中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Keep Various Trajectories: Promoting Exploration of Ensemble Policies in Continuous Control

文献类型:会议论文

作者Chao Li1,4; Chen Gong3; Qiang He2; Xinwen Hou1,4
出版日期2023-09
会议日期2023-12-10
会议地点New Orleans, USA
卷号36
页码5223--5235
英文摘要

The combination of deep reinforcement learning (DRL) with ensemble methods has been proved to be highly effective in addressing complex sequential decision- making problems. This success can be primarily attributed to the utilization of multiple models, which enhances both the robustness of the policy and the accuracy of value function estimation. However, there has been limited analysis of the empirical success of current ensemble RL methods thus far. Our new analysis reveals that the sample efficiency of previous ensemble DRL algorithms may be limited by sub-policies that are not as diverse as they could be. Motivated by these findings, our study introduces a new ensemble RL algorithm, termed Trajectories-awarE Ensemble exploratioN (TEEN). The primary goal of TEEN is to maximize the expected return while promoting more diverse trajectories. Through extensive experiments, we demonstrate that TEEN not only enhances the sample diversity of the ensemble policy compared to using sub-policies alone but also improves the performance over ensemble RL algorithms. On average, TEEN outperforms the baseline ensemble DRL algorithms by 41% in performance on the tested representative environments.

源文献作者A. Oh and T. Naumann and A. Globerson and K. Saenko and M. Hardt and S. Levine
会议录Advances in Neural Information Processing Systems
会议录出版者Curran Associates, Inc.
语种英语
URL标识查看原文
源URL[http://ir.ia.ac.cn/handle/173211/56695]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Xinwen Hou
作者单位1.University of Chinese Academy of Sciences, China
2.Ruhr University Bochum, Germany
3.University of Virginia, USA
4.Institute of Automation, Chinese Academy of Sciences, China
推荐引用方式
GB/T 7714
Chao Li,Chen Gong,Qiang He,et al. Keep Various Trajectories: Promoting Exploration of Ensemble Policies in Continuous Control[C]. 见:. New Orleans, USA. 2023-12-10.

入库方式: OAI收割

来源:自动化研究所

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