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Local Bayesian optimization via maximizing probability of descent
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use the MPD acquisition and most-probable-descent update together instead of GIBO | Local Bayesian optimization · Swimmer-v1, cosmological constant, rover trajectory | terminal objective value: 348.88 -> 360.50; -55.25 -> -23.97; 152.77 -> 89.89 | Helped |
| Use trace-based gradient learning instead of the MPD acquisition while retaining MPD movement (ablation) | MPD · Swimmer-v1 | terminal objective value: 360.50 -> 350.58 | Hurt |
| Use trace-based gradient learning instead of the MPD acquisition while retaining MPD movement (ablation) | MPD · Cosmological constant | terminal objective value: -23.97 -> -27.72 | Hurt |
| Use trace-based gradient learning instead of the MPD acquisition while retaining MPD movement (ablation) | MPD · Rover trajectory | terminal objective value: 89.89 -> 84.17 | Helped |
| Move along the negative expected gradient instead of the most probable descent direction (ablation) | MPD · Swimmer-v1 | terminal objective value: 360.50 -> 340.12 | Hurt |
| Move along the negative expected gradient instead of the most probable descent direction (ablation) | MPD · Cosmological constant | terminal objective value: -23.97 -> -21.24 | Helped |
| Move along the negative expected gradient instead of the most probable descent direction (ablation) | MPD · Rover trajectory | terminal objective value: 89.89 -> 293.08 | Hurt |
| Lower the descent probability threshold from 65% to 50% (ablation) | MPD · Rover trajectory | terminal objective value: 89.89 -> 51.48 | Helped |
| Lower the descent probability threshold from 65% to 50% (ablation) | MPD · Swimmer-v1 | terminal objective value: 360.50 -> 342.36 | Hurt |
| Raise the descent probability threshold to 85% or 95% (ablation) | MPD · Swimmer-v1 | terminal objective value: 360.50 -> 294.67; 360.50 -> 15.97 | Hurt |
| Increase step size to 10⁻² (ablation) | MPD · Swimmer-v1 | terminal objective value: 360.50 -> 350.15 | Hurt |
| Disable state-normalization updates during inner learning (ablation) | MPD and GIBO · Hopper-v1 | terminal optimized reward: GIBO: 2827.96 -> 1032.97; MPD: 2199.48 -> 1398.35 | Mixed |
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