Abstract: The optimization algorithm of monotonous improvement of strategy in reinforcement learning is a current research hotspot,and it has achieved good performance in both discrete and continuous control tasks.Proximal policy optimization(PPO)algorithm is a classic strategy monotonic promotion algorithm,but it is an on-policy algorithm with low sample utilization.To solve this problem,an algorithm named proximal policy optimization based on self-directed action selection(SDAS-PPO)is proposed.The SDAS-PPO algorithm not only uses the sample experience according to the importance sampling weight,but also adds a synchronously updated experience pool to store its own excellent sample experience,and uses the self-directed network learned from the experience pool to guide the choice of actions.The SDAS-PPO algorithm greatly improves the sample utilization rate and ensures that the intelligent body can learn quickly and effectively when training the network model.In order to verify the effectiveness of the SDAS-PPO algorithm,the SDAS-PPO algorithm and the TRPO algorithm,PPO algorithm and PPO-AMBER algorithm are used in the continuous control task Mujoco simulation platform for comparative experiments.Experimental results show that this method has better performance in most environments.

Key words: Deep reinforcement learning, Policy gradient, Proximal policy optimization, Reinforcement learning, Self-directed