Features in machine learning problems are often time-varying and may be related to outputs in an algebraic or dynamical manner. The dynamic nature of these machine learning problems renders current higher order accelerated gradient descent methods unstable or weakens their convergence guarantees. Inspired by methods employed in adaptive control, this paper proposes new algorithms for the case when time-varying features are present, and demonstrates provable performance guarantees. In particular, we develop a unified variational perspective within a continuous time algorithm. This variational perspective includes higher order learning concepts and normalization, both of which stem from adaptive control, and allows stability to be established for dynamical machine learning problems where time-varying features are present. These higher order algorithms are also examined for provably correct learning in adaptive control and identification. Simulations are provided to verify the theoretical results.
Learning for dynamical systems has been an active area of research within the machine learning community, especially within the area of reinforcement learning @cite_51 @cite_10 @cite_23 @cite_34 . There has also been a large increase in recent work studying learning and control for unknown linear dynamical systems: least squares @cite_18 , linear quadratic regulator, robust control @cite_56 @cite_46 @cite_17 , and spectral filtering @cite_54 @cite_50 . One major difference between these works and the one presented here is that our algorithm is streaming, with the exception of @cite_54 @cite_50 . Control techniques have also been leveraged in the opposite direction, treating gradient descent explicitly as a dynamical system, and leveraging tools from robust control theory @cite_44 @cite_41 @cite_35 @cite_6 @cite_22 . It is an exciting time to be studying problems at the intersection of machine learning and control.
@cite_35 @cite_18 @cite_22 @cite_41 @cite_54 @cite_6 @cite_56 @cite_44 @cite_23 @cite_50 @cite_51 @cite_46 @cite_34 @cite_10 @cite_17
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With the goal to generate more scalable algorithms with higher efficiency and fewer open parameters, reinforcement learning (RL) has recently moved towards combining classical techniques from optimal control and dynamic programming with modern learning techniques from statistical estimation theory. In this vein, this paper suggests to use the framework of stochastic optimal control with path integrals to derive a novel approach to RL with parameterized policies. While solidly grounded in value function estimation and optimal control based on the stochastic Hamilton-Jacobi-Bellman (HJB) equations, policy improvements can be transformed into an approximation problem of a path integral which has no open algorithmic parameters other than the exploration noise. The resulting algorithm can be conceived of as model-based, semi-model-based, or even model free, depending on how the learning problem is structured. The update equations have no danger of numerical instabilities as neither matrix inversions nor gradient learning rates are required. Our new algorithm demonstrates interesting similarities with previous RL research in the framework of probability matching and provides intuition why the slightly heuristically motivated probability matching approach can actually perform well. Empirical evaluations demonstrate significant performance improvements over gradient-based policy learning and scalability to high-dimensional control problems. Finally, a learning experiment on a simulated 12 degree-of-freedom robot dog illustrates the functionality of our algorithm in a complex robot learning scenario. We believe that Policy Improvement with Path Integrals (PI2) offers currently one of the most efficient, numerically robust, and easy to implement algorithms for RL based on trajectory roll-outs. This paper introduces a learning-based robust control algorithm that provides robust stability and performance guarantees during learning. The approach uses Gaussian process (GP) regression based on data gathered during operation to update an initial model of the system and to gradually decrease the uncertainty related to this model. Embedding this data-based update scheme in a robust control framework guarantees stability during the learning process. Traditional robust control approaches have not considered online adaptation of the model and its uncertainty before. As a result, their controllers do not improve performance during operation. Typical machine learning algorithms that have achieved similar high-performance behavior by adapting the model and controller online do not provide the guarantees presented in this paper. In particular, this paper considers a stabilization task, linearizes the nonlinear, GP-based model around a desired operating point, and solves a convex optimization problem to obtain a linear robust controller. The resulting performance improvements due to the learning-based controller are demonstrated in experiments on a quadrotor vehicle. Researchers have demonstrated state-of-the-art performance in sequential decision making problems (e.g., robotics control, sequential prediction) with deep neural network models. One often has access to near-optimal oracles that achieve good performance on the task during training. We demonstrate that AggreVaTeD --- a policy gradient extension of the Imitation Learning (IL) approach of (Ross & Bagnell, 2014) --- can leverage such an oracle to achieve faster and better solutions with less training data than a less-informed Reinforcement Learning (RL) technique. Using both feedforward and recurrent neural network predictors, we present stochastic gradient procedures on a sequential prediction task, dependency-parsing from raw image data, as well as on various high dimensional robotics control problems. We also provide a comprehensive theoretical study of IL that demonstrates we can expect up to exponentially lower sample complexity for learning with AggreVaTeD than with RL algorithms, which backs our empirical findings. Our results and theory indicate that the proposed approach can achieve superior performance with respect to the oracle when the demonstrator is sub-optimal. Several recent trends in machine learning theory and practice, from the design of state-of-the-art Gaussian Process to the convergence analysis of deep neural nets (DNNs) under stochastic gradient descent (SGD), have found it fruitful to study wide random neural networks. Central to these approaches are certain scaling limits of such networks. We unify these results by introducing a notion of a straightline that can express most neural network computations, and we characterize its scaling limit when its tensors are large and randomized. From our framework follows (1) the convergence of random neural networks to Gaussian processes for architectures such as recurrent neural networks, convolutional neural networks, residual networks, attention, and any combination thereof, with or without batch normalization; (2) conditions under which the -- that weights in backpropagation can be assumed to be independent from weights in the forward pass -- leads to correct computation of gradient dynamics, and corrections when it does not; (3) the convergence of the Neural Tangent Kernel, a recently proposed kernel used to predict training dynamics of neural networks under gradient descent, at initialization for all architectures in (1) without batch normalization. Mathematically, our framework is general enough to rederive classical random matrix results such as the semicircle and the Marchenko-Pastur laws, as well as recent results in neural network Jacobian singular values. We hope our work opens a way toward design of even stronger Gaussian Processes, initialization schemes to avoid gradient explosion vanishing, and deeper understanding of SGD dynamics in modern architectures.