16 citations · 89 across the 50 of their papers we have counts for
6 papers · 1 filter
On the Convergence of Reinforcement Learning in Nonlinear Continuous State Space Problems
Raman Goyal, Suman Chakravorty, Ran Wang +1
We consider the problem of Reinforcement Learning for nonlinear stochastic dynamical systems. We show that in the RL setting, there is an inherent ``Curse of Variance" in addition…
On the Feedback Law in Stochastic Optimal Nonlinear Control
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Raman Goyal +1
We consider the problem of nonlinear stochastic optimal control. This problem is thought to be fundamentally intractable owing to Bellman's "curse of dimensionality". We present a…
D2C 2.0: Decoupled Data-Based Approach for Learning to Control Stochastic Nonlinear Systems via Model-Free ILQR
Karthikeya S Parunandi, Aayushman Sharma, Suman Chakravorty +1
In this paper, we propose a structured linear parameterization of a feedback policy to solve the model-free stochastic optimal control problem. This parametrization is corroborated…
Experiments with Tractable Feedback in Robotic Planning under Uncertainty: Insights over a wide range of noise regimes (Extended Report)
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Dylan A. Shell
We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intrac…
On the Search for Feedback in Reinforcement Learning
Ran Wang, Karthikeya S. Parunandi, Aayushman Sharma +2
The problem of Reinforcement Learning (RL) in an unknown nonlinear dynamical system is equivalent to the search for an optimal feedback law utilizing the simulations/ rollouts of t…
A Belief Space Perspective of RFS based Multi-Target Tracking and its Relationship to MHT
S. Chakravorty, W. R. Faber, Islam I. Hussein +1
In this paper, we establish a connection between Reid{'}s HOMHT and the modern Random Finite Set (RFS)/ Finite Set Statistics (FISST) based methods for Multi-Target Tracking. We st…