Cross Entropy Optimization of Action Modification Policies for Continuous-Valued MDPs

We propose an algorithm to search for parametrized policies in continuous state and action Markov Decision Processes (MDPs). The policies are represented via a number of basis functions, and the main novelty is that each basis function corresponds to a small, discrete modification of the continuous action. In each state, the policy chooses a discrete action modification associated with a basis function having the maximum value at the current state. Empirical returns from a representative set of initial states are estimated in simulations to evaluate the policies. Instead of using slow gradient-based algorithms, we apply cross entropy method for updating the parameters. The proposed algorithm is applied to a double integrator and an inverted pendulum problem, with encouraging results. Copyright (C) 2020 The Authors.