Optimistic planning for continuous-action deterministic systems
Lucian Buşoniu, Alexander Daniels, Rémi Munos, Robert Babuška · 2013
We consider the class of online planning algorithms for optimal control, which compared to dynamic programming are relatively unaffected by large state dimensionality. We introduce a novel planning algorithm called SOOP that works for deterministic systems with continuous states and actions. SOOP is the first method to explore the true solution space, consisting of infinite sequences of continuous actions, without requiring knowledge about the smoothness of the system. SOOP can be used parameter-free at the cost of more model calls, but we also propose a more practical variant tuned by a parameter α, which balances finer discretization with longer planning horizons. Experiments on three problems show SOOP reliably ranks among the best algorithms, fully dominating competing methods when the problem requires both long horizons and fine discretization.