Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Autoregressive Policies for Continuous Control Deep Reinforcement
  Learning   Reinforcement learning algorithms rely on exploration to discover new
behaviors, which is typically achieved by following a stochastic policy. In
continuous control tasks, policies with a Gaussian distribution have been
widely adopted. Gaussian exploration however does not result in smooth
trajectories that generally correspond to safe and rewarding behaviors in
practical tasks. In addition, Gaussian policies do not result in an effective
exploration of an environment and become increasingly inefficient as the action
rate increases. This contributes to a low sample efficiency often observed in
learning continuous control tasks. We introduce a family of stationary
autoregressive (AR) stochastic processes to facilitate exploration in
continuous control domains. We show that proposed processes possess two
desirable features: subsequent process observations are temporally coherent
with continuously adjustable degree of coherence, and the process stationary
distribution is standard normal. We derive an autoregressive policy (ARP) that
implements such processes maintaining the standard agent-environment interface.
We show how ARPs can be easily used with the existing off-the-shelf learning
algorithms. Empirically we demonstrate that using ARPs results in improved
exploration and sample efficiency in both simulated and real world domains,
and, furthermore, provides smooth exploration trajectories that enable safe
operation of robotic hardware.

4
The categories of this paper are: cond-mat
35
The categories of this paper are: mtrl-th
26
The categories of this paper are: bayes-an
18
The categories of this paper are: econ
30
The categories of this paper are: q-alg
13
The categories of this paper are: quant-ph
0
The categories of this paper are: hep-ph
32
The categories of this paper are: atom-ph
17
The categories of this paper are: q-fin
3
The categories of this paper are: physics
31
The categories of this paper are: ao-sci
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
27
The categories of this paper are: comp-gas
34
The categories of this paper are: chem-ph
15
The categories of this paper are: nucl-ex