paperarXivTrust 82 · PrimaryPublished 1mo agoLive · 1mo ago
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.
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- LinkedLinked via arxiv author · 85%Slava Andrejev →
“Lyapunov Exponent as Physics-Informed Dense Reward: RL Discovery of Stabilization Beyond the Kapitza Pendulum”
- PossiblePossibly related (embedding) · 51%The Little Book of Reinforcement Learning →