Unsupervised reinforcement learning method and apparatus based on wasserstein distance

Abstract

The present disclosure discloses an unsupervised reinforcement learning method and apparatus based on Wasserstein distance. The method includes: obtaining a state distribution in a trajectory obtained with guidance of a current policy of an agent; calculating a Wasserstein distance between the state distribution and a state distribution in a trajectory obtained with another historical policy, and calculating a pseudo reward of the agent based on the Wasserstein distance, replacing a reward fed back from an environment in a target reinforcement learning framework with the pseudo reward, and guiding the current policy of the agent to keep a large distance from the other historical policy. The method uses Wasserstein distance to encourage an algorithm in an unsupervised reinforcement learning framework to obtain diverse policies and skills through training.