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Although deep reinforcement learning methods can learn effective policies for challenging problems such as Atari games and robotics tasks, algorithms are complex, and training times are often long. This study investigates how Evolution Strategies perform compared to gradient-based deep reinforcement learning methods. We use Evolution Strategies to optimize the weights of a neural network via neuroevolution, performing direct policy search. We benchmark both deep policy networks and networks consisting of a single linear layer from observations to actions for three gradient-based methods, such as Proximal Policy Optimization. These methods are evaluated against three classical Evolution Strategies and Augmented Random Search, which all use linear policy networks. Our results reveal that Evolution Strategies can find effective linear policies for many reinforcement learning benchmark tasks, unlike deep reinforcement learning methods that can only find successful policies using much larger networks, suggesting that current benchmarks are easier to solve than previously assumed. Interestingly, Evolution Strategies also achieve results comparable to gradient-based deep reinforcement learning algorithms for higher-complexity tasks. Furthermore, we find that by directly accessing the memory state of the game, Evolution Strategies can find successful policies in Atari that outperform the policies found by Deep Q-Learning. Evolution Strategies also outperform Augmented Random Search in most benchmarks, demonstrating superior sample efficiency and robustness in training linear policy networks. |
