49,392 research outputs found
Accelerating Asymptotically Exact MCMC for Computationally Intensive Models via Local Approximations
We construct a new framework for accelerating Markov chain Monte Carlo in
posterior sampling problems where standard methods are limited by the
computational cost of the likelihood, or of numerical models embedded therein.
Our approach introduces local approximations of these models into the
Metropolis-Hastings kernel, borrowing ideas from deterministic approximation
theory, optimization, and experimental design. Previous efforts at integrating
approximate models into inference typically sacrifice either the sampler's
exactness or efficiency; our work seeks to address these limitations by
exploiting useful convergence characteristics of local approximations. We prove
the ergodicity of our approximate Markov chain, showing that it samples
asymptotically from the \emph{exact} posterior distribution of interest. We
describe variations of the algorithm that employ either local polynomial
approximations or local Gaussian process regressors. Our theoretical results
reinforce the key observation underlying this paper: when the likelihood has
some \emph{local} regularity, the number of model evaluations per MCMC step can
be greatly reduced without biasing the Monte Carlo average. Numerical
experiments demonstrate multiple order-of-magnitude reductions in the number of
forward model evaluations used in representative ODE and PDE inference
problems, with both synthetic and real data.Comment: A major update of the theory and example
Random Finite Set Theory and Optimal Control of Large Collaborative Swarms
Controlling large swarms of robotic agents has many challenges including, but
not limited to, computational complexity due to the number of agents,
uncertainty in the functionality of each agent in the swarm, and uncertainty in
the swarm's configuration. This work generalizes the swarm state using Random
Finite Set (RFS) theory and solves the control problem using Model Predictive
Control (MPC) to overcome the aforementioned challenges. Computationally
efficient solutions are obtained via the Iterative Linear Quadratic Regulator
(ILQR). Information divergence is used to define the distance between the swarm
RFS and the desired swarm configuration. Then, a stochastic optimal control
problem is formulated using a modified L2^2 distance. Simulation results using
MPC and ILQR show that swarm intensities converge to a target destination, and
the RFS control formulation can vary in the number of target destinations. ILQR
also provides a more computationally efficient solution to the RFS swarm
problem when compared to the MPC solution. Lastly, the RFS control solution is
applied to a spacecraft relative motion problem showing the viability for this
real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731
Online-Computation Approach to Optimal Control of Noise-Affected Nonlinear Systems with Continuous State and Control Spaces
© 2007 EUCA.A novel online-computation approach to optimal control of nonlinear, noise-affected systems with continuous state and control spaces is presented. In the proposed algorithm, system noise is explicitly incorporated into the control decision. This leads to superior results compared to state-of-the-art nonlinear controllers that neglect this influence. The solution of an optimal nonlinear controller for a corresponding deterministic system is employed to find a meaningful state space restriction. This restriction is obtained by means of approximate state prediction using the noisy system equation. Within this constrained state space, an optimal closed-loop solution for a finite decision-making horizon (prediction horizon) is determined within an adaptively restricted optimization space. Interleaving stochastic dynamic programming and value function approximation yields a solution to the considered optimal control problem. The enhanced performance of the proposed discrete-time controller is illustrated by means of a scalar example system. Nonlinear model predictive control is applied to address approximate treatment of infinite-horizon problems by the finite-horizon controller
Regret Minimization in Partially Observable Linear Quadratic Control
We study the problem of regret minimization in partially observable linear quadratic control systems when the model dynamics are unknown a priori. We propose ExpCommit, an explore-then-commit algorithm that learns the model Markov parameters and then follows the principle of optimism in the face of uncertainty to design a controller. We propose a novel way to decompose the regret and provide an end-to-end sublinear regret upper bound for partially observable linear quadratic control. Finally, we provide stability guarantees and establish a regret upper bound of O(T^(2/3)) for ExpCommit, where T is the time horizon of the problem
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