Part ofAdvances in Neural Information Processing Systems 32 (NeurIPS 2019)
Rinu Boney, Norman Di Palo, Mathias Berglund, Alexander Ilin, Juho Kannala, Antti Rasmus, Harri Valpola
Trajectory optimization using a learned model of the environment is one of the core elements of model-based reinforcement learning. This procedure often suffers from exploiting inaccuracies of the learned model. We propose to regularize trajectory optimization by means of a denoising autoencoder that is trained on the same trajectories as the model of the environment. We show that the proposed regularization leads to improved planning with both gradient-based and gradient-free optimizers. We also demonstrate that using regularized trajectory optimization leads to rapid initial learning in a set of popular motor control tasks, which suggests that the proposed approach can be a useful tool for improving sample efficiency.
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.