相关论文: Learning Compact Models for Planning with Exogenou…

A fundamental (and largely open) challenge in sequential decision-making is dealing with non-stationary environments, where exogenous environmental conditions change over time. Such problems are traditionally modeled as non-stationary…

We study infinite horizon Markov decision processes (MDPs) with "fast-slow" structure, where some state variables evolve rapidly ("fast states") while others change more gradually ("slow states"). This structure commonly arises in practice…

Reduced order models are computationally inexpensive approximations that capture the important dynamical characteristics of large, high-fidelity computer models of physical systems. This paper applies machine learning techniques to improve…

In this paper, we investigate a worst-case-scenario control problem with a partially observed state. We consider a non-stochastic formulation, where noises and disturbances in our dynamics are uncertain variables which take values in finite…

A common strategy in modern learning systems is to learn a representation that is useful for many tasks, a.k.a. representation learning. We study this strategy in the imitation learning setting for Markov decision processes (MDPs) where…

Imitation learning is a data-driven approach to learning policies from expert behavior, but it is prone to unreliable outcomes in out-of-sample (OOS) regions. While previous research relying on stable dynamical systems guarantees…

Consider learning a policy purely on the basis of demonstrated behavior -- that is, with no access to reinforcement signals, no knowledge of transition dynamics, and no further interaction with the environment. This *strictly batch…

We present an algorithm that, given a representation of a road network in lane-level detail, computes a route that minimizes the expected cost to reach a given destination. In doing so, our algorithm allows us to solve for the complex…

The recent progress in Reinforcement Learning applications to Resource Management presents MDPs without a deeper analysis of the impacts of design decisions on agent performance. In this paper, we compare and contrast four different MDP…

The training of autonomous agents often requires expensive and unsafe trial-and-error interactions with the environment. Nowadays several data sets containing recorded experiences of intelligent agents performing various tasks, spanning…

We investigate the classical active pure exploration problem in Markov Decision Processes, where the agent sequentially selects actions and, from the resulting system trajectory, aims at identifying the best policy as fast as possible. We…

Learning models of the environment from pure interaction is often considered an essential component of building lifelong reinforcement learning agents. However, the common practice in model-based reinforcement learning is to learn models…

In the optimization of dynamical systems, the variables typically have constraints. Such problems can be modeled as a constrained Markov Decision Process (CMDP). This paper considers a model-free approach to the problem, where the…

We introduce a methodology for efficiently computing a lower bound to empowerment, allowing it to be used as an unsupervised cost function for policy learning in real-time control. Empowerment, being the channel capacity between actions and…

The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…

We propose a decision-theoretic framework in which a robot strategically can shape inferred human's prosocial state during repeated interactions. Modeling the human's prosociality as a latent state that evolves over time, the robot learns…

Markov Decision Processes (MDPs) are stochastic optimization problems that model situations where a decision maker controls a system based on its state. Partially observed Markov decision processes (POMDPs) are generalizations of MDPs where…

Practical reinforcement learning problems are often formulated as constrained Markov decision process (CMDP) problems, in which the agent has to maximize the expected return while satisfying a set of prescribed safety constraints. In this…

There is much interest in using partially observable Markov decision processes (POMDPs) as a formal model for planning in stochastic domains. This paper is concerned with finding optimal policies for POMDPs. We propose several improvements…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…