Questions tagged [trpo]

For questions related to the reinforcement learning algorithm called Trust Region Policy Optimization (TRPO).

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How can I implement the reward function for an 8-DOF robot arm with TRPO?

I need to get an 8-DOF (degrees of freedom) robot arm to move a specified point. I need to implement the TRPO RL code using OpenAI gym. I already have the gazebo environment. But I am unsure of how to ...
82 views

Understanding proof of lemma 1 (policy improvement bound) of the “Trust Region Policy Optimization” paper

In the Trust Region Policy Optimization paper, in Lemma 1 of Appendix A, I did not quite understand the transition from (21) from (20). In going from (20) to (21), $A^\pi(s_t, a_t)$ is substituted ...
110 views

Are these two TRPO objective functions equivalent?

In the TRPO paper, the objective to maximize is (equation 14) $$\mathbb{E}_{s\sim\rho_{\theta_\text{old}},a\sim q}\left[\frac{\pi_\theta(a|s)}{q(a|s)} Q_{\theta_\text{old}}(s,a) \right]$$ which ...
42 views

How does the TRPO surrogate loss account for the error in the policy?

In the Trust Region Policy Optimization (TRPO) paper, on page 10, it is stated An informal overview is as follows. Our proof relies on the notion of coupling, where we jointly define the ...
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Maximizing or Minimizing in Trust Region Policy Optimization?

I happened to discover that the v1 (19 Feb 2015) and the v5 (20 Apr 2017) versions of TRPO papers have two different conclusions. The Equation (15) in v1 is $\min_\theta$ while the Equation (14) in v2 ...
6k views

How can policy gradients be applied in the case of multiple continuous actions?

Trusted Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO) are two cutting edge policy gradients algorithms. When using a single continuous action, normally, you would use some ...