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Sensors (Basel, Switzerland)·2019
谨慎的贝叶斯优化:一条线跟踪器案例研究
Vicent Girbés-Juan1, Joaquín Moll2, Antonio Sala2
1Departament d'Enginyeria Electrònica (DIE), Universitat de València, 46100 Burjassot, Spain.
Sensors (Basel, Switzerland)
|August 26, 2023
概括
这项研究引入了对约束意识的贝叶斯优化,以实现安全的实验调整. 它使用高斯过程来模拟性能和安全性,即使在模型不准确的情况下,也可以实现可靠的优化.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 机器学习和人工智能的人工智能
- 优化理论 优化理论
背景情况:
- 实验优化通常面临安全限制.
- 传统方法与不确定性和现实世界的限制作斗争.
- 将安全性纳入优化过程对于可靠的系统开发至关重要.
研究的目的:
- 为在安全约束下进行实验优化提出一种新的程序.
- 为了使性能目标的安全微调,尽管实验模型不匹配.
- 为复杂系统开发一个强大的优化框架.
主要方法:
- 使用高斯过程建模性能和约束函数.
- 集成的转移学习用于先前平均模型.
- 使用半参数内核和机会受限制的获取函数优化.
- 开发了一个限制意识的贝叶斯优化 (CABO) 方法.
主要成果:
- 通过案例研究证明了安全的实验优化.
- 成功地将该方法应用于CoppeliaSim.Sim中的一条线追随机器人.
- 验证了高斯过程建模对约束的有效性.
- 展示了安全地处理实验模型不匹配的能力.
结论:
- 约束意识贝叶斯优化为实验调整提供了一种安全有效的方法.
- 拟议的方法提高了优化安全要求的系统的可靠性.
- 高斯过程和转移学习是限制优化的宝贵工具.


