Trust the Model When It Is Confident: Masked Model-based Actor-Critic

It is a popular belief that model-based Reinforcement Learning (RL) is more sample efficient than model-free RL, but in practice, it is not always true due to overweighed model errors. In complex and noisy settings, model-based RL tends to have trouble using the model if it does not know when to trust the model. In this work, we find that better model usage can make a huge difference. We show theoretically that if the use of model-generated data is restricted to state-action pairs where the model error is small, the performance gap between model and real rollouts can be reduced. It motivates us to use model rollouts only when the model is confident about its predictions. We propose Masked Model-based Actor-Critic (M2AC), a novel policy optimization algorithm that maximizes a model-based lower-bound of the true value function.