Open for all UnRAVeL Members: MOVES Seminar: Gradient-Descent for Randomized Controllers under Partial Observability
Tuesday, December 21, 2021, 4:30pm
Location: Online Session
Speaker: Jip Spel
Randomization is a powerful technique to create robust controllers, in particular in partially observable settings. The degrees of randomization have a significant impact on the system performance, yet they are intricate to get right. The use of synthesis algorithms forparametric Markov chains (pMCs) is a promising direction to support the design process of such controllers. This paper shows how to define and evaluate gradients of pMCs. Furthermore, it investigates varieties of gradient descent techniques from the machine learning community to synthesize the probabilities in a pMC. The resulting method scales to significantly larger pMCs than before and empirically outperforms the state-of-the-art, often by at least one order of magnitude.