AI & ML
Bridging Exploration and Loss of Plasticity in On-Policy Reinforcement Learning
arXiv cs.RO0 views
arXiv:2610.36309v1 Announce Type: cross Abstract: Deep reinforcement learning (RL) algorithms have been observed to lose the ability to adaptively learn from new data, a phenomenon termed Loss of Plasticity (LoP). While many metrics have been shown to correlate with it, the causal mechanisms and the geometric conditions from which it can arise have not been clearly identified. We analyze LoP in Proximal Policy Optimization with isotropic Gaussian policies, the state-of-the-art formulation for many continuous action spaces in RL. We report multiple metrics which characterize the effect that the policy standard deviation $\sigma$ has on LoP, and we also suggest related explanations for the effectiveness of widely adopted LoP mitigation techniques. We observe a significant effect of $\sigma$ on the extent of LoP, and accompany this with both theoretical and experimental supporting arguments. Our experimental validation consists of LoP benchmark evaluations against standard baselines as well as real-world policy deployment on a 7-DoF robotic arm.
Source:https://arxiv.org/abs/2610.36309PreviousCalibrated for Which Policy? Conformal Uncertainty for Fixed World Models Under InterventionNextPolarity--Time Interaction and Multi-Level Reliability for Event-Based Spacecraft Pose Estimation
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