This paper proposes a machine learning method to predict the solutions of related nonlinear optimal control problems given some parametric input, such as the initial state. The map between problem parameters to optimal solutions is called the problem-optimum map, and is often discontinuous due to nonconvexity, discrete homotopy classes, and control switching. This causes difficulties for traditional function approximators such as neural networks, which assume continuity of the underlying function. This paper proposes a mixture of experts (MoE) model composed of a classifier and several regressors, where each regressor is tuned to a particular continuous region. A novel training approach is proposed that trains classifier and regressors independently. MoE greatly outperforms standard neural networks, and achieves highly reliable trajectory prediction (over 99.5 accuracy) in several dynamic vehicle control problems.
The discontinuity of the solutions to parametric OCPs as a function of problem parameters has long been known @cite_21 , a fact that has been underappreciated in the control learning community. Under certain assumptions, this function is piecewise continuous, and discontinuity-tolerant methods have been proposed for learning from optimal solutions @cite_17 @cite_10 . However, their approaches do not explicitly try to partition the space into regions. In contrast, the discontinuity-sensitive approach proposed here does indeed segment the dataset according to estimated discontinuities.
@cite_21 @cite_10 @cite_17
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In this paper, we consider the problem of preserving privacy in the context of online learning. Online learning involves learning from data in real-time, due to which the learned model as well as its predictions are continuously changing. This makes preserving privacy of each data point significantly more challenging as its effect on the learned model can be easily tracked by observing changes in the subsequent predictions. Furthermore, with more and more online systems (e.g. search engines like Bing, Google etc.) trying to learn their customers’ behavior by leveraging their access to sensitive customer data (through cookies etc.), the problem of privacy preserving online learning has become critical. We study the problem in the framework of online convex programming (OCP)—a popular online learning setting with several theoretical and practical implications—while using differential privacy as the formal measure of privacy. For this problem, we provide a generic framework that can be used to convert any given OCP algorithm into a private OCP algorithm with provable privacy as well as regret guarantees (utility), provided that the given OCP algorithm satisfies the following two criteria: 1) linearly decreasing sensitivity, i.e., the effect of the new data points on the learned model decreases linearly, 2) sub-linear regret. We then illustrate our approach by converting two popular OCP algorithms into corresponding differentially private algorithms while guaranteeing O( p T ) regret for strongly convex functions. Next, we consider the practically important class of online linear regression problems, for which we generalize the approach by (2010a) to provide a differentially private algorithm with just poly-log regret. Finally, we show that our online learning framework can be used to provide differentially private algorithms for the offline learning problem as well. For the offline learning problem, our approach guarantees better error bounds and is more practical than the existing state-of-the-art methods (, 2011; , 2009). We consider the class of nonlinear optimal control problems (OCPs) with polynomial data, i.e., the differential equation, state and control constraints, and cost are all described by polynomials, and more generally for OCPs with smooth data. In addition, state constraints as well as state and or action constraints are allowed. We provide a simple hierarchy of LMI- (linear matrix inequality)-relaxations whose optimal values form a nondecreasing sequence of lower bounds on the optimal value. Under some convexity assumptions, the sequence converges to the optimal value of the OCP. Preliminary results show that good approximations are obtained with few moments. In this paper, we consider the problem of preserving privacy in the online learning setting. We study the problem in the online convex programming (OCP) framework---a popular online learning setting with several interesting theoretical and practical implications---while using differential privacy as the formal privacy measure. For this problem, we distill two critical attributes that a private OCP algorithm should have in order to provide reasonable privacy as well as utility guarantees: 1) linearly decreasing sensitivity, i.e., as new data points arrive their effect on the learning model decreases, 2) sub-linear regret bound---regret bound is a popular goodness utility measure of an online learning algorithm. Given an OCP algorithm that satisfies these two conditions, we provide a general framework to convert the given algorithm into a privacy preserving OCP algorithm with good (sub-linear) regret. We then illustrate our approach by converting two popular online learning algorithms into their differentially private variants while guaranteeing sub-linear regret ( @math ). Next, we consider the special case of online linear regression problems, a practically important class of online learning problems, for which we generalize an approach by to provide a differentially private algorithm with just @math regret. Finally, we show that our online learning framework can be used to provide differentially private algorithms for offline learning as well. For the offline learning problem, our approach obtains better error bounds as well as can handle larger class of problems than the existing state-of-the-art methods Many data sets can be viewed as a noisy sampling of an underlying space, and tools from topological data analysis can characterize this structure for the purpose of knowledge discovery. One such tool is persistent homology, which provides a multiscale description of the homological features within a data set. A useful representation of this homological information is a persistence diagram (PD). Efforts have been made to map PDs into spaces with additional structure valuable to machine learning tasks. We convert a PD to a finite-dimensional vector representation which we call a persistence image (PI), and prove the stability of this transformation with respect to small perturbations in the inputs. The discriminatory power of PIs is compared against existing methods, showing significant performance gains. We explore the use of PIs with vector-based machine learning tools, such as linear sparse support vector machines, which identify features containing discriminating topological information. Finally, high accuracy inference of parameter values from the dynamic output of a discrete dynamical system (the linked twist map) and a partial differential equation (the anisotropic Kuramoto-Sivashinsky equation) provide a novel application of the discriminatory power of PIs.