Combining Deep Reinforcement Learning And Local Control For The Acrobot Swing-up And Balance Task

Sean Gillen; Marco Molnar; Katie Byl

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arXiv · 2012.11663

Combining Deep Reinforcement Learning And Local Control For The Acrobot Swing-up And Balance Task

Sean Gillen·Marco Molnar·Katie Byl

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Abstract

In this work we present a novel extension of soft actor critic, a state of the art deep reinforcement algorithm. Our method allows us to combine traditional controllers with learned neural network policies. This combination allows us to leverage both our own domain knowledge and some of the advantages of model free reinforcement learning. We demonstrate our algorithm by combining a hand designed linear quadratic regulator with a learned controller for the acrobot problem. We show that our technique outperforms other state of the art reinforcement learning algorithms in this setting.

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BibTeX RIS

Sean Gillen, Marco Molnar, Katie Byl. 2020-12-21. Combining Deep Reinforcement Learning And Local Control For The Acrobot Swing-up And Balance Task. https://arxiv.org/abs/2012.11663

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