Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Ablation Test Results
| Model | Convergence Steps | Average Reward |
|---|---|---|
| DTS-Infer | 400000+ | -21.45 |
| DTS-Infer(with out priori) | 1000000+ | -37.36 |
| DTS-Infer(with out zc) | 1000000+ | -62.66 |
| TD3(with out zc,zs) | 1000000+ | -113.35 |
Comparative Test Results
| Environment | Model | Convergence Steps | Average Reward |
|---|---|---|---|
| Half-Cheetah-Vel | DTS-Infer | 400000+ | -21.45 |
| PEARL | 600000+ | -35.76 | |
| Half-Cheetah-Fwd-Back | DTS-Infer | 400000+ | 1612.61 |
| PEARL | 1000000+ | 1356.40 | |
| Ant-Goal | DTS-Infer | 1000000+ | -193.36 |
| PEARL | 1000000+ | -292.69 |