CoRL 20200 citations
Sample-efficient Cross-Entropy Method for Real-time Planning
Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, Joerg Stueckler, Michal Rolinek, Georg Martius
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.
BibTeX
@inproceedings{corl2020_sampleefficientc,
title = {Sample-efficient Cross-Entropy Method for Real-time Planning},
author = {Cristina Pinneri and Shambhuraj Sawant and Sebastian Blaes and Jan Achterhold and Joerg Stueckler and Michal Rolinek and Georg Martius},
booktitle = {CoRL 2020},
year = {2020}
}