We propose a new policy iteration theory as an important extension of soft policy iteration and Soft Actor-Critic (SAC), one of the most efficient model free algorithms for deep reinforcement learning. Supported by the new theory, arbitrary entropy measures that generalize Shannon entropy, such as Tsallis entropy and Renyi entropy, can be utilized to properly randomize action selection while fulfilling the goal of maximizing expected long-term rewards. Our theory gives birth to two new algorithms, i.e., Tsallis entropy Actor-Critic (TAC) and Renyi entropy Actor-Critic (RAC). Theoretical analysis shows that these algorithms can be more effective than SAC. Moreover, they pave the way for us to develop a new Ensemble Actor-Critic (EAC) algorithm in this paper that features the use of a bootstrap mechanism for deep environment exploration as well as a new value-function based mechanism for high-level action selection. Empirically we show that TAC, RAC and EAC can achieve state-of-the-art performance on a range of benchmark control tasks, outperforming SAC and several cutting-edge learning algorithms in terms of both sample efficiency and effectiveness.
Previous works have also studied the maximum entropy framework for both on-policy and off-policy learning @cite_6 @cite_4 @cite_20 . Among them, a large group focused mainly on problems with discrete actions. Some recently developed algorithms have further extended the maximum entropy framework to continuous domains @cite_34 @cite_19 . Different from these algorithms that focus mainly on Shannon entropy, guided by a new policy iteration theory, our newly proposed RL algorithms can maximize general entropy measures such as Tsallis entropy and R 'enyi entropy in continuous action spaces.
@cite_4 @cite_6 @cite_19 @cite_34 @cite_20
2962902376 2781726626 2129978406 2158231134
Model-free deep reinforcement learning (RL) algorithms have been demonstrated on a range of challenging decision making and control tasks. However, these methods typically suffer from two major challenges: very high sample complexity and brittle convergence properties, which necessitate meticulous hyperparameter tuning. Both of these challenges severely limit the applicability of such methods to complex, real-world domains. In this paper, we propose soft actor-critic, an off-policy actor-critic deep RL algorithm based on the maximum entropy reinforcement learning framework. In this framework, the actor aims to maximize expected reward while also maximizing entropy - that is, succeed at the task while acting as randomly as possible. Prior deep RL methods based on this framework have been formulated as either off-policy Q-learning, or on-policy policy gradient methods. By combining off-policy updates with a stable stochastic actor-critic formulation, our method achieves state-of-the-art performance on a range of continuous control benchmark tasks, outperforming prior on-policy and off-policy methods. Furthermore, we demonstrate that, in contrast to other off-policy algorithms, our approach is very stable, achieving very similar performance across different random seeds. Model-free deep reinforcement learning (RL) algorithms have been demonstrated on a range of challenging decision making and control tasks. However, these methods typically suffer from two major challenges: very high sample complexity and brittle convergence properties, which necessitate meticulous hyperparameter tuning. Both of these challenges severely limit the applicability of such methods to complex, real-world domains. In this paper, we propose soft actor-critic, an off-policy actor-critic deep RL algorithm based on the maximum entropy reinforcement learning framework. In this framework, the actor aims to maximize expected reward while also maximizing entropy - that is, succeed at the task while acting as randomly as possible. Prior deep RL methods based on this framework have been formulated as Q-learning methods. By combining off-policy updates with a stable stochastic actor-critic formulation, our method achieves state-of-the-art performance on a range of continuous control benchmark tasks, outperforming prior on-policy and off-policy methods. Furthermore, we demonstrate that, in contrast to other off-policy algorithms, our approach is very stable, achieving very similar performance across different random seeds. We give near-optimal sketching and streaming algorithms for estimating Shannon entropy in the most general streaming model, with arbitrary insertions and deletions. This improves on prior results that obtain suboptimal space bounds in the general model, and near-optimal bounds in the insertion-only model without sketching. Our high-level approach is simple: we give algorithms to estimate Tsallis entropy, and use them to extrapolate an estimate of Shannon entropy. The accuracy of our estimates is proven using approximation theory arguments and extremal properties of Chebyshev polynomials. Our work also yields the best-known and near-optimal additive approximations for entropy, and hence also for conditional entropy and mutual information. We present a unified and complete account of maximum entropy density estimation subject to constraints represented by convex potential functions or, alternatively, by convex regularization. We provide fully general performance guarantees and an algorithm with a complete convergence proof. As special cases, we easily derive performance guarantees for many known regularization types, including l1, l2, l22, and l2 + l22 style regularization. We propose an algorithm solving a large and general subclass of generalized maximum entropy problems, including all discussed in the paper, and prove its convergence. Our approach generalizes and unifies techniques based on information geometry and Bregman divergences as well as those based more directly on compactness. Our work is motivated by a novel application of maximum entropy to species distribution modeling, an important problem in conservation biology and ecology. In a set of experiments on real-world data, we demonstrate the utility of maximum entropy in this setting. We explore effects of different feature types, sample sizes, and regularization levels on the performance of maxent, and discuss interpretability of the resulting models.