Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation

The control of nonlinear dynamical systems remains a major challenge for autonomous agents. Current trends in reinforcement learning (RL) focus on complex representations of dynamics and policies, which have yielded impressive results in solving a variety of hard control tasks. However, this new sophistication and extremely over-parameterized models have come with the cost of an overall reduction in our ability to interpret the resulting policies. In this paper, we take inspiration from the control community and apply the principles of hybrid switching systems in order to break down complex dynamics into simpler components. We exploit the rich representational power of probabilistic graphical models and derive an expectation-maximization (EM) algorithm for learning a sequence model to capture the temporal structure of the data and automatically decompose nonlinear dynamics into stochastic switching linear dynamical systems. Moreover, we show how this framework of switching models enables extracting hierarchies of Markovian and auto-regressive locally linear controllers from nonlinear experts in an imitation learning scenario.Comment: 2nd Annual Conference on Learning for Dynamics and Contro

Design and implementation of a multi-modal biometric system for company access control

This paper is about the design, implementation, and deployment of a multi-modal biometric system to grant access to a company structure and to internal zones in the company itself. Face and iris have been chosen as biometric traits. Face is feasible for non-intrusive checking with a minimum cooperation from the subject, while iris supports very accurate recognition procedure at a higher grade of invasivity. The recognition of the face trait is based on the Local Binary Patterns histograms, and the Daughman\u2019s method is implemented for the analysis of the iris data. The recognition process may require either the acquisition of the user\u2019s face only or the serial acquisition of both the user\u2019s face and iris, depending on the confidence level of the decision with respect to the set of security levels and requirements, stated in a formal way in the Service Level Agreement at a negotiation phase. The quality of the decision depends on the setting of proper different thresholds in the decision modules for the two biometric traits. Any time the quality of the decision is not good enough, the system activates proper rules, which ask for new acquisitions (and decisions), possibly with different threshold values, resulting in a system not with a fixed and predefined behaviour, but one which complies with the actual acquisition context. Rules are formalized as deduction rules and grouped together to represent \u201cresponse behaviors\u201d according to the previous analysis. Therefore, there are different possible working flows, since the actual response of the recognition process depends on the output of the decision making modules that compose the system. Finally, the deployment phase is described, together with the results from the testing, based on the AT&T Face Database and the UBIRIS database

Modelling of methanol synthesis in a network of forced unsteady-state ring reactors by artificial neural networks for control purposes

A numerical model based on artificial neural networks (ANN) was developed to simulate the dynamic behaviour of a three reactors network (or ring reactor), with periodic change of the feed position, when low-pressure methanol synthesis is carried out. A multilayer, feedforward, fully connected ANN was designed and the history stack adaptation algorithm was implemented and tested with quite good results both in terms of model identification and learning rates. The influence of the ANN parameters was addressed, leading to simple guidelines for the selection of their values. A detailed model was used to generate the patterns adopted for the learning and testing phases. The simplified model was finalised to develop a model predictive control scheme in order to maximise methanol yield and to fulfil process constraints