Robust and Efficient Planning using Adaptive Entropy Tree Search

In this paper, we present the Adaptive EntropyTree Search (ANTS) algorithm. ANTS builds on recent successes of maximum entropy planning while mitigating its arguably major drawback - sensitivity to the temperature setting. We endow ANTS with a mechanism, which adapts the temperature to match a given range of action selection entropy in the nodes of the planning tree. With this mechanism, the ANTS planner enjoys remarkable hyper-parameter robustness, achieves high scores on the Atari benchmark, and is a capable component of a planning-learning loop akin to AlphaZero. We believe that all these features make ANTS a compelling choice for a general planner for complex tasks.