About Initial Variance of CEM

[Shunichi09]

Thank you for your great codes. I have a question for the initial variance of CEM. According your code, you used the initial variance as follows:

self.init_var = np.tile(np.square(self.ac_ub - self.ac_lb) / 16, [self.plan_hor])

I am trying to implement CEM for MBRLHalfCheetah-v0 by using the true model like you did in your paper. However, I got the poor results. Did you you use this parameter for all tasks ?? Actually, I got a good result for the CartPole task.

Also, How did you set the parameters of CEM to get the stable results.

"CEM": { "popsize": 500, "num_elites": 50, "max_iters": 5, "alpha": 0.1 }

Thank you for your help.