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Ming Chi

Publications and source records attributed to Ming Chi.

11 recordsLinked to original sources

Learning to Sparsify Stochastic Linear Bandits

This paper addresses the problem of learning to sparsify stochastic linear bandits, where a decision-maker sequentially selects actions from a high-dimensional space subject to a sparsity constraint on the number of nonzero elements in the action vector. The key challenge lies in minimizing cumulative regret while tackling the potential NP-hardness of finding optimal sparse actions due to the inherent combinatorial structure of the problem. We propose an adaptively phased exploration and exploitation algorithmic framework, utilizing ordinary least squares for parameter learning and specialized subroutines for sparse action selection. When the action set is a Euclidean ball, optimal sparse actions can be efficiently computed, enabling us to establish a $\tilde{\mathcal{O}}(d\sqrt{T})$ regret, where $d$ is the dimension of the action vector and $T$ is the time horizon length. For general convex and compact action sets where finding optimal sparse actions is intractable, we employ a greedy subroutine. For general strongly convex action sets, we derive a $\tilde{\mathcal{O}}(d \sqrt{T})$ $\alpha$-regret; for general compact sets lacking strong convexity, we establish a $\tilde{\mathcal{O}}(d T^{2/3})$ $\alpha$-regret, where $\alpha$ pertains to the approximation ratio of the greedy algorithm. Finally, we validate the performance of our algorithms using extensive experiments including an application to recommendation system.

cs.LG

Online Learning of Kalman Filtering: From Output to State Estimation

In this paper, we study the problem of learning Kalman filtering with unknown system model in partially observed linear dynamical systems. We propose a unified algorithmic framework based on online optimization that can be used to solve both the output estimation and state estimation scenarios. By exploring the properties of the estimation error cost functions, such as conditionally strong convexity, we show that our algorithm achieves a $\log T$-regret in the horizon length $T$ for the output estimation scenario. More importantly, we tackle the more challenging scenario of learning Kalman filtering for state estimation, which is an open problem in the literature. We first characterize a fundamental limitation of the problem, demonstrating the impossibility of any algorithm to achieve sublinear regret in $T$. By further introducing a random query scheme into our algorithm, we show that a $\sqrt{T}$-regret is achievable when rendering the algorithm limited query access to more informative measurements of the system state in practice. Our algorithm and regret readily capture the trade-off between the number of queries and the achieved regret, and shed light on online learning problems with limited observations. We validate the performance of our algorithms using numerical examples.

cs.LG

Model-Free Output Feedback Stabilization via Policy Gradient Methods

Stabilizing a dynamical system is a fundamental problem that serves as a cornerstone for many complex tasks in the field of control systems. The problem becomes challenging when the system model is unknown. Among the Reinforcement Learning (RL) algorithms that have been successfully applied to solve problems pertaining to unknown linear dynamical systems, the policy gradient (PG) method stands out due to its ease of implementation and can solve the problem in a model-free manner. However, most of the existing works on PG methods for unknown linear dynamical systems assume full-state feedback. In this paper, we take a step towards model-free learning for partially observable linear dynamical systems with output feedback and focus on the fundamental stabilization problem of the system. We propose an algorithmic framework that stretches the boundary of PG methods to the problem without global convergence guarantees. We show that by leveraging zeroth-order PG update based on system trajectories and its convergence to stationary points, the proposed algorithms return a stabilizing output feedback policy for discrete-time linear dynamical systems. We also explicitly characterize the sample complexity of our algorithm and verify the effectiveness of the algorithm using numerical examples.

eess.SY

Online Convex Optimization with Memory and Limited Predictions

This paper addresses an online convex optimization problem where the cost function at each step depends on a history of past decisions (i.e., memory), and the decision maker has access to limited predictions of future cost values within a finite window. The goal is to design an algorithm that minimizes the dynamic regret against the optimal sequence of decisions in hindsight. To this end, we propose a novel predictive algorithm and establish strong theoretical guarantees for its performance. We show that the algorithm's dynamic regret decays exponentially with the length of the prediction window. Our algorithm comprises two general subroutines of independent interest. The first subroutine solves online convex optimization with memory and bandit feedback, achieving a $\sqrt{TV_T}$-dynamic regret, where $V_T$ measures the variation of the optimal decision sequence. The second is a zeroth-order method that attains a linear convergence rate for general convex optimization, matching the best achievable rate of first-order methods. The key to our algorithm is a novel truncated Gaussian smoothing technique when querying the decision points to obtain the predictions. We validate our theoretical results with numerical experiments.

math.OC

Online Mixed Discrete and Continuous Optimization: Algorithms, Regret Analysis and Applications

We study an online mixed discrete and continuous optimization problem where a decision maker interacts with an unknown environment for a number of $T$ rounds. At each round, the decision maker needs to first jointly choose a discrete and a continuous actions and then receives a reward associated with the chosen actions. The goal for the decision maker is to maximize the accumulative reward after $T$ rounds. We propose algorithms to solve the online mixed discrete and continuous optimization problem and prove that the algorithms yield sublinear regret in $T$. We show that a wide range of applications in practice fit into the framework of the online mixed discrete and continuous optimization problem, and apply the proposed algorithms to solve these applications with regret guarantees. We validate our theoretical results with numerical experiments.

math.OC

Maximization of Nonsubmodular Functions under Multiple Constraints with Applications

We consider the problem of maximizing a monotone nondecreasing set function under multiple constraints, where the constraints are also characterized by monotone nondecreasing set functions. We propose two greedy algorithms to solve the problem with provable approximation guarantees. The first algorithm exploits the structure of a special class of the general problem instance to obtain a better time complexity. The second algorithm is suitable for the general problem. We characterize the approximation guarantees of the two algorithms, leveraging the notions of submodularity ratio and curvature introduced for set functions. We then discuss particular applications of the general problem formulation to problems that have been considered in the literature. We validate our theoretical results using numerical examples.

math.OC

Learning Decentralized Linear Quadratic Regulators with $\sqrt{T}$ Regret

We propose an online learning algorithm that adaptively designs a decentralized linear quadratic regulator when the system model is unknown a priori and new data samples from a single system trajectory become progressively available. The algorithm uses a disturbance-feedback representation of state-feedback controllers coupled with online convex optimization with memory and delayed feedback. Under the assumption that the system is stable or given a known stabilizing controller, we show that our controller enjoys an expected regret that scales as $\sqrt{T}$ with the time horizon $T$ for the case of partially nested information pattern. For more general information patterns, the optimal controller is unknown even if the system model is known. In this case, the regret of our controller is shown with respect to a linear sub-optimal controller. We validate our theoretical findings using numerical experiments.

math.OC

Online Actuator Selection and Controller Design for Linear Quadratic Regulation with Unknown System Model

We study the simultaneous actuator selection and controller design problem for linear quadratic regulation with Gaussian noise over a finite horizon of length $T$ and unknown system model. We consider both episodic and non-episodic settings of the problem and propose online algorithms that specify both the sets of actuators to be utilized under a cardinality constraint and the controls corresponding to the sets of selected actuators. In the episodic setting, the interaction with the system breaks into $N$ episodes, each of which restarts from a given initial condition and has length $T$. In the non-episodic setting, the interaction goes on continuously. Our online algorithms leverage a multiarmed bandit algorithm to select the sets of actuators and a certainty equivalence approach to design the corresponding controls. We show that our online algorithms yield $\sqrt{N}$-regret for the episodic setting and $T^{2/3}$-regret for the non-episodic setting. We extend our algorithm design and analysis to show scalability with respect to both the total number of candidate actuators and the cardinality constraint. We numerically validate our theoretical results.

math.OC

Optimal Tracking Performance of Control Systems with Two-Channel Constraints

This paper focuses on the tracking performance limitation for a class of networked control systems(NCSs) with two-channel constraints. In communication channels, we consider bandwidth, energy constraints and additive colored Gaussian noise(ACGN) simultaneously. In plant, non-minimal zeros and unstable poles are considered; multi-repeated zeros and poles are also applicable. To obtain the optimal performance, the two-parameter controller is adopted. The theoretical results show that the optimal tracking performance is influenced by the non-minimum phase zeros, unstable poles, gain at all frequencies of the given plant, and the reference input signal for NCSs. Moreover, the performance limitation is also affected by the limited bandwidth, additive colored Gaussian noise, and the corresponding multiples for the non-minimum phase zeros and unstable poles. Additionally, the channel minimal input power constraints are given under the condition ensuring the stability of the system and acquiring system performance limitation. Finally, simulation examples are given to illustrate the theoretical results.

eess.SY

Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches

This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control, distributed controller-estimator algorithms (DCEA), which consist of local algorithms and networked algorithms, are developed for MHMs with parametric uncertainties and input disturbances. By invoking differential inclusions, nonsmooth analysis, and input-to-state stability, some conditions (including sufficient conditions, necessary and sufficient conditions) on the asymptotic stability of the task-space tracking errors and the subtask errors are developed. Simulation results are given to show the effectiveness of the presented DCEA.

eess.SY

A hybrid approach for cooperative output regulation with sampled compensator

This work investigates the cooperative output regulation problem of linear multi-agent systems with hybrid sampled data control. Due to the limited data sensing and communication, in many practical situations, only sampled data are available for the cooperation of multi-agent systems. To overcome this problem, a distributed hybrid controller is presented for the cooperative output regulation, and cooperative output regulation is achieved by well designed state feedback law. Then it proposed a method for the designing of sampled data controller to solve the cooperative output regulation problem with continuous linear systems and discrete-time communication data. Finally, numerical simulation example for cooperative tracking and a simulation example for optimal control of micro-grids are proposed to illustrate the result of the sampled data control law.

eess.SY