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Continuous-Time Model-Based Reinforcement Learning
- Publication Year :
- 2021
-
Abstract
- Model-based reinforcement learning (MBRL) approaches rely on discrete-time state transition models whereas physical systems and the vast majority of control tasks operate in continuous-time. To avoid time-discretization approximation of the underlying process, we propose a continuous-time MBRL framework based on a novel actor-critic method. Our approach also infers the unknown state evolution differentials with Bayesian neural ordinary differential equations (ODE) to account for epistemic uncertainty. We implement and test our method on a new ODE-RL suite that explicitly solves continuous-time control systems. Our experiments illustrate that the model is robust against irregular and noisy data, is sample-efficient, and can solve control problems which pose challenges to discrete-time MBRL methods.
- Subjects :
- Computer Science - Machine Learning
Statistics - Machine Learning
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2102.04764
- Document Type :
- Working Paper