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Reinforcement Learning with Parameterized Actions

arXiv 1509.01644 ↗First posted 5 Sep 2015cs.AI cs.LGcited by 61

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Abstract (arXiv)

We introduce a model-free algorithm for learning in Markov decision processes with parameterized actions-discrete actions with continuous parameters. At each step the agent must select both which action to use and which parameters to use with that action. We introduce the Q-PAMDP algorithm for learning in these domains, show that it converges to a local optimum, and compare it to direct policy search in the goal-scoring and Platform domains.

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). First posted on arXiv 5 Sep 2015.

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Citing papers per year: 2020: 1; 2021: 17; 2022: 5; 2023: 7; 2024: 10; 2025: 12; 2026: 9.

61 papers.

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  1. 2023Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Modelscited by 87
  2. 2021Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Taskscited by 75
  3. 2021Accelerating Robotic Reinforcement Learning via Parameterized Action Primitivescited by 63
  4. 2020Deep Imitation Learning for Bimanual Robotic Manipulationcited by 49
  5. 2021Hierarchical Skills for Efficient Explorationcited by 37
  6. 2024VisualPredicator: Learning Abstract World Models with Neuro-Symbolic Predicates for Robot Planningcited by 37
  7. 2021HyAR: Addressing Discrete-Continuous Action Reinforcement Learning via Hybrid Action Representationcited by 33
  8. 2021Iterative Bounding MDPs: Learning Interpretable Policies via Non-Interpretable Methodscited by 31
  9. 2021ReLAX: Reinforcement Learning Agent eXplainer for Arbitrary Predictive Modelscited by 25
  10. 2024Practice Makes Perfect: Planning to Learn Skill Parameter Policiescited by 22
  11. 2021Deep hierarchical reinforcement agents for automated penetration testingcited by 19
  12. 2022STAP: Sequencing Task-Agnostic Policiescited by 17
38 more
  1. 2023Efficient XAI Techniques: A Taxonomic Surveycited by 14
  2. 2024RELIEF: Reinforcement Learning Empowered Graph Feature Prompt Tuningcited by 9
  3. 2024PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learningcited by 8
  4. 2025ExoPredicator: Learning Abstract Models of Dynamic Worlds for Robot Planningcited by 8
  5. 2022Meta-Learning Parameterized Skillscited by 7
  6. 2023Parameterized Decision-making with Multi-modal Perception for Autonomous Drivingcited by 7
  7. 2024Model-based Reinforcement Learning for Parameterized Action Spacescited by 7
  8. 2021Generalising Discrete Action Spaces with Conditional Action Treescited by 6
  9. 2021One model Packs Thousands of Items with Recurrent Conditional Query Learningcited by 5
  10. 2021TMM-Fast: A Transfer Matrix Computation Package for Multilayer Thin-Film Optimizationcited by 5
  11. 2022Reinforcement learning for traffic signal control in hybrid action spacecited by 5
  12. 2021Design Strategy Network: A deep hierarchical framework to represent generative design strategies in complex action spacescited by 4
  13. 2021Generalizing Object-Centric Task-Axes Controllers using Keypointscited by 3
  14. 2021A reinforcement learning approach to resource allocation in genomic selectioncited by 3
  15. 2021Active Learning of Quantum System Hamiltonians yields Query Advantagecited by 3
  16. 2022Active Task Randomization: Learning Robust Skills via Unsupervised Generation of Diverse and Feasible Taskscited by 3
  17. 2024Exploiting Hybrid Policy in Reinforcement Learning for Interpretable Temporal Logic Manipulationcited by 3
  18. 2021ROS-X-Habitat: Bridging the ROS Ecosystem with Embodied AIcited by 2
  19. 2023Efficient Learning of High Level Plans from Playcited by 2
  20. 2024A Survey on Complex Tasks for Goal-Directed Interactive Agentscited by 2
  21. 2025Optimizing Navigation And Chemical Application in Precision Agriculture With Deep Reinforcement Learning And Conditional Action Treecited by 2
  22. 2021Guided Policy Search for Parameterized Skills using Adverbscited by 1
  23. 2023Diverse Policy Optimization for Structured Action Spacecited by 1
  24. 2024CycLight: learning traffic signal cooperation with a cycle-level strategycited by 1
  25. 2024Learning to Bridge the Gap: Efficient Novelty Recovery with Planning and Reinforcement Learningcited by 1
  26. 2025Learning Parameterized Skills from Demonstrationscited by 1
  27. 2021Curious Exploration and Return-based Memory Restoration for Deep Reinforcement Learningcited by 0
  28. 2022Eco-driving for Electric Connected Vehicles at Signalized Intersections: A Parameterized Reinforcement Learning approachcited by 0
  29. 2023Mixed-Integer Optimal Control via Reinforcement Learning: A Case Study on Hybrid Electric Vehicle Energy Managementcited by 0
  30. 2023Position control of an acoustic cavitation bubble by reinforcement learningcited by 0
  31. 2024Integrating Reinforcement Learning and Model Predictive Control with Applications to Microgridscited by 0
  32. 2025Learn A Flexible Exploration Model for Parameterized Action Markov Decision Processescited by 0
  33. 2025A Parallel Hybrid Action Space Reinforcement Learning Model for Real-world Adaptive Traffic Signal Controlcited by 0
  34. 2025Distributions as Actions: A Unified Framework for Diverse Action Spacescited by 0
  35. 2025Empowering LLMs with Parameterized Skills for Adversarial Long-Horizon Planningcited by 0
  36. 2025Learning to Drive Safely with Hybrid Optionscited by 0
  37. 2025Energy-Efficient Autonomous Driving with Adaptive Perception and Robust Decisioncited by 0
  38. 2025A Hybrid Proactive And Predictive Framework For Edge Cloud Resource Managementcited by 0

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