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Continuous Deep Q-Learning with Model-based Acceleration
Shixiang Gu SG717@CAM .AC .UK
Timothy Lillicrap COUNTZERO @GOOGLE .COM
Ilya Sutskever ILYASU @GOOGLE .COM
Sergey Levine SLEVINE @GOOGLE .COM
University of Cambridge Max Planck Institute for Intelligent Systems Google Brain Google DeepMind
6
1
0 Abstract value functions (Mnih et al., 2015; Lillicrap et al., 2016;
2 Model-free reinforcement learning has been suc- Wang et al., 2015; Heess et al., 2015; Hausknecht Stone,
r cessfully applied to a range of challenging prob- 2015; Schulman et al., 2015). This makes it possible to
a
lems, and has recently been extended to han- train policies for complex tasks with minimal feature and
M dle large neural network policies and value func- policy engineering, using the raw state representation di-
2 tions. However, the sample complexity of model- rectly as input to the neural network. However, the sample
free algorithms, particularly when using high- complexity of model-free algorithms, particularly when us-
] dimensional function approximators, tends to ing very high-dimensional function approximators, tends to
G limit their applicability to physical systems. In be high (Schulman et al., 2015), which means that the ben-
L. this paper, we expl
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