12-18

Udaya Ghai FPO

Udaya Ghai will present his FPO "A Game-theoretic Lens for Robustness in Control" on Monday, December 18, 2023 at 4:00 PM in CS 402.

Location: CS 402

The members of Udaya’s committee are as follows:

Examiners: Elad Hazan (Adviser), Ryan Adams, Naomi Leonard
Readers: Sanjeev Arora, Anirudha Majumdar

A copy of his thesis is available upon request.  Please email gradinfo@cs.princeton.edu if you would like a copy of the thesis.

Everyone is invited to attend his talk.

Abstract follows below:

The control of dynamical systems is a fundamental problem with a vast array of applications, from robotics to biological engineering. Recently, the game-theoretic primitive of regret minimization has been applied to control, yielding novel instance-optimal performance guarantees in more challenging non-stochastic control settings. This thesis further explores the benefits of a multi-agent perspective of control.

Concretely, we begin with a new algorithm for generating disturbances for controller verification, which relies on recasting the players in the nonstochastic control game. Next, we provide a cooperative multi-agent extension of the nonstochastic control setting, involving a reduction from our multi-agent game to single agent regret minimization. Furthermore, we show new notions of robustness to failure can be attained through this perspective, even in a single-agent setting.

While control is a powerful tool, it relies heavily on knowledge of the dynamics. The final chapters provide two very different approaches to robustness without such a model. The first approach extends the nonstochastic control methodology to model-free reinforcement learning. In an alternative approach, we consider unknown systems with dynamics that are \emph{approximately} linear using tools from classical control theory.