相关论文: Kalman filter control in the reinforcement learnin…

We consider a robust filtering problem where the robust filter is designed according to the least favorable model belonging to a ball about the nominal model. In this approach, the ball radius specifies the modeling error tolerance and the…

Model bias is an inherent limitation of the current dominant approach to optimal quantum control, which relies on a system simulation for optimization of control policies. To overcome this limitation, we propose a circuit-based approach for…

Overestimation bias control techniques are used by the majority of high-performing off-policy reinforcement learning algorithms. However, most of these techniques rely on pre-defined bias correction policies that are either not flexible…

Developments in reinforcement learning (RL) have allowed algorithms to achieve impressive performance in highly complex, but largely static problems. In contrast, biological learning seems to value efficiency of adaptation to a…

In this paper, we present a novel algorithm named synchronous integral Q-learning, which is based on synchronous policy iteration, to solve the continuous-time infinite horizon optimal control problems of input-affine system dynamics. The…

Machine-learning techniques are emerging as a valuable tool in experimental physics, and among them, reinforcement learning offers the potential to control high-dimensional, multistage processes in the presence of fluctuating environments.…

For many nonlinear Bayesian state estimation problems, the posterior recursion is not analytically tractable, leading to algorithms that are influenced by numerical approximation errors. These algorithms depend on parameters that affect the…

In this paper, we investigate sequential power allocation over fast varying channels for mission-critical applications, aiming to minimize the expected sum power while guaranteeing the transmission success probability. In particular, a…

Counter-adversarial system design problems have lately motivated the development of inverse Bayesian filters. For example, inverse Kalman filter (I-KF) has been recently formulated to estimate the adversary's Kalman-filter-tracked estimates…

State estimation of dynamical systems in real-time is a fundamental task in signal processing. For systems that are well-represented by a fully known linear Gaussian state space (SS) model, the celebrated Kalman filter (KF) is a low…

Kalman Filters (KF) are fundamental to real-time state estimation applications, including radar-based tracking systems used in modern driver assistance and safety technologies. In a linear dynamical system with Gaussian noise distributions…

We present a representation-driven framework for reinforcement learning. By representing policies as estimates of their expected values, we leverage techniques from contextual bandits to guide exploration and exploitation. Particularly,…

Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regulators), model-based trajectory planning (e.g., trajectory…

We show that several major algorithms of reinforcement learning (RL) fit into the framework of categorical cybernetics, that is to say, parametrised bidirectional processes. We build on our previous work in which we show that value…

This paper introduces a set of algorithms for Monte-Carlo Bayesian reinforcement learning. Firstly, Monte-Carlo estimation of upper bounds on the Bayes-optimal value function is employed to construct an optimistic policy. Secondly,…

Kalman filter is presumably one of the most important and extensively used filtering techniques in modern control systems. Yet, nearly all current variants of Kalman filters are formulated in the Euclidean space $\mathbb{R}^n$, while many…

The setup considered in the paper consists of sensors in a Networked Control System that are used to build a digital twin (DT) model of the system dynamics. The focus is on control, scheduling, and resource allocation for sensory…

Recent result shows how to compute distributively and efficiently the linear MMSE for the multiuser detection problem, using the Gaussian BP algorithm. In the current work, we extend this construction, and show that operating this algorithm…

Contemporary data assimilation often involves millions of prediction variables. The classical Kalman filter is no longer computationally feasible in such a high dimensional context. This problem can often be resolved by exploiting the…

Here we revisit the classic problem of linear quadratic estimation, i.e. estimating the trajectory of a linear dynamical system from noisy measurements. The celebrated Kalman filter gives an optimal estimator when the measurement noise is…