Average-Reward Maximum Entropy Reinforcement Learning for Underactuated Double Pendulum Tasks
Year: 2024
Type: preprint
Abstract: This report presents a solution for the swing-up and stabilisation tasks of the acrobot and the pendubot, developed for the AI Olympics competition at IROS 2024. Our approach employs the Average-Reward Entropy Advantage Policy Optimization (AR-EAPO), a model-free reinforcement learning (RL) algorithm that combines average-reward RL and maximum entropy RL. Results demonstrate that our controller achieves improved performance and robustness scores compared to established baseline methods in both the acrobot and pendubot scenarios, without the need for a heavily engineered reward function or system model. The current results are applicable exclusively to the simulation stage setup.
Source: arXiv (Cornell University)
Institution: Korea University
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4403662259