Evolutionary reinforcement learning (ERL) algorithms recently raise attention in tackling complex reinforcement learning (RL) problems due to high parallelism, while they are prone to insufficient exploration or model collapse without carefully tuning hyperparameters (aka meta-parameters). In the paper, we propose a general meta ERL framework via bilevel optimization (BiERL) to jointly update hyperparameters in parallel to training the ERL model within a single agent, which relieves the need for prior domain knowledge or costly optimization procedure before model deployment. We design an elegant meta-level architecture that embeds the inner-level's evolving experience into an informative population representation and introduce a simple and feasible evaluation of the meta-level fitness function to facilitate learning efficiency. We perform extensive experiments in MuJoCo and Box2D tasks to verify that as a general framework, BiERL outperforms various baselines and consistently improves the learning performance for a diversity of ERL algorithms.

通过双级优化的元进化强化学习（ERL）框架，我们在单个智能体内并行地更新超参数，从而解决了复杂强化学习问题中不足的探索或模型崩溃的问题，验证了其在各种ERL算法上改善学习性能的一致性优势。

BiERL：一种基于双层优化的元进化强化学习框架