arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2005.02191cs.LGcs.SYeess.SYstat.ML
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高斯过程状态空间模型的局部主动学习

Localized active learning of Gaussian process state space models

Technical University of Munich(慕尼黑工业大学)

Alexandre Capone, Jonas Umlauft, Thomas Beckers, Armin Lederer, Sandra Hirche

摘要:

基于学习的控制技术的性能关键取决于如何有效地探索系统。虽然大多数探索技术旨在实现全局精确的模型,但这种方法通常不适合具有无界状态空间的系统。此外,在许多常见的控制应用中,例如,地方稳定任务。在本文中,我们提出了一种主动学习策略的高斯过程状态空间模型,旨在获得一个准确的模型上的状态-动作空间的有界子集。我们的方法的目的是最大限度地提高互信息的勘探轨迹相对于感兴趣的区域的离散化。通过采用模型预测控制,所提出的技术集成在勘探过程中收集的信息,并自适应地改善其勘探策略。为了使计算的易处理性,我们解耦的模型预测控制优化步骤的信息最丰富的数据点的选择。这产生了两个可以并行求解的优化问题。我们应用所提出的方法来探索各种动力系统的状态空间,并将我们的方法与常用的基于熵的探索策略进行比较。在所有的实验中,我们的方法比基于熵的方法在感兴趣的区域内产生更好的模型。

英文摘要:

The performance of learning-based control techniques crucially depends on how effectively the system is explored. While most exploration techniques aim to achieve a globally accurate model, such approaches are generally unsuited for systems with unbounded state spaces. Furthermore, a globally accurate model is not required to achieve good performance in many common control applications, e.g., local stabilization tasks. In this paper, we propose an active learning strategy for Gaussian process state space models that aims to obtain an accurate model on a bounded subset of the state-action space. Our approach aims to maximize the mutual information of the exploration trajectories with respect to a discretization of the region of interest. By employing model predictive control, the proposed technique integrates information collected during exploration and adaptively improves its exploration strategy. To enable computational tractability, we decouple the choice of most informative data points from the model predictive control optimization step. This yields two optimization problems that can be solved in parallel. We apply the proposed method to explore the state space of various dynamical systems and compare our approach to a commonly used entropy-based exploration strategy. In all experiments, our method yields a better model within the region of interest than the entropy-based method.

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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