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Ivan Jimenez

2 accepted papers

2020

Optimization Methods for Interpretable Differentiable Decision Trees Applied to Reinforcement Learning

AISTATS 2020poster

Decision trees are ubiquitous in machine learning for their ease of use and interpretability. Yet, these models are not typically employed in reinforcement learning as they cannot be updated online via stochastic gradient descent. We overcome this limitation by allowing for a gradient update over th…

Cited by 172SourcePDFScholar
2018

Differentiable MPC for End-to-end Planning and Control

NeurIPS 2018poster

We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning. This provides one way of leveraging and combining the advantages of model-free and model-based approaches. Specifically, we differentiate through MPC by using the KKT conditio…