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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
31

Reliable deep reinforcement learning: stable training and robust deployment

Queeney, James 30 August 2023 (has links)
Deep reinforcement learning (RL) represents a data-driven framework for sequential decision making that has demonstrated the ability to solve challenging control tasks. This data-driven, learning-based approach offers the potential to improve operations in complex systems, but only if it can be trusted to produce reliable performance both during training and upon deployment. These requirements have hindered the adoption of deep RL in many real-world applications. In order to overcome the limitations of existing methods, this dissertation introduces reliable deep RL algorithms that deliver (i) stable training from limited data and (ii) robust, safe deployment in the presence of uncertainty. The first part of the dissertation addresses the interactive nature of deep RL, where learning requires data collection from the environment. This interactive process can be expensive, time-consuming, and dangerous in many real-world settings, which motivates the need for reliable and efficient learning. We develop deep RL algorithms that guarantee stable performance throughout training, while also directly considering data efficiency in their design. These algorithms are supported by novel policy improvement lower bounds that account for finite-sample estimation error and sample reuse. The second part of the dissertation focuses on the uncertainty present in real-world applications, which can impact the performance and safety of learned control policies. In order to reliably deploy deep RL in the presence of uncertainty, we introduce frameworks that incorporate safety constraints and provide robustness to general disturbances in the environment. Importantly, these frameworks make limited assumptions on the training process, and can be implemented in settings that require real-world interaction for training. This motivates deep RL algorithms that deliver robust, safe performance at deployment time, while only using standard data collection from a single training environment. Overall, this dissertation contributes new techniques to overcome key limitations of deep RL for real-world decision making and control. Experiments across a variety of continuous control tasks demonstrate the effectiveness of our algorithms.
32

Nonparametric Inverse Reinforcement Learning and Approximate Optimal Control with Temporal Logic Tasks

Perundurai Rajasekaran, Siddharthan 30 August 2017 (has links)
"This thesis focuses on two key problems in reinforcement learning: How to design reward functions to obtain intended behaviors in autonomous systems using the learning-based control? Given complex mission specification, how to shape the reward function to achieve fast convergence and reduce sample complexity while learning the optimal policy? To answer these questions, the first part of this thesis investigates inverse reinforcement learning (IRL) method with a purpose of learning a reward function from expert demonstrations. However, existing algorithms often assume that the expert demonstrations are generated by the same reward function. Such an assumption may be invalid as one may need to aggregate data from multiple experts to obtain a sufficient set of demonstrations. In the first and the major part of the thesis, we develop a novel method, called Non-parametric Behavior Clustering IRL. This algorithm allows one to simultaneously cluster behaviors while learning their reward functions from demonstrations that are generated from more than one expert/behavior. Our approach is built upon the expectation-maximization formulation and non-parametric clustering in the IRL setting. We apply the algorithm to learn, from driving demonstrations, multiple driver behaviors (e.g., aggressive vs. evasive driving behaviors). In the second task, we study whether reinforcement learning can be used to generate complex behaviors specified in formal logic — Linear Temporal Logic (LTL). Such LTL tasks may specify temporally extended goals, safety, surveillance, and reactive behaviors in a dynamic environment. We introduce reward shaping under LTL constraints to improve the rate of convergence in learning the optimal and probably correct policies. Our approach exploits the relation between reward shaping and actor-critic methods for speeding up the convergence and, as a consequence, reducing training samples. We integrate compositional reasoning in formal methods with actor-critic reinforcement learning algorithms to initialize a heuristic value function for reward shaping. This initialization can direct the agent towards efficient planning subject to more complex behavior specifications in LTL. The investigation takes the initial step to integrate machine learning with formal methods and contributes to building highly autonomous and self-adaptive robots under complex missions."
33

Cost and Power Loss Aware Coalitions under Uncertainty in Transactive Energy Systems

Sadeghi, Mohammad 02 June 2022 (has links)
The need to cope with the rapid transformation of the conventional electrical grid into the future smart grid, with multiple connected microgrids, has led to the investigation of optimal smart grid architectures. The main components of the future smart grids such as generators, substations, controllers, smart meters and collector nodes are evolving; however, truly effective integration of these elements into the microgrid context to guarantee intelligent and dynamic functionality across the whole smart grid remains an open issue. Energy trading is a significant part of this integration. In microgrids, energy trading refers to the use of surplus energy in one microgrid to satisfy the demand of another microgrid or a group of microgrids that form a microgrid community. Different techniques are employed to manage the energy trading process such as optimization-based and conventional game-theoretical methods, which bring about several challenges including complexity, scalability and ability to learn dynamic environments. A common challenge among all of these methods is adapting to changing circumstances. Optimization methods, for example, show promising performance in static scenarios where the optimal solution is achieved for a specific snapshot of the system. However, to use such a technique in a dynamic environment, finding the optimal solutions for all the time slots is needed, which imposes a significant complexity. Challenges such as this can be best addressed using game theory techniques empowered with machine learning methods across grid infrastructure and microgrid communities. In this thesis, novel Bayesian coalitional game theory-based and Bayesian reinforcement learning-based coalition formation algorithms are proposed, which allow the microgrids to exchange energy with their coalition members while minimizing the associated cost and power loss. In addition, a deep reinforcement learning scheme is developed to address the problem of large convergence time resulting from the sizeable state-action space of the methods mentioned above. The proposed algorithms can ideally overcome the uncertainty in the system. The advantages of the proposed methods are highlighted by comparing them with the conventional coalitional game theory-based techniques, Q-learning-based technique, random coalition formation, as well as with the case with no coalitions. The results show the superiority of the proposed methods in terms of power loss and cost minimization in dynamic environments.
34

FAST(ER) DATA GENERATION FOR OFFLINE RL AND FPS ENVIRONMENTS FOR DECISION TRANSFORMERS

Mark R Trovinger (17549493) 06 December 2023 (has links)
<p dir="ltr">Reinforcement learning algorithms have traditionally been implemented with the goal</p><p dir="ltr">of maximizing a reward signal. By contrast, Decision Transformer (DT) uses a transformer</p><p dir="ltr">model to predict the next action in a sequence. The transformer model is trained on datasets</p><p dir="ltr">consisting of state, action, return trajectories. The original DT paper examined a small</p><p dir="ltr">number of environments, five from the Atari domain, and three from continuous control,</p><p dir="ltr">and one that examined credit assignment. While this gives an idea of what the decision</p><p dir="ltr">transformer can do, the variety of environments in the Atari domain are limited. In this</p><p dir="ltr">work, we propose an extension of the environments that decision transformer can be trained</p><p dir="ltr">on by adding support for the VizDoom environment. We also developed a faster method for</p><p dir="ltr">offline RL dataset generation, using Sample Factory, a library focused on high throughput,</p><p dir="ltr">to generate a dataset comparable in quality to existing methods using significantly less time.</p><p dir="ltr"><br></p>
35

Physics-based reinforcement learning for autonomous manipulation

Scholz, Jonathan 07 January 2016 (has links)
With recent research advances, the dream of bringing domestic robots into our everyday lives has become more plausible than ever. Domestic robotics has grown dramatically in the past decade, with applications ranging from house cleaning to food service to health care. To date, the majority of the planning and control machinery for these systems are carefully designed by human engineers. A large portion of this effort goes into selecting the appropriate models and control techniques for each application, and these skills take years to master. Relieving the burden on human experts is therefore a central challenge for bringing robot technology to the masses. This work addresses this challenge by introducing a physics engine as a model space for an autonomous robot, and defining procedures for enabling robots to decide when and how to learn these models. We also present an appropriate space of motor controllers for these models, and introduce ways to intelligently select when to use each controller based on the estimated model parameters. We integrate these components into a framework called Physics-Based Reinforcement Learning, which features a stochastic physics engine as the core model structure. Together these methods enable a robot to adapt to unfamiliar environments without human intervention. The central focus of this thesis is on fast online model learning for objects with under-specified dynamics. We develop our approach across a diverse range of domestic tasks, starting with a simple table-top manipulation task, followed by a mobile manipulation task involving a single utility cart, and finally an open-ended navigation task with multiple obstacles impeding robot progress. We also present simulation results illustrating the efficiency of our method compared to existing approaches in the learning literature.
36

Sequential frameworks for statistics-based value function representation in approximate dynamic programming

Fan, Huiyuan. January 2008 (has links)
Thesis (Ph.D.) -- University of Texas at Arlington, 2008.
37

Corporate classifier systems

Tomlinson, Andrew Stephen January 1999 (has links)
No description available.
38

Reinforcement-learning-based autonomous vehicle navigation in a dynamically changing environment

Ngai, Chi-kit. January 2007 (has links)
Thesis (Ph. D.)--University of Hong Kong, 2008. / Also available in print.
39

Learning successful strategies in repeated general-sum games /

Crandall, Jacob W., January 2005 (has links) (PDF)
Thesis (Ph.D.)--Brigham Young University. Dept. of Computer Science, 2005. / Includes bibliographical references (p. 163-168).
40

QoE-Fair Video Streaming over DASH

Altamimi, Sadi 19 December 2018 (has links)
Video streaming has become, and is expected to remain, the dominant type of traffic over the Internet. With this high demand for multimedia streaming, there is always a question on how to provide acceptable and fair Quality of Experience (QoE) for consumers of the over-the-top video services, despite the best-effort nature of the Internet and the limited network resources, shared by concurrent users. MPEG-DASH, as one of the most widely used standards of HTTP-based adaptive streaming, uses a client-side rate adaptation algorithms; which is known to suffer from two practical challenges: in one hand, clients use fixed heuristics that have been fine-tuned according to strict assumptions about deployment environments which limit its ability to generalize across network conditions. On the other hand, the absence of collaboration among DASH clients leads to unfair bandwidth allocation, and typically ends up in an unbalanced equilibrium point. We believe that augmenting a server-side rate adaptation significantly improves the fairness of network bandwidth allocation among concurrent users. We have formulated the problem as a Decentralized Partially Observable Markov Decision Process (Dec-POMDP) model, and used RL to train two neural networks to find an optimal solution to the proposed Dec-POMDP problem in a distributed way. We showed that our proposed client-server collaboration outperforms the state-of-the-art schemes in terms of QoE-efficiency, QoE-fairness, and social welfare by as much as 16%, 21%, and 24% respectively.

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