Papers › ProMP: Proximal Meta-Policy Search

ProMP: Proximal Meta-Policy Search

16 Oct 2018ICLR 2019 5arXiv:1810.06784archive 2025-07-28

Jonas Rothfuss, Dennis Lee, Ignasi Clavera, Tamim Asfour, Pieter Abbeel

Credit assignment in Meta-reinforcement learning (Meta-RL) is still poorly understood. Existing methods either neglect credit assignment to pre-adaptation behavior or implement it naively. This leads to poor sample-efficiency during meta-training as well as ineffective task identification strategies. This paper provides a theoretical analysis of credit assignment in gradient-based Meta-RL. Building on the gained insights we develop a novel meta-learning algorithm that overcomes both the issue of poor credit assignment and previous difficulties in estimating meta-policy gradients. By controlling the statistical distance of both pre-adaptation and adapted policies during meta-policy search, the proposed algorithm endows efficient and stable meta-learning. Our approach leads to superior pre-adaptation policy behavior and consistently outperforms previous Meta-RL algorithms in sample-efficiency, wall-clock time, and asymptotic performance.

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