Figure 1.
Gray Uncertainty Information and Fuzzy Uncertainty Information
Figure 2.
Task Inference Network
Figure 3.
State Inference Network
Figure 4.
Decision Network Structure
Figure 5.
Model Network Architecture
Figure 6.
Algorithm Comparison Experiment Diagram Under Different Environments
TABLE I.
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 |
Figure 7.
Navigation Comparison Experiment
Figure 8.
Ablation Experiment
TABLE II.
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 |
Figure 9.
Noise Resistance Experiment