46,230 research outputs found
Automating Vehicles by Deep Reinforcement Learning using Task Separation with Hill Climbing
Within the context of autonomous driving a model-based reinforcement learning
algorithm is proposed for the design of neural network-parameterized
controllers. Classical model-based control methods, which include sampling- and
lattice-based algorithms and model predictive control, suffer from the
trade-off between model complexity and computational burden required for the
online solution of expensive optimization or search problems at every short
sampling time. To circumvent this trade-off, a 2-step procedure is motivated:
first learning of a controller during offline training based on an arbitrarily
complicated mathematical system model, before online fast feedforward
evaluation of the trained controller. The contribution of this paper is the
proposition of a simple gradient-free and model-based algorithm for deep
reinforcement learning using task separation with hill climbing (TSHC). In
particular, (i) simultaneous training on separate deterministic tasks with the
purpose of encoding many motion primitives in a neural network, and (ii) the
employment of maximally sparse rewards in combination with virtual velocity
constraints (VVCs) in setpoint proximity are advocated.Comment: 10 pages, 6 figures, 1 tabl
Network Lasso: Clustering and Optimization in Large Graphs
Convex optimization is an essential tool for modern data analysis, as it
provides a framework to formulate and solve many problems in machine learning
and data mining. However, general convex optimization solvers do not scale
well, and scalable solvers are often specialized to only work on a narrow class
of problems. Therefore, there is a need for simple, scalable algorithms that
can solve many common optimization problems. In this paper, we introduce the
\emph{network lasso}, a generalization of the group lasso to a network setting
that allows for simultaneous clustering and optimization on graphs. We develop
an algorithm based on the Alternating Direction Method of Multipliers (ADMM) to
solve this problem in a distributed and scalable manner, which allows for
guaranteed global convergence even on large graphs. We also examine a
non-convex extension of this approach. We then demonstrate that many types of
problems can be expressed in our framework. We focus on three in particular -
binary classification, predicting housing prices, and event detection in time
series data - comparing the network lasso to baseline approaches and showing
that it is both a fast and accurate method of solving large optimization
problems
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