Salvato in:
| Autori principali: | , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2026
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2605.16071 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866909047154802688 |
|---|---|
| author | Hasnaouy, Hasna El Krupa, Pablo Zanon, Mario Bemporad, Alberto |
| author_facet | Hasnaouy, Hasna El Krupa, Pablo Zanon, Mario Bemporad, Alberto |
| contents | Designing the objective function in Model Predictive Control (MPC) is challenging when performance assessment criteria are available only from human judgment. We adopt a preference-based learning (PbL) approach to learn the MPC objective function from preferences over trajectory pairs. However, the real-world application of PbL is often restricted by the significant cost or limited availability of human preference queries. To address this, Active Learning (AL) strategies seek to improve sampling efficiency, reducing the labeling effort required to obtain a well-performing classifier. We present two AL strategies for learning the MPC objective function from human preferences over pairwise system trajectories: a pool-based strategy that selects trajectory pairs that are both uncertain under the current surrogate and diverse relative to previously labeled comparisons, and a query-synthesis strategy that incorporates new trajectories using the current surrogate-driven MPC. Numerical results show that the proposed strategies yield closed-loop behaviors that align more with the expressed preference using fewer number of queries compared to a random sampling approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_16071 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Active Learning MPC Objective Functions from Preferences Hasnaouy, Hasna El Krupa, Pablo Zanon, Mario Bemporad, Alberto Systems and Control Designing the objective function in Model Predictive Control (MPC) is challenging when performance assessment criteria are available only from human judgment. We adopt a preference-based learning (PbL) approach to learn the MPC objective function from preferences over trajectory pairs. However, the real-world application of PbL is often restricted by the significant cost or limited availability of human preference queries. To address this, Active Learning (AL) strategies seek to improve sampling efficiency, reducing the labeling effort required to obtain a well-performing classifier. We present two AL strategies for learning the MPC objective function from human preferences over pairwise system trajectories: a pool-based strategy that selects trajectory pairs that are both uncertain under the current surrogate and diverse relative to previously labeled comparisons, and a query-synthesis strategy that incorporates new trajectories using the current surrogate-driven MPC. Numerical results show that the proposed strategies yield closed-loop behaviors that align more with the expressed preference using fewer number of queries compared to a random sampling approach. |
| title | Active Learning MPC Objective Functions from Preferences |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2605.16071 |