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[旋转 跳跃 后空翻] 四足/人形机器人的分阶段奖励塑造:一种受约束的多目标 RL 方法 | 开源代码在简介
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https://www.youtube.com/watch?v=uruOBd2cKQs Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcement Learning Approach Dohyeong Kim, Hyeokjin Kwon, Junseok Kim, Gunmin Lee, Songhwai Oh As the complexity of tasks addressed through reinforcement learning (RL) increases, the definition of reward functions also has become highly complicated. We introduce an RL method aimed at simplifying the reward-shaping process through intuitive strategies. Initially, instead of a single reward function composed of various terms, we define multiple reward and cost functions within a constrained multi-objective RL (CMORL) framework. For tasks involving sequential complex movements, we segment the task into distinct stages and define multiple rewards and costs for each stage. Finally, we introduce a practical CMORL algorithm that maximizes objectives based on these rewards while satisfying constraints defined by the costs. The proposed method has been successfully demonstrated across a variety of acrobatic tasks in both simulation and real-world environments. Additionally, it has been shown to successfully perform tasks compared to existing RL and constrained RL algorithms. Our code is available at this https URL. https://arxiv.org/abs/2409.15755 https://github.com/rllab-snu/Stage-Wise-CMORL
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