優先順位付き制約を考慮したクロスエントロピー最適化
Cross-entropy optimization with prioritized constraints
制約の優先順位を厳密に扱うクロスエントロピー法の変種TierCEMを提案し、ナビゲーションや接触を伴う押し操作で有効性を示した。
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著者: Francisco Roldan Sanchez, Pau de las Heras Molins, David Fridovich-Keil, Georgios Bakirtzis
分類: cs.RO
原文アブストラクト
When constraints conflict, an optimizer must determine which requirements to preserve and which to relax. On the one hand, a priority ordering specifies which requirements take precedence. On the other hand, penalty-based formulations encode their relative importance through numerical weights. Depending on these weights, a solution can improve its weighted score while violating intended priorities. We introduce TierCEM, a variant of the cross-entropy method that incorporates strict constraint priorities directly into elite selection without requiring per-constraint importance weights. TierCEM works by sequentially filtering sampled candidates, from highest- to lowest-priority constraint. If and when a constraint eliminates all remaining candidates, TierCEM returns to the last nonempty set and selects elites with the smallest violations of that blocking constraint, recursively preserving satisfaction of all higher-priority constraints. We evaluate TierCEM on 2D navigation and contact-rich pushing tasks in proprioceptive and learned world-model settings. Experiments show that reversing the constraint ordering changes which constraints are violated under conflict. Prioritizing progress toward the task objective also enables TierCEM to relax lower-priority constraints when they would otherwise prevent further progress.