Reparameterization (RP) and likelihood ratio (LR) gradient estimators are used throughout machine and reinforcement learning; however, they are usually explained as simple mathematical tricks without providing any insight into their nature. We use a first principles approach to explain LR and RP, and show a connection between the two via the divergence theorem. The theory motivated us to derive optimal importance sampling schemes to reduce LR gradient variance. Our newly derived distributions have analytic probability densities and can be directly sampled from. The improvement for Gaussian target distributions was modest, but for other distributions such as a Beta distribution, our method could lead to arbitrarily large improvements, and was crucial to obtain competitive performance in evolution strategies experiments.
View on arXiv