Sample-efficient reinforcement learning

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sample-efficient reinforcement learning. One of the methods includes maintaining an ensemble of Q networks, an ensemble of transition models, and an ensemble of reward models; obtaining a transition; generating, using the ensemble of transition models, M trajectories; for each time step in each of the trajectories: generating, using the ensemble of reward models, N rewards for the time step, generating, using the ensemble of Q networks, L Q values for the time step, and determining, from the rewards, the Q values, and the training reward, L*N candidate target Q values for the trajectory and for the time step; for each of the time steps, combining the candidate target Q values; determining a final target Q value; and training at least one of the Q networks in the ensemble using the final target Q value.