# Potential-Based Reward Shaping For Intrinsic Motivation

arXiv: https://arxiv.org/abs/2402.07411 · HTML: https://mlsanity.com/paper/2402.07411/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- Placed in Deep RL algorithms and representations, one of 15 directions in Deep reinforcement learning methods.
- Builds on 10 of its 30 references that are in the map.
- First posted on arXiv 12 Feb 2024.

## Placed in

- Deep reinforcement learning methods / [Deep RL algorithms and representations](https://mlsanity.com/deeprl/deep-rl-algorithms-and-representations/)

## Builds on (most cited first, 10 of 10)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Curiosity-driven Exploration by Self-supervised Prediction](https://mlsanity.com/paper/1705.05363/) (2017)
- [Exploration by Random Network Distillation](https://mlsanity.com/paper/1810.12894/) (2018)
- [Diversity is All You Need: Learning Skills without a Reward Function](https://mlsanity.com/paper/1802.06070/) (2018)
- [Unifying Count-Based Exploration and Intrinsic Motivation](https://mlsanity.com/paper/1606.01868/) (2016)
- [Large-Scale Study of Curiosity-Driven Learning](https://mlsanity.com/paper/1808.04355/) (2018)
- [Count-Based Exploration with Neural Density Models](https://mlsanity.com/paper/1703.01310/) (2017)
- [Variational Information Maximisation for Intrinsically Motivated Reinforcement Learning](https://mlsanity.com/paper/1509.08731/) (2015)
- [RIDE: Rewarding Impact-Driven Exploration for Procedurally-Generated Environments](https://mlsanity.com/paper/2002.12292/) (2020)
- [Using Natural Language for Reward Shaping in Reinforcement Learning](https://mlsanity.com/paper/1903.02020/) (2019)

## Built on by (most cited first, 12 of 12)

- [On the Importance of Reward Design in Reinforcement Learning-based Dynamic Algorithm Configuration: A Case Study on OneMax with (1+(λ,λ))-GA](https://mlsanity.com/paper/2502.20265/) (2025)
- [The Dark Room in the Reward Channel: Dense Prediction Rewards Collapse GRPO-Trained LLM Agents -- and The Channel, Not the Content, Decides What Works](https://mlsanity.com/paper/2607.21273/) (2026)
- [BAMDP Shaping: a Unified Framework for Intrinsic Motivation and Reward Shaping](https://mlsanity.com/paper/2409.05358/) (2024)
- [Potential-Based Intrinsic Motivation: Preserving Optimality With Complex, Non-Markovian Shaping Rewards](https://mlsanity.com/paper/2410.12197/) (2024)
- [Action-Dependent Optimality-Preserving Reward Shaping](https://mlsanity.com/paper/2505.12611/) (2025)
- [On the Sample Efficiency of Abstractions and Potential-Based Reward Shaping in Reinforcement Learning](https://mlsanity.com/paper/2404.07826/) (2024)
- [Deep Reinforcement Learning for Dynamic Algorithm Configuration: A Case Study on Optimizing OneMax with the (1+(λ,λ))-GA](https://mlsanity.com/paper/2512.03805/) (2025)
- [LLM-Enhanced Reinforcement Learning for Time Series Anomaly Detection](https://mlsanity.com/paper/2601.02511/) (2026)
- [Minding Motivation: The Effect of Intrinsic Motivation on Agent Behaviors](https://mlsanity.com/paper/2507.19725/) (2025)
- [medR: Reward Engineering for Clinical Offline Reinforcement Learning via Tri-Drive Potential Functions](https://mlsanity.com/paper/2602.03305/) (2026)
- [Visual Set Program Synthesizer](https://mlsanity.com/paper/2603.15997/) (2026)
- [MAGIC: Multi-Step Advantage-Gated Causal Influence for Multi-agent Reinforcement Learning](https://mlsanity.com/paper/2605.01805/) (2026)

## Abstract (arXiv)

Recently there has been a proliferation of intrinsic motivation (IM) reward-shaping methods to learn in complex and sparse-reward environments. These methods can often inadvertently change the set of optimal policies in an environment, leading to suboptimal behavior. Previous work on mitigating the risks of reward shaping, particularly through potential-based reward shaping (PBRS), has not been applicable to many IM methods, as they are often complex, trainable functions themselves, and therefore dependent on a wider set of variables than the traditional reward functions that PBRS was developed for. We present an extension to PBRS that we prove preserves the set of optimal policies under a more general set of functions than has been previously proven. We also present em Potential-Based Intrinsic Motivation (PBIM), a method for converting IM rewards into a potential-based form that is useable without altering the set of optimal policies. Testing in the MiniGrid DoorKey and Cliff Walking environments, we demonstrate that PBIM successfully prevents the agent from converging to a suboptimal policy and can speed up training.