Improper Learning for Non-Stochastic Control

Max Simchowitz, Karan Singh, Elad Hazan
; Proceedings of Thirty Third Conference on Learning Theory, PMLR 125:3320-3436, 2020.

Abstract

We consider the problem of controlling a possibly unknown linear dynamical system with adversarial perturbations, adversarially chosen convex loss functions, and partially observed states, known as non-stochastic control. We introduce a controller parametrization based on the denoised observations, and prove that applying online gradient descent to this parametrization yields a new controller which attains sublinear regret vs. a large class of closed-loop policies. In the fully-adversarial setting, our controller attains an optimal regret bound of $\sqrt{T}$-when the system is known, and, when combined with an initial stage of least-squares estimation, $T^{2/3}$ when the system is unknown; both yield the first sublinear regret for the partially observed setting. Our bounds are the first in the non-stochastic control setting that compete with \emph{all} stabilizing linear dynamical controllers, not just state feedback. Moreover, in the presence of semi-adversarial noise containing both stochastic and adversarial components, our controller attains the optimal regret bounds of $\mathrm{poly}(\log T)$ when the system is known, and $\sqrt{T}$ when unknown. To our knowledge, this gives the first end-to-end $\sqrt{T}$ regret for online Linear Quadratic Gaussian controller, and applies in a more general setting with adversarial losses and semi-adversarial noise.

Cite this Paper


BibTeX
@InProceedings{pmlr-v125-simchowitz20a, title = {Improper Learning for Non-Stochastic Control}, author = {Simchowitz, Max and Singh, Karan and Hazan, Elad}, pages = {3320--3436}, year = {2020}, editor = {Jacob Abernethy and Shivani Agarwal}, volume = {125}, series = {Proceedings of Machine Learning Research}, address = {}, month = {09--12 Jul}, publisher = {PMLR}, pdf = {http://proceedings.mlr.press/v125/simchowitz20a/simchowitz20a.pdf}, url = {http://proceedings.mlr.press/v125/simchowitz20a.html}, abstract = { We consider the problem of controlling a possibly unknown linear dynamical system with adversarial perturbations, adversarially chosen convex loss functions, and partially observed states, known as non-stochastic control. We introduce a controller parametrization based on the denoised observations, and prove that applying online gradient descent to this parametrization yields a new controller which attains sublinear regret vs. a large class of closed-loop policies. In the fully-adversarial setting, our controller attains an optimal regret bound of $\sqrt{T}$-when the system is known, and, when combined with an initial stage of least-squares estimation, $T^{2/3}$ when the system is unknown; both yield the first sublinear regret for the partially observed setting. Our bounds are the first in the non-stochastic control setting that compete with \emph{all} stabilizing linear dynamical controllers, not just state feedback. Moreover, in the presence of semi-adversarial noise containing both stochastic and adversarial components, our controller attains the optimal regret bounds of $\mathrm{poly}(\log T)$ when the system is known, and $\sqrt{T}$ when unknown. To our knowledge, this gives the first end-to-end $\sqrt{T}$ regret for online Linear Quadratic Gaussian controller, and applies in a more general setting with adversarial losses and semi-adversarial noise.} }
Endnote
%0 Conference Paper %T Improper Learning for Non-Stochastic Control %A Max Simchowitz %A Karan Singh %A Elad Hazan %B Proceedings of Thirty Third Conference on Learning Theory %C Proceedings of Machine Learning Research %D 2020 %E Jacob Abernethy %E Shivani Agarwal %F pmlr-v125-simchowitz20a %I PMLR %J Proceedings of Machine Learning Research %P 3320--3436 %U http://proceedings.mlr.press %V 125 %W PMLR %X We consider the problem of controlling a possibly unknown linear dynamical system with adversarial perturbations, adversarially chosen convex loss functions, and partially observed states, known as non-stochastic control. We introduce a controller parametrization based on the denoised observations, and prove that applying online gradient descent to this parametrization yields a new controller which attains sublinear regret vs. a large class of closed-loop policies. In the fully-adversarial setting, our controller attains an optimal regret bound of $\sqrt{T}$-when the system is known, and, when combined with an initial stage of least-squares estimation, $T^{2/3}$ when the system is unknown; both yield the first sublinear regret for the partially observed setting. Our bounds are the first in the non-stochastic control setting that compete with \emph{all} stabilizing linear dynamical controllers, not just state feedback. Moreover, in the presence of semi-adversarial noise containing both stochastic and adversarial components, our controller attains the optimal regret bounds of $\mathrm{poly}(\log T)$ when the system is known, and $\sqrt{T}$ when unknown. To our knowledge, this gives the first end-to-end $\sqrt{T}$ regret for online Linear Quadratic Gaussian controller, and applies in a more general setting with adversarial losses and semi-adversarial noise.
APA
Simchowitz, M., Singh, K. & Hazan, E.. (2020). Improper Learning for Non-Stochastic Control. Proceedings of Thirty Third Conference on Learning Theory, in PMLR 125:3320-3436

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