Natural Actor-Critic

  title={Natural Actor-Critic},
  author={Jan Peters and Sethu Vijayakumar and Stefan Schaal},
This paper investigates a novel model-free reinforcement learning architecture, the Natural Actor-Critic. The actor updates are based on stochastic policy gradients employing Amari’s natural gradient approach, while the critic obtains both the natural policy gradient and additional parameters of a value function simultaneously by linear regression. We show that actor improvements with natural policy gradients are particularly appealing as these are independent of coordinate frame of the chosen… CONTINUE READING
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