精选理由
这篇论文用Lyapunov指数做奖励，让强化学习不仅复现了Kapitza摆，还找到了更稳的竖直不倒方案，挺有意思。
论文提出将Lyapunov特征指数作为强化学习倒立摆稳定问题的密集奖励信号。代理成功找到了Kapitza摆的经典振荡运动。此外，代理还能够阻尼摆的摆动，使其严格保持竖直状态，超越了Kapitza摆的稳定效果。该方法展示了物理信息奖励在复杂控制任务中的有效性。
原文 · arXiv cs.LG
Lyapunov Exponent as Physics-Informed Dense Reward: RL Discovery of Stabilization Beyond the Kapitza Pendulum
We suggest using the Lyapunov characteristic exponent (LCE) as a dense reward signal for the reinforcement learning problem of stabilizing the inverted pendulum with vertical motion. With LCE, the agent not only successfully found the oscillatory motion known as the Kapitza pendulum but also damped the pendulum's pivoting, leaving it in a strictly upright position.