Sample-efficient Cross-Entropy Method for Real-time Planning

Published in Arxiv, 2020


Authors: Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, Joerg Stueckler, Michal Rolínek, Georg Martius

Cross-Entropy method is a powerful optimizer for model-based RL. But it is too slow for real time deployment. We introduce several adjustments and tricks to bridge the “real time” gap. The resulting iCEM is FAAAAST!

Links: Arxiv