Regularizing Trajectory Optimization with Denoising Autoencoders (Paper Explained)

Can you plan with a learned model of the world? Yes, but there's a catch: The better your planning algorithm is, the more the errors of your world model will hurt you! This paper solves this problem by regularizing the planning algorithm to stay in high probability regions, given its experience.

https://arxiv.org/abs/1903.11981

Interview w/ Harri: https://youtu.be/HnZDmxYnpg4

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.

Authors: Rinu Boney, Norman Di Palo, Mathias Berglund, Alexander Ilin, Juho Kannala, Antti Rasmus, Harri Valpola

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