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arXiv 1803.02493cs.ROcs.LGmath.OC
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基于混合专家模型的不连续敏感最优控制学习

Discontinuity-Sensitive Optimal Control Learning by Mixture of Experts

Duke University(杜克大学)

Gao Tang, Kris Hauser

摘要:

本文提出了一种高精度的参数最优控制问题解的间断敏感学习方法。从模型预测控制到强化学习的许多任务可以通过学习作为问题参数的函数的最优解来解决。然而,非凸性,离散同伦类,控制切换造成不连续的参数解决方案映射,从而使学习困难的传统连续函数逼近。提出了一种由一个分类器和多个回归器组成混合专家模型(MoE)。不同参数的最优轨迹被聚类,使得在每个聚类中轨迹是问题参数的连续函数。基准问题的数值例子表明,训练分类器和回归单独优于联合训练的MoE。利用适当选择的聚类,该方法不仅利用较少的训练数据和较少的模型参数实现较低的预测误差,而且与传统的通用函数近似模型(例如,神经网络)。

英文摘要:

This paper proposes a discontinuity-sensitive approach to learn the solutions of parametric optimal control problems with high accuracy. Many tasks, ranging from model predictive control to reinforcement learning, may be solved by learning optimal solutions as a function of problem parameters. However, nonconvexity, discrete homotopy classes, and control switching cause discontinuity in the parameter-solution mapping, thus making learning difficult for traditional continuous function approximators. A mixture of experts (MoE) model composed of a classifier and several regressors is proposed to address such an issue. The optimal trajectories of different parameters are clustered such that in each cluster the trajectories are continuous function of problem parameters. Numerical examples on benchmark problems show that training the classifier and regressors individually outperforms joint training of MoE. With suitably chosen clusters, this approach not only achieves lower prediction error with less training data and fewer model parameters, but also leads to dramatic improvements in the reliability of trajectory tracking compared to traditional universal function approximation models (e.g., neural networks).

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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