Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning
Andrew S. Morgan,Daljeet Nandha,Georgia Chalvatzaki,Carlo D’Eramo,Aaron M. Dollar,Jan Peters,Andrew S. Morgan,Daljeet Nandha,Georgia Chalvatzaki,Carlo D’Eramo,Aaron M. Dollar,Jan Peters
Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Meanwhile, their inherent sample efficiency warrants utility for most robot applications, limiting potential damage to the robot and its environment during training. Inspired by information theoretic model predictive control...
