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arXiv · 1509.02195

Learning Optimal Control via Forward and Backward Stochastic Differential Equations

Ioannis Exarchos·Evangelos A. Theodorou
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Abstract

In this paper we present a novel sampling-based numerical scheme designed to solve a certain class of stochastic optimal control problems, utilizing forward and backward stochastic differential equations (FBSDEs). By means of a nonlinear version of the Feynman-Kac lemma, we obtain a probabilistic representation of the solution to the nonlinear Hamilton-Jacobi-Bellman equation, expressed in the form of a decoupled system of FBSDEs. This system of FBSDEs can then be simulated by employing linear regression techniques. To enhance the efficiency of the proposed scheme when treating more complex nonlinear systems, we then derive an iterative modification based on Girsanov's theorem on the change of measure, which features importance sampling. The modified scheme is capable of learning the optimal control without requiring an initial guess. We present simulations that validate the algorithm and demonstrate its efficiency in treating nonlinear dynamics.

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Ioannis Exarchos, Evangelos A. Theodorou. 2015-09-07. Learning Optimal Control via Forward and Backward Stochastic Differential Equations. https://doi.org/10.1016/j.automatica.2017.09.004

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