Related papers: Asynchronous Heterogeneous Linear Quadratic Regula…
Consider a discrete-time Linear Quadratic Regulator (LQR) problem solved using policy gradient descent when the system matrices are unknown. The gradient is transmitted across a noisy channel over a finite time horizon using analog…
This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While…
We study the convergence of deterministic policy gradient algorithms in continuous state and action space for the prototypical Linear Quadratic Regulator (LQR) problem when the search space is not limited to the family of linear policies.…
Forming (hybrid) AC/DC microgrids (MGs) has become a promising manner for the interconnection of various kinds of distributed generators that are inherently AC or DC electric sources. This paper addresses the distributed asynchronous power…
We revisit in this paper the discrete-time linear quadratic regulator (LQR) problem from the perspective of receding-horizon policy gradient (RHPG), a newly developed model-free learning framework for control applications. We provide a…
Direct policy gradient methods for reinforcement learning and continuous control problems are a popular approach for a variety of reasons: 1) they are easy to implement without explicit knowledge of the underlying model 2) they are an…
This paper proposes a \emph{fully asynchronous} scheme for the policy evaluation problem of distributed reinforcement learning (DisRL) over directed peer-to-peer networks. Without waiting for any other node of the network, each node can…
We investigate the problem of learning linear quadratic regulators (LQR) in a multi-task, heterogeneous, and model-free setting. We characterize the stability and personalization guarantees of a policy gradient-based (PG) model-agnostic…
This technical report is concerned with the convergence properties of what we call the split optimal policy iteration for coupled LQR problems; see section 3.1 in the manuscript. Interestingly, the iteration shows different convergence…
Asynchronous stochastic gradient descent (ASGD) is a standard way to exploit heterogeneous compute resources in distributed learning: instead of forcing fast workers to wait for slow ones, the server updates the model whenever a gradient…
The performance of fully synchronized distributed systems has faced a bottleneck due to the big data trend, under which asynchronous distributed systems are becoming a major popularity due to their powerful scalability. In this paper, we…
For various typical cases and situations where the formulation results in an optimal control problem, the Linear Quadratic Regulator (LQR) approach and its variants continue to be highly attractive. In certain scenarios, it can happen that…
We consider the distributed learning problem with data dispersed across multiple workers under the orchestration of a central server. Asynchronous Stochastic Gradient Descent (SGD) has been widely explored in such a setting to reduce the…
We investigate the problem of minimizing the expectation of smooth nonconvex functions in a distributed setting with multiple parallel workers that are able to compute stochastic gradients. A significant challenge in this context is the…
In this paper, we propose an optimally structured gradient coding scheme to mitigate the straggler problem in distributed learning. Conventional gradient coding methods often assume homogeneous straggler models or rely on excessive data…
This paper studies the distributed model predictive control (DMPC) problem for distributed discrete-time linear systems with both local and global constraints over directed communication networks. We establish an optimization problem to…
In distributed deep learning with data parallelism, synchronizing gradients at each training step can cause a huge communication overhead, especially when many nodes work together to train large models. Local gradient methods, such as Local…
We consider policy gradient algorithms for the indefinite least squares stationary optimal control, e.g., linear-quadratic-regulator (LQR) with indefinite state and input penalization matrices. Such a setup has important applications in…
In this paper, we focus on approaches to parallelizing stochastic gradient descent (SGD) wherein data is farmed out to a set of workers, the results of which, after a number of updates, are then combined at a central master node. Although…
In this paper we present a set of projection-based designs for constructing simplified linear quadratic regulator (LQR) controllers for large-scale network systems. When such systems have tens of thousands of states, the design of…