Entropy-Controlled Intrinsic Motivation Reinforcement Learning for Quadruped Robot Locomotion in Complex Terrains

TL;DR

This paper introduces ECIM, an entropy-controlled intrinsic motivation reinforcement learning algorithm that improves quadruped robot locomotion in complex terrains by reducing premature convergence and enhancing stability and efficiency.

Contribution

The paper proposes a novel entropy-based reinforcement learning method, ECIM, that combines intrinsic motivation with adaptive exploration to improve robotic locomotion in complex environments.

Findings

Task rewards increased by 4-12%

Peak body pitch oscillation reduced by 23-29%

Joint torque consumption decreased by 11-20%

Abstract

Learning is the basis of both biological and artificial systems when it comes to mimicking intelligent behaviors. From the classical PPO (Proximal Policy Optimization), there is a series of deep reinforcement learning algorithms which are widely used in training locomotion policies for quadrupedal robots because of their stability and sample efficiency. However, among all these variants, experiments and simulations often converge prematurely, leading to suboptimal locomotion and reduced task performance. Therefore, in this paper, we introduce Entropy-Controlled Intrinsic Motivation (ECIM), an entropy-based reinforcement learning algorithm in contrast with the PPO series, that can reduce premature convergence by combining intrinsic motivation with adaptive exploration. For experiments, in order to parallel with other baselines, we chose to apply it in Isaac Gym across six terrain categories: upward slopes, downward slopes, uneven rough terrain, ascending stairs, descending stairs, and flat ground as widely used. For comparison, our experiments consistently achieve better performance: task rewards increase by 4--12%, peak body pitch oscillation is reduced by 23--29%, joint acceleration decreases by 20--32%, and joint torque consumption declines by 11--20%. Overall, our model ECIM, by combining entropy control and intrinsic motivation control, achieves better results in stability across different terrains for quadrupedal locomotion, and at the same time reduces energetic cost and makes it a practical choice for complex robotic control tasks.