We consider an architecture of confidential cloud-based control synthesis based on Homomorphic Encryption (HE). Our study is motivated by the recent surge of data-driven control such as deep reinforcement learning, whose heavy computational requirements often necessitate an outsourcing to the third party server. To achieve more flexibility than Partially Homomorphic Encryption (PHE) and less computational overhead than Fully Homomorphic Encryption (FHE), we consider a Reinforcement Learning (RL) architecture over Leveled Homomorphic Encryption (LHE). We first show that the impact of the encryption noise under the Cheon-Kim-Kim-Song (CKKS) encryption scheme on the convergence of the model-based tabular Value Iteration (VI) can be analytically bounded. We also consider secure implementations of TD(0), SARSA(0) and Z-learning algorithms over the CKKS scheme, where we numerically demonstrate that the effects of the encryption noise on these algorithms are also minimal.

8 pages, 7 figures, American Control Conference