Learning Probabilistic Models for Safe Predictive Control in Unknown Environments
Bibliographic record
Abstract
Researchers rely increasingly on tools from machine learning to improve the performance of control algorithms on real world tasks and enable robots to operate for long periods of time without intervention. Many of these algorithms require a model for the dynamics of the robot. In particular, researchers designing methods for safe learning control often rely on an upper bound on model error to make guarantees about the worst-case closed-loop performance of their algorithm. There are different options for how to learn such a model of the robot dynamics. We study probabilistic models for use in the context of stochastic model predictive control. Two popular choices for learning the robot dynamics are Gaussian Process (GP) regression and various forms of local linear regression. In this paper, we present a study comparing GPs with a particular form of local linear regression for learning robot dynamics with the aim of guaranteeing safety when a robot operates in novel conditions. We show results based on experimental data from a 900 kg ground robot using vision for localisation.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.011 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.002 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.002 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.002 | 0.002 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".