{"id":"https://openalex.org/W7147355837","doi":"https://doi.org/10.48550/arxiv.2603.28938","title":"Optimistic Online LQR via Intrinsic Rewards","display_name":"Optimistic Online LQR via Intrinsic Rewards","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147355837","doi":"https://doi.org/10.48550/arxiv.2603.28938"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.28938","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28938","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.28938","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063307658","display_name":"Marcell Bartos","orcid":"https://orcid.org/0009-0004-7359-2091"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bartos, Marcell","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132690781","display_name":"Bruce D. Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Bruce D.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051876989","display_name":"Lenart Treven","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Treven, Lenart","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132664315","display_name":"Andreas Krause","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Krause, Andreas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091434894","display_name":"Florian D\u00f6rfler","orcid":"https://orcid.org/0000-0002-9649-5305"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D\u00f6rfler, Florian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5037513714","display_name":"Melanie N. Zeilinger","orcid":"https://orcid.org/0000-0003-4570-7571"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeilinger, Melanie N.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.5027999877929688,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.5027999877929688,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.1712000072002411,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12101","display_name":"Advanced Bandit Algorithms Research","score":0.06509999930858612,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.7870000004768372},{"id":"https://openalex.org/keywords/regret","display_name":"Regret","score":0.7038999795913696},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6177999973297119},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4406999945640564},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.375900000333786},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3682999908924103},{"id":"https://openalex.org/keywords/online-learning","display_name":"Online learning","score":0.34279999136924744},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.3321000039577484}],"concepts":[{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.7870000004768372},{"id":"https://openalex.org/C50817715","wikidata":"https://www.wikidata.org/wiki/Q79895177","display_name":"Regret","level":2,"score":0.7038999795913696},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6177999973297119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5906000137329102},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49540001153945923},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4406999945640564},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.375900000333786},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3682999908924103},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.34279999136924744},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3321000039577484},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2924000024795532},{"id":"https://openalex.org/C196921405","wikidata":"https://www.wikidata.org/wiki/Q786431","display_name":"Online algorithm","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C204495892","wikidata":"https://www.wikidata.org/wiki/Q1798304","display_name":"Linear-quadratic-Gaussian control","level":3,"score":0.28139999508857727},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.2791999876499176},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2612000107765198},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.28938","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28938","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.28938","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28938","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Optimism":[0],"in":[1,15,105,117],"the":[2,21,31,42,69,79,90,101,144],"face":[3],"of":[4,71,81,92,149],"uncertainty":[5],"is":[6,116],"a":[7,93],"popular":[8],"approach":[9],"to":[10,29,34,84,119,154],"balance":[11],"exploration":[12],"and":[13,78,112,151,171],"exploitation":[14],"reinforcement":[16,76],"learning.":[17],"Here,":[18],"we":[19,56],"consider":[20],"online":[22,45,64,122,157],"linear":[23,37],"quadratic":[24],"regulator":[25],"(LQR)":[26],"problem,":[27],"i.e.,":[28],"learn":[30],"LQR":[32,60,65,95,123,158],"corresponding":[33],"an":[35,62,106,166,172],"unknown":[36],"dynamical":[38],"system":[39],"by":[40,98],"adapting":[41],"control":[43,170],"policy":[44],"based":[46],"on":[47,127,165],"closed-loop":[48],"data":[49],"collected":[50],"during":[51],"operation.":[52],"In":[53],"this":[54],"work,":[55],"propose":[57],"Intrinsic":[58],"Rewards":[59],"(IR-LQR),":[61],"optimistic":[63,121],"algorithm":[66],"that":[67,125,141],"applies":[68],"idea":[70],"intrinsic":[72],"rewards":[73],"originating":[74],"from":[75],"learning":[77],"concept":[80],"variance":[82],"regularization":[83],"promote":[85],"uncertainty-driven":[86],"exploration.":[87],"IR-LQR":[88,142],"retains":[89],"structure":[91],"standard":[94],"synthesis":[96],"problem":[97],"only":[99],"modifying":[100],"cost":[102],"function,":[103],"resulting":[104],"intuitively":[107],"pleasing,":[108],"simple,":[109],"computationally":[110,135],"cheap,":[111],"efficient":[113],"algorithm.":[114],"This":[115],"contrast":[118],"existing":[120],"formulations":[124],"rely":[126],"more":[128],"complicated":[129],"iterative":[130],"search":[131],"algorithms":[132,159],"or":[133],"solve":[134],"demanding":[136],"optimization":[137],"problems.":[138],"We":[139],"show":[140],"achieves":[143],"optimal":[145],"worst-case":[146],"regret":[147],"rate":[148],"$\\sqrt{T}$,":[150],"compare":[152],"it":[153],"various":[155],"state-of-the-art":[156],"via":[160],"numerical":[161],"experiments":[162],"carried":[163],"out":[164],"aircraft":[167],"pitch":[168],"angle":[169],"unmanned":[173],"aerial":[174],"vehicle":[175],"example.":[176]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-02T00:00:00"}