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arXiv · 2008.06389

Sample-efficient Cross-Entropy Method for Real-time Planning

Cristina Pinneri·Shambhuraj Sawant·Sebastian Blaes·Jan Achterhold·Joerg Stueckler·Michal Rolinek·Georg Martius
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Abstract

Trajectory optimizers for model-based reinforcement learning, such as the Cross-Entropy Method (CEM), can yield compelling results even in high-dimensional control tasks and sparse-reward environments. However, their sampling inefficiency prevents them from being used for real-time planning and control. We propose an improved version of the CEM algorithm for fast planning, with novel additions including temporally-correlated actions and memory, requiring 2.7-22x less samples and yielding a performance increase of 1.2-10x in high-dimensional control problems.

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Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, Joerg Stueckler, Michal Rolinek, Georg Martius. 2020-08-14. Sample-efficient Cross-Entropy Method for Real-time Planning. https://arxiv.org/abs/2008.06389

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