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Conference Paper

Model-Based Reinforcement Learning with Continuous States and Actions

MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84381

Deisenroth,  MP
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84156

Rasmussen,  CE
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84135

Peters,  J
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Citation

Deisenroth, M., Rasmussen, C., & Peters, J. (2008). Model-Based Reinforcement Learning with Continuous States and Actions. Advances in Computational Intelligence and Learning: Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008), 19-24.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C9E1-0
Abstract
Finding an optimal policy in a reinforcement learning (RL) framework with continuous state and action spaces is challenging. Approximate solutions are often inevitable. GPDP is an approximate dynamic programming algorithm based on Gaussian process (GP) models for the value functions. In this paper, we extend GPDP to the case of unknown transition dynamics. After building a GP model for the transition dynamics, we apply GPDP to this model and determine a continuous-valued policy in the entire state space. We apply the resulting controller to the underpowered pendulum swing up. Moreover, we compare our results on this RL task to a nearly optimal discrete DP solution in a fully known environment.