Part ofAdvances in Neural Information Processing Systems 32 (NeurIPS 2019)
Armin Lederer, Jonas Umlauft, Sandra Hirche
Data-driven models are subject to model errors due to limited and noisy training data. Key to the application of such models in safety-critical domains is the quantification of their model error. Gaussian processes provide such a measure and uniform error bounds have been derived, which allow safe control based on these models. However, existing error bounds require restrictive assumptions. In this paper, we employ the Gaussian process distribution and continuity arguments to derive a novel uniform error bound under weaker assumptions. Furthermore, we demonstrate how this distribution can be used to derive probabilistic Lipschitz constants and analyze the asymptotic behavior of our bound. Finally, we derive safety conditions for the control of unknown dynamical systems based on Gaussian process models and evaluate them in simulations of a robotic manipulator.
Requests for name changes in the electronic proceedings will be accepted with no questions asked. However name changes may cause bibliographic tracking issues. Authors are asked to consider this carefully and discuss it with their co-authors prior to requesting a name change in the electronic proceedings.
Use the "Report an Issue" link to request a name change.