arXiv subjects

David Leeftink

Publications and source records attributed to David Leeftink.

5 recordsLinked to original sources

arXiv2026

Neural Co-state Policies: Structuring Hidden States in Recurrent Reinforcement Learning

A key capability of intelligent agents is operating under partial observability: reasoning and acting effectively despite missing or incomplete state observations. While recurrent (memory-based) policies learned via reinforcement learning address this by encoding history into latent state representations, their internal dynamics remain uninterpretable black boxes. This paper establishes a formal link between these hidden states and the Pontryagin minimum principle (PMP) from optimal control. We demonstrate that for standard recurrent architectures, latent representations map directly to PMP co-states, which allows the readout layer to be interpreted as performing Hamiltonian minimization. Because standard reward maximization does not naturally discover this alignment, we introduce a PMP-derived co-state loss to explicitly structure the internal dynamics. Empirically, this approach matches or improves performance on partially observable DMControl tasks, and is robust against zero-shot out-of-distribution sensor masking. By framing recurrent networks as dynamic processes governed by the minimum principle, we provide a principled approach to designing robust continuous control policies.

cs.LG↗

arXiv2025

Automated Discovery of Laser Dicing Processes with Bayesian Optimization for Semiconductor Manufacturing

Laser dicing of semiconductor wafers is a critical step in microelectronic manufacturing, where multiple sequential laser passes precisely separate individual dies from the wafer. Adapting this complex sequential process to new wafer materials typically requires weeks of expert effort to balance process speed, separation quality, and material integrity. We present the first automated discovery of production-ready laser dicing processes on an industrial LASER1205 dicing system. We formulate the problem as a high-dimensional, constrained multi-objective Bayesian optimization task, and introduce a sequential two-level fidelity strategy to minimize expensive destructive die-strength evaluations. On bare silicon and product wafers, our method autonomously delivers feasible configurations that match or exceed expert baselines in production speed, die strength, and structural integrity, using only technician-level operation. Post-hoc validation of different weight configurations of the utility functions reveals that multiple feasible solutions with qualitatively different trade-offs can be obtained from the final surrogate model. Expert-refinement of the discovered process can further improve production speed while preserving die strength and structural integrity, surpassing purely manual or automated methods.

cs.LG↗

arXiv2025

Optimal Control of Probabilistic Dynamics Models via Mean Hamiltonian Minimization

Without exact knowledge of the true system dynamics, optimal control of non-linear continuous-time systems requires careful treatment under epistemic uncertainty. In this work, we translate a probabilistic interpretation of the Pontryagin maximum principle to the challenge of optimal control with learned probabilistic dynamics models. Our framework provides a principled treatment of epistemic uncertainty by minimizing the mean Hamiltonian with respect to a posterior distribution over the system dynamics. We propose a multiple shooting numerical method that leverages mean Hamiltonian minimization and is scalable to large-scale probabilistic dynamics models, including ensemble neural ordinary differential equations. Comparisons against other baselines in online and offline model-based reinforcement learning tasks show that our probabilistic Hamiltonian approach leads to reduced trial costs in offline settings and achieves competitive performance in online scenarios. By bridging optimal control and reinforcement learning, our approach offers a principled and practical framework for controlling uncertain systems with learned dynamics.

cs.LG↗

arXiv2024

Robust Inference of Dynamic Covariance Using Wishart Processes and Sequential Monte Carlo

Several disciplines, such as econometrics, neuroscience, and computational psychology, study the dynamic interactions between variables over time. A Bayesian nonparametric model known as the Wishart process has been shown to be effective in this situation, but its inference remains highly challenging. In this work, we introduce a Sequential Monte Carlo (SMC) sampler for the Wishart process, and show how it compares to conventional inference approaches, namely MCMC and variational inference. Using simulations we show that SMC sampling results in the most robust estimates and out-of-sample predictions of dynamic covariance. SMC especially outperforms the alternative approaches when using composite covariance functions with correlated parameters. We demonstrate the practical applicability of our proposed approach on a dataset of clinical depression (n=1), and show how using an accurate representation of the posterior distribution can be used to test for dynamics on covariance

stat.ME↗

arXiv2021

Bayesian nonparametric discontinuity design

Quasi-experimental research designs, such as regression discontinuity and interrupted time series, allow for causal inference in the absence of a randomized controlled trial, at the cost of additional assumptions. In this paper, we provide a framework for discontinuity-based designs using Bayesian model comparison and Gaussian process regression, which we refer to as 'Bayesian nonparametric discontinuity design', or BNDD for short. BNDD addresses the two major shortcomings in most implementations of such designs: overconfidence due to implicit conditioning on the alleged effect, and model misspecification due to reliance on overly simplistic regression models. With the appropriate Gaussian process covariance function, our approach can detect discontinuities of any order, and in spectral features. We demonstrate the usage of BNDD in simulations, and apply the framework to determine the effect of running for political positions on longevity, of the effect of an alleged historical phantom border in the Netherlands on Dutch voting behaviour, and of Kundalini Yoga meditation on heart rate.

stat.ME↗