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arXiv · 1903.11981

Regularizing Trajectory Optimization with Denoising Autoencoders

Rinu Boney·Norman Di Palo·Mathias Berglund·Alexander Ilin·Juho Kannala·Antti Rasmus·Harri Valpola
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Abstract

Trajectory optimization using a learned model of the environment is one of the core elements of model-based reinforcement learning. This procedure often suffers from exploiting inaccuracies of the learned model. We propose to regularize trajectory optimization by means of a denoising autoencoder that is trained on the same trajectories as the model of the environment. We show that the proposed regularization leads to improved planning with both gradient-based and gradient-free optimizers. We also demonstrate that using regularized trajectory optimization leads to rapid initial learning in a set of popular motor control tasks, which suggests that the proposed approach can be a useful tool for improving sample efficiency.

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Rinu Boney, Norman Di Palo, Mathias Berglund, Alexander Ilin, Juho Kannala, Antti Rasmus, Harri Valpola. 2019-03-28. Regularizing Trajectory Optimization with Denoising Autoencoders. https://arxiv.org/abs/1903.11981

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