NIPS Proceedingsβ

Regularizing Trajectory Optimization with Denoising Autoencoders

Part of: Advances in Neural Information Processing Systems 32 (NIPS 2019)

[PDF] [BibTeX] [Supplemental] [Reviews] [Author Feedback] [Meta Review] [Sourcecode]


Conference Event Type: Poster


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.