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Taming "data-hungry" reinforcement learning? stability in continuous state-action spaces 24

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Taming "data-hungry" reinforcement learning? stability in co...

Proceedings of the 38th International Conference on Neural Information Processing systems

作者： Yaqi Duan Martin J. Wainwright Department of Technology Operations and Statistics Stern School of Business New York University New York NY Laboratory for Information and Decision Systems Statistics and Data Science Center and Department of Electrical Engineering and Computer Science and Department of Mathematics Massachusetts Institute of Technology Cambridge MA

ISBN: (纸本)9798331314385

We introduce a novel framework for analyzing reinforcement learning (RL) in continuous state-action spaces, and use it to prove fast rates of convergence in both off-line and on-line settings. Our analysis highlights two key stability properties, relating to how changes in value functions and/or policies affect the Bellman operator and occupation measures. We argue that these properties are satisfied in many continuous state-action Markov decision processes. Our analysis also offers fresh perspectives on the roles of pessimism and optimism in off-line and on-line RL.

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Overall performance indicators for sustainability assessment and management in mining industry 7

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Overall performance indicators for sustainability assessment...

7th International Conference on Optimization and Applications, ICOA 2021

作者： Lamjahdi, Aicha Bouloiz, Hafida Gallab, Maryam Ibn Zohr University Laboratory of Systems Engineering and Decision-making Support National School of Applied Sciences Agadir Morocco ENSMR MIS - LISTD Laboratory Department of Computer Science Rabat Morocco

ISBN: (纸本)9781665441032

The mining industry is the source of the production of many consumer goods and equipment. Therefore, the companies that control this activity play a significant role in the global economy. However, it is an important source of pollution of water, air, soil and ecosystems by metals. It exploits fossil and non-renewable resources, requiring large amounts of energy and sometimes water. Thus, implementing a sustainable approach through an overall performance integration in manufacturing practices, is become a necessity in this sector. Hence, this research presents a collection of key performance indicators for overall performance evaluation and management in mining industry. The proposed indicators were established from literature on the basis of the sustainability triple bottom line of economic, social, and environmental factors. A survey is conducted then, in a Moroccan mining industry to validate the adaptability of the chosen indicators with the industry activities and practices. Future work will further develop an evaluation tool that will help managers to assess the overall performance in mining industry and to take the appropriate actions to increase its competitiveness. © 2021 IEEE.

关键词： Decision making

An Artificial Immune System Algorithm for the Permutation Flow Shop Scheduling Problem with Sequence Dependent Setup Times

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An Artificial Immune System Algorithm for the Permutation Fl...

International Conference on Optimization and Applications (ICOA)

作者： Khadija Mesmar Maria Lebbar Said Aqil Zahra Asebriy Karam Allali ROSDM Research Team LMAID Laboratory of Applied Mathematics and Business Intelligence National School of Mines of Rabat Rabat Morocco Laboratory Artificial Intelligence and Complex Systems Engineering ENSAM Casablanca Hassan II University Casablanca Morocco Laboratory mathematics Computer sciences and modeling of complex systems EST Essaouira Cadi Ayyad University Essaouira Morocco Laboratory of Mathematics Computer Science and Applications FST Mohammadia Hassan II University Mohammadia Morocco

ISBN: (数字)9798350387353

ISBN: (纸本)9798350387360

This paper is concerned with a set of independent jobs in a permutation flow shop that have setup times on a set of machines. The M-IAIS algorithm, which is based on immunoglobulins and has been modified, is designed to reduce the makespan. A unique procedure known as B cell repertoire updating, which comprises size C of jobs that are taken out of the sequence and reinserted into all possible positions of the remaining sequences of jobs, has an impact on the M-IAIS algorithm's performance. To increase the convergence velocity, three iterations of the algorithm are suggested. Thorough testing was done, and the three versions' performances on a set (benchmark) are compared. Problem instances are described in Sistemas de Optimizacion Aplicada (http://***/problem-instances) In the paper, percentage deviation is considered to evaluate the performance of the proposed algorithms. Furthermore, the ensuing outcomes demonstrate its suitability for addressing for the Permutation Flow Shop Scheduling Problem with Sequence Dependent Setup Times.

关键词： Industries Job shop scheduling Artificial immune systems Benchmark testing Optimization Convergence

Cooperative Global K-exponential Tracking Control of Multiple Mobile Robots-Extended Version

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arXiv 2024年

作者： Xu, Liang Su, Youfeng Cai, He College of Computer and Data Science Fuzhou University Fuzhou350116 China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen518055 China School of Automation Science and Engineering South China University of Technology Guangzhou510641 China

This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed distributed continuous feedback control law, where an explicit strict Lyapunov function is constructed. Then, by investigating the convergence rate, it is further proven that the closed-loop system is globally K-exponentially stable. Moreover, to make the proposed control law more practical, the distributed continuous feedback control law is generalized to a distributed sampled-data feedback control law using the emulation approach, based on the strong integral input-to-state stable Lyapunov function. Numerical simulations are presented to validate the effectiveness of the proposed control methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Lyapunov functions

A Multi-Player Potential Game Approach for Sensor Network Localization with Noisy Measurements

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arXiv 2024年

作者： Xu, Gehui Chen, Guanpu Fidan, Baris Hong, Yiguang Qi, Hongsheng Parisini, Thomas Johansson, Karl H. The Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy

Sensor network localization (SNL) is a challenging problem due to its inherent non-convexity and the effects of noise in inter-node ranging measurements and anchor node position. We formulate a non-convex SNL problem as a multi-player non-convex potential game and investigate the existence and uniqueness of a Nash equilibrium (NE) in both the ideal setting without measurement noise and the practical setting with measurement noise. We first show that the NE exists and is unique in the noiseless case, and corresponds to the precise network localization. Then, we study the SNL for the case with errors affecting the anchor node position and the inter-node distance measurements. Specifically, we establish that in case these errors are sufficiently small, the NE exists and is unique. It is shown that the NE is an approximate solution to the SNL problem, and that the position errors can be quantified accordingly. Based on these findings, we apply the results to case studies involving only inter-node distance measurement errors and only anchor position information inaccuracies. Copyright © 2024, The Authors. All rights reserved.

关键词： Sensor nodes

Active RIS-Aided Massive MIMO With Imperfect CSI and Phase Noise

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IEEE Transactions on Wireless Communications 2025年

作者： Peng, Zhangjie Zhu, Jianchen Pan, Cunhua Zhang, Zaichen Da Costa, Daniel Benevides Elkashlan, Maged Karagiannidis, George K. Shanghai Normal University College of Information Mechanical and Electrical Engineering Shanghai200234 China Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Interdisciplinary Research Center for Communication Systems and Sensing Department of Electrical Engineering Dhahran31261 Saudi Arabia Queen Mary University of London School of Electronic Engineering and Computer Science LondonE1 4NS United Kingdom Aristotle University of Thessaloniki Department of Electrical and Computer Engineering Greece Artificial Intelligence and Cyber Systems Research Center Lebanon

As a recently proposed reconfigurable intelligent surface (RIS) architecture, active RIS has drawn considerable interest. The important feature of the active RIS is its ability to strengthen the impinging signals to mitigate the multiplicative fading effect inherent in passive RIS-aided systems. Herein, we explore the performance of an active RIS-aided uplink multi-user massive multiple-input multiple-output (MIMO) system, considering the phase noise at the RIS. Furthermore, a two-timescale scheme is utilized, where the base station (BS) beamforming is designed based on the instantaneous aggregated channel state information (CSI), while the statistical CSI is used for designing the phase shifts of the active RIS. In addition, the linear minimum mean square error (LMMSE) estimator is adopted to estimate the aggregated channel, which combines both the cascaded and direct channels. According to the estimated channel, a closedform expression for the lower bound of achievable rate is derived. Based on the theoretical expressions, the power scaling laws for the considered system are also investigated. Specifically, when each user’s transmit power is proportionally reduced by the quantity of BS antennas M or RIS elements N, we find that the amplified thermal noise causes the lower bound of the achievable rate to approach zero as M or N tends to infinity. Moreover, an optimization approach based on a genetic algorithm (GA) is introduced to obtain the optimal phase shifts for maximizing the achievable rate. Numerical results reveal that the active RIS can greatly enhance the performance of the massive MIMO system compared to its passive counterpart. © 2002-2012 IEEE.

关键词： Genetic algorithms

Observation of Periodic systems: Bridge Centralized Kalman Filtering and Consensus-Based Distributed Filtering

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arXiv 2023年

作者： Qian, Jiachen Duan, Zhisheng Duan, Peihu Li, Zhongkui State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China Department of Electronic and Computer Engineering the Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

Compared with linear time invariant systems, linear periodic system can describe the periodic processes arising from nature and engineering more precisely. However, the time-varying system parameters increase the difficulty of the research on periodic system, such as stabilization and observation. This paper aims to consider the observation problem of periodic systems by bridging two fundamental filtering algorithms for periodic systems with a sensor network: consensus-on-measurement-based distributed filtering (CMDF) and centralized Kalman filtering (CKF). Firstly, one mild convergence condition based on uniformly collective observability is established for CMDF, under which the filtering performance of CMDF can be formulated as a symmetric periodic positive semidefinite (SPPS) solution to a discrete-time periodic Lyapunov equation. Then, the closed form of the performance gap between CMDF and CKF is presented in terms of the information fusion steps and the consensus weights of the network. Moreover, it is pointed out that the estimation error covariance of CMDF exponentially converges to the centralized one with the fusion steps tending to infinity. Altogether, these new results establish a concise and specific relationship between distributed and centralized filterings, and formulate the trade-off between the communication cost and distributed filtering performance on periodic systems. Finally, the theoretical results are verified with numerical experiments. Copyright © 2023, The Authors. All rights reserved.

关键词： Time varying control systems

Technical Report: On the Convergence of Gossip Learning in the Presence of Node Inaccessibility

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arXiv 2024年

作者： Liu, Tian Cui, Yue Hu, Xueyang Xu, Yecheng Liu, Bo Zhejiang Laboratory Hangzhou China Department of Computer Science and Computer Information Systems Auburn University at Montgomery Montgomery United States Department of Computer Science and Software Engineering Auburn University Auburn United States Institute of Rural Development Zhejiang Academy of Agricultural Sciences Hangzhou China DBAPPSecurity Co. Ltd. Hangzhou China

Gossip learning (GL), as a decentralized alternative to federated learning (FL), is more suitable for resource-constrained wireless networks, such as Flying Ad-Hoc Networks (FANETs) that are formed by unmanned aerial vehicles (UAVs). GL can significantly enhance the efficiency and extend the battery life of UAV networks. Despite the advantages, the performance of GL is strongly affected by data distribution, communication speed, and network connectivity. However, how these factors influence the GL convergence is still unclear. Existing work studied the convergence of GL based on a virtual quantity for the sake of convenience, which failed to reflect the real state of the network when some nodes are inaccessible. In this paper, we formulate and investigate the impact of inaccessible nodes to GL under a dynamic network topology. We first decompose the weight divergence by whether the node is accessible or not. Then, we investigate the GL convergence under the dynamic of node accessibility and theoretically provide how the number of inaccessible nodes, data non-i.i.d.-ness, and duration of inaccessibility affect the convergence. Extensive experiments are carried out in practical settings to comprehensively verify the correctness of our theoretical findings. Copyright © 2024, The Authors. All rights reserved.

关键词： Antennas

ROS package search for robot software development: a knowledge graph-based approach

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arXiv 2023年

作者： Wang, Shuo Mao, Xinjun Yang, Shuo Wu, Menghan Zhang, Zhang College of Computer National University of Defense Technology Changsha410000 China Key Laboratory of Software Engineering for Complex Systems Changsha410000 China College of Systems Engineering National University of Defense Technology Changsha410000 China College of Computer Science and Technology Zhejiang University Hangzhou310058 China

In recent years, ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software’s functional requirements from the vast number of available packages is a nontrivial task using current search methods. The traditional search methods for ROS packages often involve inputting keywords related to robotic tasks into general-purpose search engines (e.g., Google) or code hosting platforms (e.g., Github) to obtain approximate results of all potentially suitable ROS packages. However, the accuracy of these search methods remains relatively low because the task-related keywords may not precisely match the functionalities offered by the ROS packages. To improve the search accuracy of ROS packages, this paper presents a novel semantic-based search approach that relies on the semantic-level ROS Package Knowledge Graph (RPKG) to automatically retrieve the most suitable ROS packages. Firstly, to construct the RPKG, we employ multi-dimensional feature extraction techniques to extract semantic concepts, including code file name, category, hardware device, characteristics, and function, from the dataset of ROS package text descriptions. The semantic features extracted from this process result in a substantial number of entities (32,294) and relationships (54,698). Subsequently, we create a robot domain-specific small corpus and further fine-tune a pre-trained language model, BERT-ROS, to generate embeddings that effectively represent the semantics of the extracted features. These embeddings play a crucial role in facilitating semantic-level understanding and comparisons during the ROS package search process within the RPKG. Secondly, we introduce a novel semantic matching-based search algorithm that incorporates the weighted similarities of multiple features from user search queries, which searches out more accurate

关键词： Robots