Abstract 

This work shows that policies with simple linear and RBF parameterizations can be trained to solve a variety of widely studied continuous control tasks, including the gym-v1 benchmarks. The performance of these trained policies are competitive with state of the art results, obtained with more elaborate parameterizations such as fully connected neural networks. Furthermore, the standard training and testing scenarios for these tasks are shown to be very limited and prone to over-fitting, thus giving rise to only trajectory-centric policies. Training with a diverse initial state distribution induces more global policies with better generalization. This allows for interactive control scenarios where the system recovers from large on-line perturbations; as shown in the supplementary video.