相关论文: Constraint Inference in Control Tasks from Expert …

We present an end-to-end framework for generating solutions to combinatorial optimization problems with unknown components using transformer-based sequence-to-sequence neural networks. Our framework learns directly from past solutions and…

This paper describes three methods for carrying out non-asymptotic inference on partially identified parameters that are solutions to a class of optimization problems. Applications in which the optimization problems arise include estimation…

Inactive constraints do not contribute to the solution of an optimal control problem, but increase the problem size and burden the numerical computations. We present a novel strategy for handling inactive constraints efficiently by…

The framework of reinforcement learning or optimal control provides a mathematical formalization of intelligent decision making that is powerful and broadly applicable. While the general form of the reinforcement learning problem enables…

We present a method for learning to satisfy uncertain constraints from demonstrations. Our method uses robust optimization to obtain a belief over the potentially infinite set of possible constraints consistent with the demonstrations, and…

In most machine learning applications, classification accuracy is not the primary metric of interest. Binary classifiers which face class imbalance are often evaluated by the $F_\beta$ score, area under the precision-recall curve, Precision…

Learning near-optimal behaviour from an expert's demonstrations typically relies on the assumption that the learner knows the features that the true reward function depends on. In this paper, we study the problem of learning from…

This paper presents an inverse optimal control methodology and its application to training a predictive model of human motor control from a manipulation task. It introduces a convex formulation for learning both objective function and…

This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…

Consider a problem where a set of feasible observations are provided by an expert and a cost function is defined that characterizes which of the observations dominate the others and are hence, preferred. Our goal is to find a set of linear…

Inverse problems and, in particular, inferring unknown or latent parameters from data are ubiquitous in engineering simulations. A predominant viewpoint in identifying unknown parameters is Bayesian inference where both prior information…

Constraint inference is widely considered essential to align reinforcement learning agents with safety boundaries and operational guidelines by observing expert demonstrations. However, existing approaches typically assume homogeneous…

Inferring the intent of an intelligent agent from demonstrations and subsequently predicting its behavior, is a critical task in many collaborative settings. A common approach to solve this problem is the framework of inverse reinforcement…

We consider the problem of estimating the transition dynamics $T^*$ from near-optimal expert trajectories in the context of offline model-based reinforcement learning. We develop a novel constraint-based method, Inverse Transition Learning,…

In most optimization problems, users have a clear understanding of the function to optimize (e.g., minimize the makespan for scheduling problems). However, the constraints may be difficult to state and their modelling often requires…

Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization…

Learning from Demonstration allows robots to mimic human actions. However, these methods do not model constraints crucial to ensure safety of the learned skill. Moreover, even when explicitly modelling constraints, they rely on the…

Interpretable Machine Learning faces a recurring challenge of explaining the predictions made by opaque classifiers such as ensemble models, kernel methods, or neural networks in terms that are understandable to humans. When the model is…

We present a method for learning unknown parametric constraints from locally-optimal input-output trajectory data. We assume the data is generated by rollouts of stochastic nonlinear dynamics, under a single state or output feedback law and…

Derivative based optimization methods are efficient at solving optimal control problems near local optima. However, their ability to converge halts when derivative information vanishes. The inference approach to optimal control does not…