Model-Based

For the first time, we introduce and formalize the problem of continuous-time control with costly observations, theoretically demonstrating that irregular observation policies outperform regular ones in certain environments. We empirically validate this finding using a novel initial method: applying a heuristic threshold to the variance of reward rollouts in an offline continuous-time model-based Model Predictive Control (MPC) planner across various continuous-time environments, including a cancer simulation. This work lays the foundation for future research on this critical problem.

Many offline reinforcement learning (RL) problems in the real world, such as satellite control, encounter continuous-time environments characterized by irregular observation intervals and unknown delays affecting state transitions. These environments present significant challenges since current actions influence future states after an unpredictable delay. While existing offline RL algorithms perform well in environments with either irregularly timed observations or known delays, they fall short when both conditions are present. To address this issue, we introduce Neural Laplace Control, a continuous-time, model-based offline RL technique. This innovative approach combines a Neural Laplace dynamics model and a Model Predictive Control (MPC) planner, efficiently learning from datasets with irregular time intervals and inherent, constant unknown delays. Through experimental application in continuous-time delayed environments, Neural Laplace Control has demonstrated its ability to achieve performance levels near those of expert policies.