Reinforcement Learning Informed by Optimal Control

Önnheim, Magnus, 1985 (author): Göteborgs universitet,University of Gothenburg,Chalmers tekniska högskola,Chalmers University of Technology

Andersson, Pontus, 1995 (author): Chalmers tekniska högskola,Chalmers University of Technology,Göteborgs universitet,University of Gothenburg

Gustavsson, Emil, 1987 (author): Göteborgs universitet,University of Gothenburg,Chalmers tekniska högskola,Chalmers University of Technology

Jirstrand, Mats, 1968 (author): Chalmers tekniska högskola,Chalmers University of Technology,Göteborgs universitet,University of Gothenburg

(creator_code:org_t)

2019-09-09
2019
English.
In: Lecture Notes in Computer Science. - Cham : Springer International Publishing. - 0302-9743 .- 1611-3349. ; 11731, s. 403-407

Related links:: https://research.cha...; show more...; https://doi.org/10.1...; show less...

Abstract Subject headings

Model-free reinforcement learning has seen tremendous advances in the last few years, however practical applications of pure reinforcement learning are still limited by sample inefficiency and the difficulty of giving robustness and stability guarantees of the proposed agents. Given access to an expert policy, one can increase sample efficiency by in addition to learning from data, and also learn from the experts actions for safer learning. In this paper we pose the question whether expert learning can be accelerated and stabilized if given access to a family of experts which are designed according to optimal control principles, and more specifically, linear quadratic regulators. In particular we consider the nominal model of a system as part of the action space of a reinforcement learning agent. Further, using the nominal controller, we design customized reward functions for training a reinforcement learning agent, and perform ablation studies on a set of simple benchmark problems.

SAMHÄLLSVETENSKAP -- Utbildningsvetenskap -- Lärande (hsv//swe)
SOCIAL SCIENCES -- Educational Sciences -- Learning (hsv//eng)
TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

By the author/editor: Önnheim, Magnus, ...; Andersson, Pontu ...; Gustavsson, Emil ...; Jirstrand, Mats, ...

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Control Engineer ...

NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Computer Science ...

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