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Actively Learning Gaussian Process Dynamics


Conference Paper


Despite the availability of ever more data enabled through modern sensor and computer technology, it still remains an open problem to learn dynamical systems in a sample-efficient way. We propose active learning strategies that leverage information-theoretical properties arising naturally during Gaussian process regression, while respecting constraints on the sampling process imposed by the system dynamics. Sample points are selected in regions with high uncertainty, leading to exploratory behavior and data-efficient training of the model. All results are verified in an extensive numerical benchmark.

Author(s): Mona Buisson-Fenet and Friedrich Solowjow and Sebastian Trimpe
Year: 2020
Month: June

Department(s): Intelligent Control Systems
Bibtex Type: Conference Paper (conference)
Paper Type: Conference

Event Name: 2nd Annual Conference on Learning for Dynamics and Control
Event Place: Berkeley, California, USA

State: Accepted

Links: ArXiv


@conference{Actively Learning Gaussian Process Dynamics,
  title = {Actively Learning Gaussian Process Dynamics},
  author = {Buisson-Fenet, Mona and Solowjow, Friedrich and Trimpe, Sebastian},
  month = jun,
  year = {2020},
  month_numeric = {6}