US Patent 11179847 Selecting actions to be performed by a robotic agent

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for a system configured to plan actions to be performed by a robotic agent interacting with an environment to accomplish an objective by determining an optimized trajectory of state—action pairs for accomplishing the objective. The system maintains a current optimized trajectory and a current trust region radius, and optimizes a localized objective within the current trust region radius of the current optimized trajectory to determine a candidate updated optimized trajectory. The system determines whether the candidate updated optimized trajectory improves over the current optimized trajectory. In response to determining that the candidate updated optimized trajectory improves over the current optimized trajectory, the system updates the current optimized trajectory to the candidate updated optimized trajectory and updates the current trust region radius.