Keep Various Trajectories: Promoting Exploration of Ensemble Policies in Continuous Control
文献类型:会议论文
作者 | Chao Li1,4![]() ![]() ![]() ![]() |
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
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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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