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...