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Poster

Trust the Model Where It Trusts Itself - Model-Based Actor-Critic with Uncertainty-Aware Rollout Adaption

Bernd Frauenknecht · Artur Eisele · Devdutt Subhasish · Friedrich Solowjow · Sebastian Trimpe


Abstract:

Dyna-style model-based reinforcement learning (MBRL) combines model-free agents with predictive transition models through model-based rollouts. This combination raises a critical question: “When to trust your model?”; i.e., which rollout length results in the model providing useful data? State-of-the-art research (Janner et al., 2019) addresses this question by gradually increasing rollout lengths throughout the training. However, uniform model accuracy is a fallacy that collapses at the latest when extrapolating. Instead, we propose asking the question “Where to trust your model?”. Using inherent model uncertainty to consider local accuracy, we obtain the novel Model-based Actor-Critic with Uncertainty-aware Rollout Adaption (MACURA) algorithm. We propose an easy-to-tune rollout mechanism and demonstrate substantial improvements in data efficiency and performance compared to state-of-the-art deep MBRL on the MuJoCo benchmark.

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