Magnetic Field-Based Reward Shaping for Goal-Conditioned Reinforcement Learning
文献类型：期刊论文
| 作者 | Hongyu Ding; Yuanze Tang; Qing Wu; Bo Wang; Chunlin Chen; Zhi Wang |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:12页码:2233-2247 |
| ISSN号 | 2329-9266 |
| 关键词 | Dynamic environments goal-conditioned reinforcement learning magnetic field reward shaping |
| DOI | 10.1109/JAS.2023.123477 |
| 英文摘要 | Goal-conditioned reinforcement learning (RL) is an interesting extension of the traditional RL framework, where the dynamic environment and reward sparsity can cause conventional learning algorithms to fail. Reward shaping is a practical approach to improving sample efficiency by embedding human domain knowledge into the learning process. Existing reward shaping methods for goal-conditioned RL are typically built on distance metrics with a linear and isotropic distribution, which may fail to provide sufficient information about the ever-changing environment with high complexity. This paper proposes a novel magnetic field-based reward shaping (MFRS) method for goal-conditioned RL tasks with dynamic target and obstacles. Inspired by the physical properties of magnets, we consider the target and obstacles as permanent magnets and establish the reward function according to the intensity values of the magnetic field generated by these magnets. The nonlinear and anisotropic distribution of the magnetic field intensity can provide more accessible and conducive information about the optimization landscape, thus introducing a more sophisticated magnetic reward compared to the distance-based setting. Further, we transform our magnetic reward to the form of potential-based reward shaping by learning a secondary potential function concurrently to ensure the optimal policy invariance of our method. Experiments results in both simulated and real-world robotic manipulation tasks demonstrate that MFRS outperforms relevant existing methods and effectively improves the sample efficiency of RL algorithms in goal-conditioned tasks with various dynamics of the target and obstacles. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/52467]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Hongyu Ding,Yuanze Tang,Qing Wu,et al. Magnetic Field-Based Reward Shaping for Goal-Conditioned Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(12):2233-2247. |
| APA | Hongyu Ding,Yuanze Tang,Qing Wu,Bo Wang,Chunlin Chen,&Zhi Wang.(2023).Magnetic Field-Based Reward Shaping for Goal-Conditioned Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,10(12),2233-2247. |
| MLA | Hongyu Ding,et al."Magnetic Field-Based Reward Shaping for Goal-Conditioned Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 10.12(2023):2233-2247. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。