相关论文: Dual Control of Exploration and Exploitation for A…

Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…

There is a strong link between the general concept of intelligence and the ability to collect and use information. The theory of Bayes-adaptive exploration offers an attractive optimality framework for training machines to perform complex…

Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal) controllers and enable their usage in an online fashion.…

Dual control denotes a class of control problems where the parameters governing the system are imperfectly known. The challenge is to find the optimal balance between probing, i.e. exciting the system to understand it more, and caution,…

Successful engineering requires environmentally adapted procedural and architectural approaches. While dealing with complicated issues has become an engineering standard mastering uncertainties in complex environment is still a major issue.…

Evolutionary computation (EC) algorithms, renowned as powerful black-box optimizers, leverage a group of individuals to cooperatively search for the optimum. The exploration-exploitation tradeoff (EET) plays a crucial role in EC, which,…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

The exploration-exploitation trade-off is central to the description of adaptive behaviour in fields ranging from machine learning, to biology, to economics. While many approaches have been taken, one approach to solving this trade-off has…

Path-planning for autonomous vehicles in threat-laden environments is a fundamental challenge. While traditional optimal control methods can find ideal paths, the computational time is often too slow for real-time decision-making. To solve…

The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…

Augmenting mechanistic ordinary differential equation (ODE) models with machine-learnable structures is an novel approach to create highly accurate, low-dimensional models of engineering systems incorporating both expert knowledge and…

The atomic cluster expansion (ACE) was proposed recently as a new class of data-driven interatomic potentials with a formally complete basis set. Since the development of any interatomic potential requires a careful selection of training…

We consider a stochastic impulse control problem that is motivated by applications such as the optimal exploitation of a natural resource. In particular, we consider a stochastic system whose uncontrolled state dynamics are modelled by a…

This paper investigates parameter learning problems under deficient excitation (DE). The DE condition is a rank-deficient, and therefore, a more general evolution of the well-known persistent excitation condition. Under the DE condition, a…

The balance of exploration versus exploitation (EvE) is a key issue on evolutionary computation. In this paper we will investigate how an adaptive controller aimed to perform Operator Selection can be used to dynamically manage the EvE…

We propose a framework based on distributional reinforcement learning and recent attempts to combine Bayesian parameter updates with deep reinforcement learning. We show that our proposed framework conceptually unifies multiple previous…

Model-based reinforcement learning is a powerful tool, but collecting data to fit an accurate model of the system can be costly. Exploring an unknown environment in a sample-efficient manner is hence of great importance. However, the…

Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…

This paper presents a scheme for dual robust control of batch processes under parametric uncertainty. The dual-control paradigm arises in the context of adaptive control. A trade-off should be decided between the control actions that…

Efficient robotic exploration of unknown, sensor limited, global-information-deficient environments poses unique challenges to path planning algorithms. In these difficult environments, no deterministic guarantees on path completion and…