Abstract
Designing and tuning reward functions remains one of the main challenges in building effective reinforcement learning (RL) pipelines for humanoid locomotion. While shaping rewards can accelerate learning, naively formulated terms often conflict with the desired behavior, overfit to a specific robot, or become unstable under small weight changes. Potential-Based Reward Shaping (PBRS) offers an alternative solution: shaping the reward via differences of a potential function to guide exploration without changing the optimal policy. In this paper, we study Multi-PBRS for humanoid locomotion and propose a unified reward configuration. We then evaluate the same reward structure and weights across nine humanoid robots, requiring only robot-specific metadata (joint/link mappings and default poses) rather than per-robot reward redesign. Our experiments show that, compared to standard shaping, MPBRS provides more consistent scaling behavior and reduced tuning sensitivity across robots, making it easier to tune without altering the optimal policy.
Abstract (translated)
URL
https://arxiv.org/abs/2610.30334
