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Near-OptimalRandomizedExplorationforTabular MarkovDecisionProcesses
These algorithms inject (carefully tuned) random noise to value function to encourage exploration. UCB-type algorithms enjoy well-established theoretical guarantees but suffer from difficult implementation since an upper confidence bound isusually infeasible for manypractical models like neural networks. Instead, practitioners prefer randomized exploration such as noisy networks in [19], and algorithms with randomized exploration have been widely used in practice [37,13,11,35].
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Concentration Inequalities for Exchangeable Tensors and Matrix-valued Data
Cheng, Chen, Barber, Rina Foygel
We study concentration inequalities for structured weighted sums of random data, including (i) tensor inner products and (ii) sequential matrix sums. We are interested in tail bounds and concentration inequalities for those structured weighted sums under exchangeability, extending beyond the classical framework of independent terms. We develop Hoeffding and Bernstein bounds provided with structure-dependent exchangeability. Along the way, we recover known results in weighted sum of exchangeable random variables and i.i.d. sums of random matrices to the optimal constants. Notably, we develop a sharper concentration bound for combinatorial sum of matrix arrays than the results previously derived from Chatterjee's method of exchangeable pairs. For applications, the richer structures provide us with novel analytical tools for estimating the average effect of multi-factor response models and studying fixed-design sketching methods in federated averaging. We apply our results to these problems, and find that our theoretical predictions are corroborated by numerical evidence.
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System Identification and Adaptive Input Estimation on the Jaiabot Micro Autonomous Underwater Vehicle
Faros, Ioannis, Tanner, Herbert G.
This paper reports an attempt to model the system dynamics and estimate both the unknown internal control input and the state of a recently developed marine autonomous vehicle, the Jaiabot. Although the Jaiabot has shown promise in many applications, process and sensor noise necessitates state estimation and noise filtering. In this work, we present the first surge and heading linear dynamical model for Jaiabots derived from real data collected during field testing. An adaptive input estimation algorithm is implemented to accurately estimate the control input and hence the state. For validation, this approach is compared to the classical Kalman filter, highlighting its advantages in handling unknown control inputs.