EUSIPCO 2024 Tutorial –
Learning under Requirements: Supervised and Reinforcement Learning with Constraints

August 26th (Monday), 9:00-12:30 (full schedule at EUSIPCO)

This tutorial is geared towards researchers and practitioners interested in imposing requirements to ML systems, such as fairness, robustness, and safety. Typically, these statistical, data-driven constraints are induced by combining the learning objective and requirement violation metrics into a single training loss. To guarantee that the solution satisfies the requirements, however, this approach requires careful tuning of hyperparameters (penalty coefficients) using cross-validation, which can be computationally intensive and time consuming. Constrained learning incorporates requirements as statistical constraints rather than by modifying the training objective.

In this tutorial, we provide an overview of theoretical and algorithmic advances from the past 5 years that show when and how it is possible to learn under constraints and effectively impose constraints on ML systems, both during training and at test time. Specifically, we explore the role and impact of different types of requirements in supervised learning, robust learning, and RL:

Constrained supervised learning, where we show generalization guarantees for constrained supervised learning based on new non-convex duality results and then use them to derive practical algorithms;
Robust learning, where we leverage these advances to obtain robust learning algorithms capable of achieving better compromises between, e.g., nominal and adversarial accuracy (robust learning);
Constrained reinforcement learning, where we develop a parallel theory for constrained RL, showing that it is strictly more expressive than unconstrained RL and providing guaranteed algorithms.

Throughout the tutorial, we illustrate the effectiveness and flexibility of constrained learning in a diverse set of applications, such as fairness, federated learning, robust image classification, imitation learning, safe RL, and wireless communications. Ultimately, this tutorial provides a general tool that can be used to tackle a variety of problems in ML and sequential decision-making.

Prerequisite knowledge: only basic understanding of optimization, ML, and RL are expected. Specifically, familiarity with the basics of convex optimization and its algorithms (i.e., what are convex functions, mathematics of gradients, and gradient descent); fundamentals of empirical risk minimization (ERM) and the associated learning theory (i.e., basic notions of generalization and sample complexity); and familiarity with Markov decision processes (MDPs) and basic RL algorithms (policy gradient, e.g., REINFORCE).

Schedule

Time	Topic
9:00 - 9:15	Introduction (slides)
9:15 - 10:00	Constrained supervised learning
	(un)constrained learning and ERM
	non-convex duality and constrained learning theory
	constrained learning algorithms
	resilient learning
10:00 - 10:30	Robust learning
	robustness-constrained learning and semi-infinite optimization
	sampling algorithms and MCMC
	probabilistic robustness
10:30 - 11:00	Break
11:00 - 12:15	Constrained reinforcement learning (slides)
	(C)MDPs and (C)RL
	CRL duality
	CRL algorithms
12:15 - 12:30	Q&A and discussion

We have provided a selected bibliography for the tutorial here.

Content

Constrained Supervised Learning: Duality, Generalization, and Resilience

In this module, we formalize statistical learning and empirical risk minimization (ERM), discuss different types of requirements that arise in ML, and show how these requirements are imposed using constrained optimization. We then introduce constrained learning theory and proceed to show a family of generalization bounds for constrained learning using not constrained ERM, but non-convex duality. Based on these results, we develop primal-dual training algorithms, discuss practical aspects of their implementation (step sizes, stopping criteria), and elucidate their convergence properties. We explore how these duality results can be used to adapt the trade-off between objective and requirements and balance the marginal costs and benefits of relaxing constraints. We dub these techniques "resilient learning," from the ecological concept that describes the ability of a system to adapt to changes in their environment.

Applications: We use fairness as an example of rate requirement (e.g., equality of odds, churn) and federated learning to illustrate how to tackle ML problems with simultaneous goals (e.g., heterogeneous data or heterogeneous performance targets). We then revisit this heterogeneous federated learning application to illustrate the use of resilient learning.

Robust learning: Adversaries, Invariance, and Data Manifolds

This is in contrast to robustness, which seeks to resist rather than adapt to disturbances. To tackle this problem, we introduce epigraph formulations of robustness that feature one constraint per sample and disturbance and extend previous duality results to this semi-infinite constrained learning problem. We then derive a practical algorithm for tackling robustness-constrained learning based on Markov Chain Monte Carlo (MCMC) and stochastic optimization, showing how it generalizes previous solutions based on adversarial training (e.g., "PGD") and penalty methods (e.g., TRADES). Additionally, we showcase how it achieves stronger guarantees, better compromises, and mitigate the challenges involved in computing worst-case perturbations during training.

Applications: We consider the issue of adversarial examples in image classification. We also explore how semi-infinite constrained learning can be use to tackle "non-robustness" applications, namely learning in the presence of invariances, where we show a mathematical equivalence between robustness and data augmentation, and semi-supervised learning, where we derive connections between robustness, Lipschitz regularization of neural networks, and manifold Laplacian regularization. We illustrate the latter in a navigation example.

Constrained Reinforcement Learning: Duality and Algorithms

The final module develops a parallel constrained learning theory in the dynamic setting of sequential decision-making problems. We start by introducing the MDP formalism and RL algorithms commonly used to tackle this setting. Using a different technique, we then derive non-convex duality results similar to the supervised case and use them to put forward a primal-dual algorithm for constrained RL. We then show how this algorithm can fail even on simple tasks and describe a systematic state augmentation procedure able to provably overcome this issue.

Applications: We consider the task of learning safe policies and wireless resource allocation to motivate and illustrate the results of this module. We then turn to a continuous monitoring problem to illustrate the limitations of unconstrained RL and show the need for state augmentation.

Presenters

Miguel Calvo-Fullana received the B.Sc. degree in electrical engineering from the Universitat de les Illes Balears (UIB) in 2010 and the M.Sc. and Ph.D. degrees in electrical engineering from the Universitat Politècnica de Catalunya (UPC) in 2013 and 2017, respectively. He joined Universitat Pompeu Fabra (UPF) in 2023, where he is a Ramón y Cajal fellow. Prior to joining UPF, he held postdoctoral appointments at the University of Pennsylvania and the Massachusetts Institute of Technology and was a research assistant at the Centre Tecnològic de Telecomunicacions de Catalunya (CTTC). His research interests include learning, optimization, multi-agent systems, and wireless communication. He is the recipient of best paper awards at ICC 2015, IEEE GlobalSIP 2015, and IEEE ICASSP 2020.

Luiz F. O. Chamon received the B.Sc. and M.Sc. degrees in electrical engineering from the University of São Paulo, Brazil, in 2011 and 2015 and the Ph.D. degree in electrical and systems engineering from the University of Pennsylvania (Penn), USA, in 2020. Until 2022, he was a postdoctoral fellow at the Simons Institute of the University of California, Berkeley, USA. He is currently an independent research group leader at the University of Stuttgart, Germany. In 2009, he was an undergraduate exchange student of the Masters in Acoustics of the École Centrale de Lyon, France. He received both the best student paper and the best paper awards at IEEE ICASSP 2020 and was recognized by the IEEE Signal Processing Society for his distinguished work for the editorial board of the IEEE Transactions on Signal Processing in 2018. His research interests include optimization, signal processing, machine learning, statistics, and control.

Santiago Paternain received the B.Sc. degree in electrical engineering from Universidad de la República Oriental del Uruguay, Montevideo, Uruguay in 2012, the M.Sc. in Statistics from the Wharton School in 2018, and the Ph.D. in Electrical and Systems Engineering from the University of Pennsylvania in 2018. He is currently an Assistant Professor at the Rensselaer Polytechnic Institute (RPI). Prior to joining RPI, Dr. Paternain was a postdoctoral researcher at the University of Pennsylvania. His research interests lie at the intersection of machine learning and control of dynamical systems. Dr. Paternain was the recipient of the 2017 CDC Best Student Paper Award and the 2019 Joseph and Rosaline Wolfe Best Doctoral Dissertation Award from the Electrical and Systems Engineering Department at the University of Pennsylvania.

Alejandro Ribeiro received the B.Sc. degree in electrical engineering from the Universidad de la República Oriental del Uruguay in 1998 and the M.Sc. and Ph.D. degrees in electrical engineering from the University of Minnesota in 2005 and 2007. He joined the University of Pennsylvania (Penn) in 2008 where he is currently Professor of Electrical and Systems Engineering. His research is in wireless autonomous networks, machine learning on network data and distributed collaborative learning. Papers coauthored by Dr. Ribeiro received the 2022 IEEE Signal Processing Society Best Paper Award, the 2022 IEEE Brain Initiative Student Paper Award, the 2021 Cambridge Ring Publication of the Year Award, the 2020 IEEE Signal Processing Society Young Author Best Paper Award, the 2014 O. Hugo Schuck best paper award, and paper awards at EUSIPCO, IEEE ICASSP, IEEE CDC, IEEE SSP, IEEE SAM, Asilomar SSC Conference, and ACC. His teaching has been recognized with the 2017 Lindback award for distinguished teaching and the 2012 S. Reid Warren, Jr. Award presented by Penn’s undergraduate student body for outstanding teaching. Dr. Ribeiro received an Outstanding Researcher Award from Intel University Research Programs in 2019. He is a Penn Fellow class of 2015 and a Fulbright scholar class of 2003.

Bibliography

Main references

M. Calvo-Fullana, S. Paternain, L. F. O. Chamon, and A. Ribeiro. State augmented constrained reinforcement learning: Overcoming the limitations of learning with rewards. IEEE Trans. on Autom. Control., 69[7]:4275–4290, 2024.
[ arXiv ] [ Bibtex ]

@Article{keywords,
    author = "{Calvo-Fullana}, M. and Paternain, S. and Chamon, L. F. O. and Ribeiro, A.",
    title = "State augmented constrained reinforcement learning: {O}vercoming the limitations of learning with rewards",
    journal = "IEEE Trans. on Autom. Control.",
    year = "2024",
    volume = "69[7]",
    pages = "4275--4290",
    arxiv = "\url{https://arxiv.org/abs/2102.11941}",
    keywords = "main"
}

L. F. O. Chamon, S. Paternain, M. Calvo-Fullana, and A. Ribeiro. Constrained learning with non-convex losses. IEEE Trans. on Inf. Theory, 69[3]:1739–1760, 2023.
[ arXiv ] [ Bibtex ]

@Article{keywords,
    author = "Chamon, L. F. O. and Paternain, S. and {Calvo-Fullana}, M. and Ribeiro, A.",
    title = "Constrained Learning with Non-Convex Losses",
    journal = "IEEE Trans. on Inf. Theory",
    volume = "69[3]",
    pages = "1739--1760",
    year = "2023",
    arxiv = "\url{https://arxiv.org/abs/2103.05134}",
    keywords = "main"
}

A. Robey*, L. F. O. Chamon*, G. J. Pappas, H. Hassani, and A. Ribeiro. Adversarial robustness with semi-infinite constrained learning. In Conference on Neural Information Processing Systems (NeurIPS). 2021. (* equal contribution).
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Robey*, A. and Chamon*, L. F. O. and Pappas, G. J. and Hassani, H. and Ribeiro, A.",
    title = "Adversarial Robustness with Semi-Infinite Constrained Learning",
    booktitle = "Conference on Neural Information Processing Systems\textasciitilde (NeurIPS)",
    year = "2021",
    pages = "",
    note = "{(* equal contribution)}",
    arxiv = "\url{https://arxiv.org/abs/2110.15767}",
    keywords = "main"
}

S. Paternain, L. F. O. Chamon, M. Calvo-Fullana, and A. Ribeiro. Constrained reinforcement learning has zero duality gap. In Conference on Neural Information Processing Systems (NeurIPS), 7555–7565. 2019.
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Paternain, S. and Chamon, L. F. O. and {Calvo-Fullana}, M. and Ribeiro, A.",
    title = "Constrained reinforcement learning has zero duality gap",
    booktitle = "Conference on Neural Information Processing Systems\textasciitilde (NeurIPS)",
    year = "2019",
    pages = "7555--7565",
    arxiv = "\url{https://arxiv.org/abs/1910.13393}",
    keywords = "main"
}

Constrained supervised learning

J. Elenter, L. F. O. Chamon, and A. Ribeiro. Near-optimal solutions of constrained learning problems. In International Conference on Learning Representations (ICLR). 2024.
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Elenter, J. and Chamon, L. F. O. and Ribeiro, A.",
    title = "Near-optimal solutions of constrained learning problems",
    booktitle = "International Conference on Learning Representations\textasciitilde (ICLR)",
    year = "2024",
    arxiv = "\url{https://arxiv.org/abs/2403.11844}",
    keywords = "csl"
}

I. Hounie, A. Ribeiro, and L. F. O. Chamon. Resilient constrained learning. In Conference on Neural Information Processing Systems (NeurIPS). 2023.
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Hounie, I. and Ribeiro, A. and Chamon, L. F. O.",
    title = "Resilient Constrained Learning",
    booktitle = "Conference on Neural Information Processing Systems\textasciitilde (NeurIPS)",
    year = "2023",
    arxiv = "\url{https://arxiv.org/abs/2306.02426}",
    keywords = "csl"
}

J. Cervino, L. F. O. Chamon, B. D. Haeffele, R. Vidal, and A. Ribeiro. Learning globally smooth functions on manifolds. In International Conference on Machine Learning (ICML). 2023.
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Cervino, J. and Chamon, L. F. O. and Haeffele, B. D. and Vidal, R. and Ribeiro, A.",
    title = "Learning Globally Smooth Functions on Manifolds",
    booktitle = "International Conference on Machine Learning\textasciitilde (ICML)",
    year = "2023",
    arxiv = "\url{https://arxiv.org/abs/2210.00301}",
    keywords = "csl"
}

I. Hounie, L. F. O. Chamon, and A. Ribeiro. Automatic data augmentation via invariance-constrained learning. In International Conference on Machine Learning (ICML). 2023.
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Hounie, I. and Chamon, L. F. O. and Ribeiro, A.",
    title = "Automatic Data Augmentation via Invariance-Constrained Learning",
    booktitle = "International Conference on Machine Learning\textasciitilde (ICML)",
    year = "2023",
    arxiv = "\url{https://arxiv.org/abs/2209.15031}",
    keywords = "csl"
}

Zebang Shen, Juan Cervino, Hamed Hassani, and Alejandro Ribeiro. An agnostic approach to federated learning with class imbalance. In International Conference on Learning Representations (ICLR). 2022.
[ Link ] [ Bibtex ]

@InProceedings{keywords,
    author = "Shen, Zebang and Cervino, Juan and Hassani, Hamed and Ribeiro, Alejandro",
    title = "An Agnostic Approach to Federated Learning with Class Imbalance",
    booktitle = "International Conference on Learning Representations\textasciitilde (ICLR)",
    year = "2022",
    url = "\url{https://openreview.net/forum?id=Xo0lbDt975}",
    keywords = "csl"
}

A. Robey, L. F. O. Chamon, G. J. Pappas, and H. Hassani. Probabilistically robust learning: Balancing average- and worst-case performance. In International Conference on Machine Learning (ICML). 2022. (spotlight)
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Robey, A. and Chamon, L. F. O. and Pappas, G. J. and Hassani, H.",
    title = "Probabilistically Robust Learning: {B}alancing Average- and Worst-case Performance",
    booktitle = "International Conference on Machine Learning\textasciitilde (ICML)",
    year = "2022",
    pages = "",
    award = "spotlight",
    arxiv = "\url{https://arxiv.org/abs/2202.01136}",
    keywords = "csl"
}

L. F. O. Chamon and A. Ribeiro. Probably approximately correct constrained learning. In Conference on Neural Information Processing Systems (NeurIPS). 2020.
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Chamon, L. F. O. and Ribeiro, A.",
    title = "Probably approximately correct constrained learning",
    booktitle = "Conference on Neural Information Processing Systems\textasciitilde (NeurIPS)",
    year = "2020",
    pages = "",
    arxiv = "\url{https://arxiv.org/abs/2006.05487}",
    keywords = "csl"
}

L. F. O. Chamon, S. Paternain, M. Calvo-Fullana, and A. Ribeiro. The empirical duality gap of constrained statistical learning. In IEEE International Conference in Acoustic, Speech, and Signal Processing (ICASSP). 2020. (Best student paper award)
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Chamon, L. F. O. and Paternain, S. and {Calvo-Fullana}, M. and Ribeiro, A.",
    title = "The empirical duality gap of constrained statistical learning",
    booktitle = "IEEE International Conference in Acoustic, Speech, and Signal Processing (ICASSP)",
    year = "2020",
    pages = "",
    award = "Best student paper award",
    arxiv = "\url{https://arxiv.org/abs/2002.05183}",
    keywords = "csl"
}

Hongyang Zhang, Yaodong Yu, Jiantao Jiao, Eric Xing, Laurent El Ghaoui, and Michael Jordan. Theoretically principled trade-off between robustness and accuracy. In International Conference on Machine Learning (ICML). 2019.
[ Link ] [ Bibtex ]

@InProceedings{keywords,
    author = "Zhang, Hongyang and Yu, Yaodong and Jiao, Jiantao and Xing, Eric and Ghaoui, Laurent El and Jordan, Michael",
    title = "Theoretically Principled Trade-off between Robustness and Accuracy",
    booktitle = "International Conference on Machine Learning\textasciitilde (ICML)",
    year = "2019",
    url = "\url{http://proceedings.mlr.press/v97/zhang19p.html}",
    keywords = "csl"
}

Andrew Cotter, Heinrich Jiang, Maya Gupta, Serena Wang, Taman Narayan, Seungil You, and Karthik Sridharan. Optimization with non-differentiable constraints with applications to fairness, recall, churn, and other goals. Journal of Machine Learning Research, 20(172):1–59, 2019.
[ Bibtex ]

@Article{keywords,
    author = "Cotter, Andrew and Jiang, Heinrich and Gupta, Maya and Wang, Serena and Narayan, Taman and You, Seungil and Sridharan, Karthik",
    title = "Optimization with Non-Differentiable Constraints with Applications to Fairness, Recall, Churn, and Other Goals",
    journal = "Journal of Machine Learning Research",
    year = "2019",
    volume = "20",
    number = "172",
    pages = "1--59",
    keywords = "csl"
}

M. Eisen, C. Zhang, L. F. O. Chamon, D. D. Lee, and A. Ribeiro. Learning optimal resource allocations in wireless systems. IEEE Trans. on Signal Process., 67[10]:2775–2790, 2019. (Top 50 most accessed articles in IEEE TSP: May, July, Sept, Oct 2019)
[ arXiv ] [ Bibtex ]

@Article{keywords,
    author = "Eisen, M. and Zhang, C. and Chamon, L. F. O. and Lee, D. D. and Ribeiro, A.",
    title = "Learning optimal resource allocations in wireless systems",
    volume = "67[10]",
    journal = "IEEE Trans. on Signal Process.",
    year = "2019",
    pages = "2775--2790",
    award = "Top 50 most accessed articles in IEEE TSP: May, July, Sept, Oct 2019",
    arxiv = "\url{https://arxiv.org/abs/1807.08088}",
    keywords = "csl"
}

Constrained reinforcement learning

Weiqin Chen and Santiago Paternain. Generalized constraint for probabilistic safe reinforcement learning. In Learning for Dynamics & Control Conference, 1606–1618. 2024.
[ Bibtex ]

@InProceedings{keywords,
    author = "Chen, Weiqin and Paternain, Santiago",
    title = "Generalized constraint for probabilistic safe reinforcement learning",
    booktitle = "Learning for Dynamics \\& Control Conference",
    pages = "1606--1618",
    year = "2024",
    keywords = "crl"
}

Weiqin Chen, Dharmashankar Subramanian, and Santiago Paternain. Probabilistic constraint for safety-critical reinforcement learning. IEEE Trans. on Autom. Control., 2024.
[ Bibtex ]

@Article{keywords,
    author = "Chen, Weiqin and Subramanian, Dharmashankar and Paternain, Santiago",
    title = "Probabilistic constraint for safety-critical reinforcement learning",
    journal = "IEEE Trans. on Autom. Control.",
    year = "2024",
    keywords = "crl"
}

Weiqin Chen, James Onyejizu, Long Vu, Lan Hoang, Dharmashankar Subramanian, Koushik Kar, Sandipan Mishra, and Santiago Paternain. Adaptive primal-dual method for safe reinforcement learning. In International Conference on Autonomous Agents and Multiagent Systems, 326–334. 2024.
[ Bibtex ]

@InProceedings{keywords,
    author = "Chen, Weiqin and Onyejizu, James and Vu, Long and Hoang, Lan and Subramanian, Dharmashankar and Kar, Koushik and Mishra, Sandipan and Paternain, Santiago",
    title = "Adaptive Primal-Dual Method for Safe Reinforcement Learning",
    booktitle = "International Conference on Autonomous Agents and Multiagent Systems",
    pages = "326--334",
    year = "2024",
    keywords = "crl"
}

Damsara Jayarathne, Santiago Paternain, and Sandipan Mishra. Safe residual reinforcement learning for helicopter aerial refueling. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 263–269. 2023.
[ Bibtex ]

@InProceedings{keywords,
    author = "Jayarathne, Damsara and Paternain, Santiago and Mishra, Sandipan",
    title = "Safe residual reinforcement learning for helicopter aerial refueling",
    booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)",
    pages = "263--269",
    year = "2023",
    keywords = "crl"
}

Arindam Chowdhury, Santiago Paternain, Gunjan Verma, Ananthram Swami, and Santiago Segarra. Learning non-myopic power allocation in constrained scenarios. In IEEE Asilomar Conference on Signals, Systems and Computers, 804–808. 2023.
[ arXiv ] [ Bibtex ]

@InProceedings{keywords,
    author = "Chowdhury, Arindam and Paternain, Santiago and Verma, Gunjan and Swami, Ananthram and Segarra, Santiago",
    title = "Learning Non-myopic Power Allocation in Constrained Scenarios",
    booktitle = "IEEE Asilomar Conference on Signals, Systems and Computers",
    year = "2023",
    pages = "804--808",
    arxiv = "\url{https://arxiv.org/abs/2401.10297}",
    keywords = "crl"
}

S. Paternain, M. Calvo-Fullana, L. F. O. Chamon, and A. Ribeiro. Safe policies for reinforcement learning via primal-dual methods. IEEE Trans. on Autom. Control., 68[3]:1321–1336, 2023.
[ arXiv ] [ Bibtex ]

@Article{keywords,
    author = "Paternain, S. and {Calvo-Fullana}, M. and Chamon, L. F. O. and Ribeiro, A.",
    title = "Safe policies for reinforcement learning via primal-dual methods",
    journal = "IEEE Trans. on Autom. Control.",
    year = "2023",
    volume = "68[3]",
    pages = "1321--1336",
    arxiv = "\url{https://arxiv.org/abs/1911.09101}",
    keywords = "crl"
}

Navid NaderiAlizadeh, Mark Eisen, and Alejandro Ribeiro. State-augmented learnable algorithms for resource management in wireless networks. IEEE Trans. on Signal Process., 70:5898–5912, 2022.
[ arXiv ] [ Bibtex ]

@Article{keywords,
    author = "NaderiAlizadeh, Navid and Eisen, Mark and Ribeiro, Alejandro",
    journal = "IEEE Trans. on Signal Process.",
    title = "State-Augmented Learnable Algorithms for Resource Management in Wireless Networks",
    year = "2022",
    volume = "70",
    pages = "5898--5912",
    arxiv = "\url{https://arxiv.org/abs/2207.02242}",
    keywords = "crl"
}

Joshua Achiam, David Held, Aviv Tamar, and Pieter Abbeel. Constrained policy optimization. In International Conference on Machine Learning (ICML). 2017.
[ Link ] [ Bibtex ]

@InProceedings{keywords,
    author = "Achiam, Joshua and Held, David and Tamar, Aviv and Abbeel, Pieter",
    title = "Constrained Policy Optimization",
    booktitle = "International Conference on Machine Learning\textasciitilde (ICML)",
    year = "2017",
    url = "\url{https://proceedings.mlr.press/v70/achiam17a.html}",
    keywords = "crl"
}

E. Altman. Constrained Markov Decision Processes. Chapman and Hall, 1999.
[ Link ] [ Bibtex ]

@Book{keywords,
    author = "Altman, E.",
    publisher = "Chapman and Hall",
    title = "Constrained Markov Decision Processes",
    year = "1999",
    url = "\url{https://www-sop.inria.fr/members/Eitan.Altman/TEMP/h.pdf}",
    keywords = "crl"
}

Others

L. F. O. Chamon. Csl: Learning under requirements with PyTorch. 2021.
[ Link ] [ Bibtex ]

@Misc{keywords,
    author = "Chamon, L. F. O.",
    title = "csl: {L}earning under requirements with {PyTorch}",
    version = "1.0",
    year = "2021",
    url = "\url{https://github.com/lfochamon/csl}",
    keywords = "other"
}

L. F. O. Chamon, Y. C. Eldar, and A. Ribeiro. Functional nonlinear sparse models. IEEE Trans. on Signal Process., 68[1]:2449–2463, 2020.
[ arXiv ] [ Bibtex ]

@Article{keywords,
    author = "Chamon, L. F. O. and Eldar, Y. C. and Ribeiro, A.",
    title = "Functional nonlinear sparse models",
    volume = "68[1]",
    journal = "IEEE Trans. on Signal Process.",
    year = "2020",
    pages = "2449--2463",
    arxiv = "\url{https://arxiv.org/abs/1811.00577}",
    keywords = "other"
}

Luiz Chamon

EUSIPCO 2024 Tutorial –Learning under Requirements: Supervised and Reinforcement Learning with Constraints