Guided Policy Search

Abstract

Direct policy search can effectively scale to high-dimensional systems, but complex policies with hundreds of parameters often present a challenge for such methods, requiring numerous samples and often falling into poor local optima. We present a guided policy search algorithm that uses trajectory optimization to direct policy learning and avoid poor local… (More)
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@inproceedings{Levine2013GuidedPS, title={Guided Policy Search}, author={Sergey Levine and Vladlen Koltun}, booktitle={ICML}, year={2013} }