61,353 research outputs found
The ROMES method for statistical modeling of reduced-order-model error
This work presents a technique for statistically modeling errors introduced
by reduced-order models. The method employs Gaussian-process regression to
construct a mapping from a small number of computationally inexpensive `error
indicators' to a distribution over the true error. The variance of this
distribution can be interpreted as the (epistemic) uncertainty introduced by
the reduced-order model. To model normed errors, the method employs existing
rigorous error bounds and residual norms as indicators; numerical experiments
show that the method leads to a near-optimal expected effectivity in contrast
to typical error bounds. To model errors in general outputs, the method uses
dual-weighted residuals---which are amenable to uncertainty control---as
indicators. Experiments illustrate that correcting the reduced-order-model
output with this surrogate can improve prediction accuracy by an order of
magnitude; this contrasts with existing `multifidelity correction' approaches,
which often fail for reduced-order models and suffer from the curse of
dimensionality. The proposed error surrogates also lead to a notion of
`probabilistic rigor', i.e., the surrogate bounds the error with specified
probability
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems
Learning-based control algorithms require data collection with abundant
supervision for training. Safe exploration algorithms ensure the safety of this
data collection process even when only partial knowledge is available. We
present a new approach for optimal motion planning with safe exploration that
integrates chance-constrained stochastic optimal control with dynamics learning
and feedback control. We derive an iterative convex optimization algorithm that
solves an \underline{Info}rmation-cost \underline{S}tochastic
\underline{N}onlinear \underline{O}ptimal \underline{C}ontrol problem
(Info-SNOC). The optimization objective encodes both optimal performance and
exploration for learning, and the safety is incorporated as distributionally
robust chance constraints. The dynamics are predicted from a robust regression
model that is learned from data. The Info-SNOC algorithm is used to compute a
sub-optimal pool of safe motion plans that aid in exploration for learning
unknown residual dynamics under safety constraints. A stable feedback
controller is used to execute the motion plan and collect data for model
learning. We prove the safety of rollout from our exploration method and
reduction in uncertainty over epochs, thereby guaranteeing the consistency of
our learning method. We validate the effectiveness of Info-SNOC by designing
and implementing a pool of safe trajectories for a planar robot. We demonstrate
that our approach has higher success rate in ensuring safety when compared to a
deterministic trajectory optimization approach.Comment: Submitted to RA-L 2020, review-
Metareasoning for Planning Under Uncertainty
The conventional model for online planning under uncertainty assumes that an
agent can stop and plan without incurring costs for the time spent planning.
However, planning time is not free in most real-world settings. For example, an
autonomous drone is subject to nature's forces, like gravity, even while it
thinks, and must either pay a price for counteracting these forces to stay in
place, or grapple with the state change caused by acquiescing to them. Policy
optimization in these settings requires metareasoning---a process that trades
off the cost of planning and the potential policy improvement that can be
achieved. We formalize and analyze the metareasoning problem for Markov
Decision Processes (MDPs). Our work subsumes previously studied special cases
of metareasoning and shows that in the general case, metareasoning is at most
polynomially harder than solving MDPs with any given algorithm that disregards
the cost of thinking. For reasons we discuss, optimal general metareasoning
turns out to be impractical, motivating approximations. We present approximate
metareasoning procedures which rely on special properties of the BRTDP planning
algorithm and explore the effectiveness of our methods on a variety of
problems.Comment: Extended version of IJCAI 2015 pape
Linear Programming for Large-Scale Markov Decision Problems
We consider the problem of controlling a Markov decision process (MDP) with a
large state space, so as to minimize average cost. Since it is intractable to
compete with the optimal policy for large scale problems, we pursue the more
modest goal of competing with a low-dimensional family of policies. We use the
dual linear programming formulation of the MDP average cost problem, in which
the variable is a stationary distribution over state-action pairs, and we
consider a neighborhood of a low-dimensional subset of the set of stationary
distributions (defined in terms of state-action features) as the comparison
class. We propose two techniques, one based on stochastic convex optimization,
and one based on constraint sampling. In both cases, we give bounds that show
that the performance of our algorithms approaches the best achievable by any
policy in the comparison class. Most importantly, these results depend on the
size of the comparison class, but not on the size of the state space.
Preliminary experiments show the effectiveness of the proposed algorithms in a
queuing application.Comment: 27 pages, 3 figure
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