Augmenting each sampled action with its full symmetry orbit makes finite-sample planning exactly equivariant and speeds up learning on several rotationally symmetric control tasks.
\ mathrm\ SO \ (2)\ - Equivariant Reinforcement Learning
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Equivariant Action Sampling for Reinforcement Learning and Planning
Augmenting each sampled action with its full symmetry orbit makes finite-sample planning exactly equivariant and speeds up learning on several rotationally symmetric control tasks.