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Carnegie Mellon Robotics Institute

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Abstract

We consider the policy search approach to reinforcement learning. We show that if a ``baseline distribution'' is given (indicating roughly how often we expect a good policy to visit each state), then we can derive a policy search algorithm that terminates in a finite number of steps, and for which we can provide non-trivial performance guarantees. We also demonstrate this algorithm on several grid-world POMDPs, a planar biped walking robot, and a double-pole balancing problem.

Notes

Associated Lab(s) / Group(s): Auton Lab

Associated Project(s): Auton Project

Text Reference

J. Andrew (Drew) Bagnell, Sham Kakade, Andrew Ng, and Jeff Schneider, "Policy Search by Dynamic Programming," Neural Information Processing Systems, December, 2003.

BibTeX Reference

@inproceedings{Bagnell_2003_4485,
   author = "J. Andrew (Drew) Bagnell and Sham Kakade and Andrew Ng and Jeff Schneider",
   title = "Policy Search by Dynamic Programming",
   booktitle = "Neural Information Processing Systems",
   publisher = "MIT Press",
   month = "December",
   year = "2003",
   volume = "16",
}

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