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Stéphane Doncieux

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#machine learning Preprint Aug 2026

Locally-Guided Actor-Critic: Training a Goal-conditioned Actor with a Subgoal-aware Critic

An alternative reward shaping method (RS) is proposed that removes deceptive rewards at the expense of theoretical guarantees of PBRS, and another method named Locally-Guided Actor Critic (LG-AC) that rewards the agent for reaching intermediate goals achieves the best overall performance across tasks.

Olivier Serris, Stéphane Doncieux, Olivier Sigaud · 0 citations