Browsing by Author "Lin, You-Hsuan"

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Combining Deep Deterministic Policy Gradient with Cross-Entropy Method
(2019-01-01)
Lai, Tung-Yi
;
Hsueh, Chu-Hsuan
;
Lin, You-Hsuan
;
Chu, Yeong-Jia Roger
;
Hsueh, Bo-Yang
This paper proposes a deep reinforcement learning algorithm for solving robotic tasks, such as grasping objects. We propose in this paper a combination of cross-entropy optimization (CE) with deep deterministic policy gradient (DDPG). More specifically, where in the CE method, we first sample from a Gaussian distribution with zero as its initial mean, we now set the initial mean to DDPG's output instead. The resulting algorithm is referred to as the DDPG-CE method. Next, to negate the effects of bad samples, we improve on DDPG-CE by substituting the CE component with a weighted CE method, resulting in the DDPG-WCE algorithm. Experiments show that DDPG-WCE achieves a higher success rate on grasping previously unseen objects, than other approaches, such as supervised learning, DDPG, CE, and DDPG-CE.