Model-Based Reinforcement Learning With Probabilistic Ensemble Terminal Critics for Data-Efficient Control Applications
Bibliographic record
Abstract
This article proposes a data-efficient model-based reinforcement learning (RL) algorithm empowered by reliable future reward estimates achieved through a confidence-based probabilistic ensemble terminal critics (PETC). The proposed algorithm utilizes a model-predictive controller to choose an action that optimizes the sum of the near and distant future rewards for a given current state. Near future rewards with high confidence are determined directly from trained deterministic dynamics and reward models. Distant future rewards beyond these horizons are meticulously assessed using the proposed confidence-based PETC, which minimizes estimation errors inherent in the distant future and quantifies uncertainty confidence. Through such confidence-based guided actions, the proposed approach is expected to operate in a reliable, explainable, and data-efficient manner, consistently guiding the system to an optimal trajectory. A comparison with the existing state-of-the-art RL algorithms for eight DeepMind Control Suite tasks confirms the superior data efficiency of the proposed approach, which achieves an average cumulative reward of 761.2 in merely 500K steps, whereas the other algorithms score below 700.0. The proposed algorithm is also successfully applied to two real-world control applications, namely single- and double-cartpole swing-up tasks.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.004 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".