Intelligent Systems
Note: This research group has relocated.

Explore the Context: Optimal Data Collection for Context-Conditional Dynamics Models

2021

Conference Paper

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In this paper, we learn dynamics models for parametrized families of dynamical systems with varying properties. The dynamics models are formulated as stochastic processes conditioned on a latent context variable which is inferred from observed transitions of the respective system. The probabilistic formulation allows us to compute an action sequence which, for a limited number of environment interactions, optimally explores the given system within the parametrized family. This is achieved by steering the system through transitions being most informative for the context variable. We demonstrate the effectiveness of our method for exploration on a non-linear toy-problem and two well-known reinforcement learning environments.

Author(s): Jan Achterhold and Joerg Stueckler
Book Title: Proceedings of The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021)
Volume: 130
Year: 2021
Month: April
Day: 13-15
Publisher: JMLR
Department(s): Embodied Vision
Research Project(s): Learning Action-Conditional Forward Models for Robot Navigation
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference
Event Name: Titel The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021)
Event Place: Virtual Event
Address: Cambridge, MA
ISSN: 2640-3498
Note: preprint CoRR abs/2102.11394
State: Published
URL: http://proceedings.mlr.press/v130/achterhold21a.html
Links: Preprint
Project page
Attachments: Poster

BibTex 

@inproceedings{achterhold2021_explorethecontext,
  title = {Explore the Context: Optimal Data Collection for Context-Conditional Dynamics Models},
  author = {Achterhold, Jan and Stueckler, Joerg},
  booktitle = {Proceedings of The 24th International Conference on Artificial Intelligence and Statistics (AISTATS 2021) },
  volume = {130},
  publisher = {JMLR},
  address = {Cambridge, MA},
  month = apr,
  year = {2021},
  note = {preprint CoRR abs/2102.11394},
  doi = {},
  url = {http://proceedings.mlr.press/v130/achterhold21a.html},
  month_numeric = {4}
}