אימון רכיבתי עם ריפליי יעיל ומגוון

תקציר מקורי באנגליתarXiv:2410.20487v5 Announce Type: replace-cross Abstract: Experience replay is widely used to improve learning efficiency in reinforcement learning by leveraging past experiences. However, existing experience replay methods, whether based on uniform or prioritized sampling, often suffer from low efficiency, particularly in real-world scenarios with high-dimensional state spaces. To address this limitation, we propose a novel approach, Efficient Diversity-based Experience Replay (EDER). EDER employs a determinantal point process to model the diversity between samples and prioritizes replay based on the diversity between samples. To further enhance learning efficiency, we incorporate Cholesky decomposition for handling large state spaces in realistic environments. Additionally, rejection sam