Action Robust Reinforcement Learning and Applications in Continuous - PowerPoint PPT Presentation

Oct 20, 2023 •414 likes •502 views

Action Robust Reinforcement Learning and Applications in Continuous Control Chen Tessler , Yonathan Efroni and Shie Mannor *equal contribution Poster #272 Action Robust Reinforcement Learning and Applications in Continuous Control Robust MDPs

Action Robust Reinforcement Learning and Applications in Continuous Control Chen Tessler *, Yonathan Efroni* and Shie Mannor *equal contribution Poster #272
Action Robust Reinforcement Learning and Applications in Continuous Control Robust MDPs Important model, yet not feasible in practical applications.
Action Robust Reinforcement Learning and Applications in Continuous Control Action Robustness in Robotics Abrupt disturbances Model uncertainty
Action Robust Reinforcement Learning and Applications in Continuous Control Action Robust MDPs AR-MDPs are a special case of RMDPs, which consider uncertainty in the performed action.
Action Robust Reinforcement Learning and Applications in Continuous Control Update adversary Algorithm Find optimal towards the actor policy 1-step greedy policy Evaluate joint policy Theorem 1. This procedure converges to the Nash equilibrium.
Action Robust Reinforcement Learning and Applications in Continuous Control Results Baseline Ours( 𝛽 =1)
Action Robust Reinforcement Learning and Applications in Continuous Control Conclusions - Robustness enables coping with uncertainty and transfer to unseen domains - A gradient based approach for robust reinforcement learning with convergence guarantees - Does not require explicit definition of the uncertainty set - Application to Deep RL
Action Robust Reinforcement Learning and Applications in Continuous Control Come visit @ Poster #272

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