV aRr-criterion

    Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods

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    The literature on Inverse Reinforcement Learning (IRL) typically assumes that humans take actions in order to minimize the expected value of a cost function, i.e., that humans are risk neutral. Yet, in practice, humans are often far from being risk neutral. To fill this gap, the objective of this paper is to devise a framework for risk-sensitive IRL in order to explicitly account for a human's risk sensitivity. To this end, we propose a flexible class of models based on coherent risk measures, which allow us to capture an entire spectrum of risk preferences from risk-neutral to worst-case. We propose efficient non-parametric algorithms based on linear programming and semi-parametric algorithms based on maximum likelihood for inferring a human's underlying risk measure and cost function for a rich class of static and dynamic decision-making settings. The resulting approach is demonstrated on a simulated driving game with ten human participants. Our method is able to infer and mimic a wide range of qualitatively different driving styles from highly risk-averse to risk-neutral in a data-efficient manner. Moreover, comparisons of the Risk-Sensitive (RS) IRL approach with a risk-neutral model show that the RS-IRL framework more accurately captures observed participant behavior both qualitatively and quantitatively, especially in scenarios where catastrophic outcomes such as collisions can occur.Comment: Submitted to International Journal of Robotics Research; Revision 1: (i) Clarified minor technical points; (ii) Revised proof for Theorem 3 to hold under weaker assumptions; (iii) Added additional figures and expanded discussions to improve readabilit

    Unifying Two Views on Multiple Mean-Payoff Objectives in Markov Decision Processes

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    We consider Markov decision processes (MDPs) with multiple limit-average (or mean-payoff) objectives. There exist two different views: (i) the expectation semantics, where the goal is to optimize the expected mean-payoff objective, and (ii) the satisfaction semantics, where the goal is to maximize the probability of runs such that the mean-payoff value stays above a given vector. We consider optimization with respect to both objectives at once, thus unifying the existing semantics. Precisely, the goal is to optimize the expectation while ensuring the satisfaction constraint. Our problem captures the notion of optimization with respect to strategies that are risk-averse (i.e., ensure certain probabilistic guarantee). Our main results are as follows: First, we present algorithms for the decision problems which are always polynomial in the size of the MDP. We also show that an approximation of the Pareto-curve can be computed in time polynomial in the size of the MDP, and the approximation factor, but exponential in the number of dimensions. Second, we present a complete characterization of the strategy complexity (in terms of memory bounds and randomization) required to solve our problem.Comment: Extended journal version of the LICS'15 pape
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