# Steady-State Error Compensation for Reinforcement Learning with Quadratic Rewards

arXiv: https://arxiv.org/abs/2402.09075 · HTML: https://mlsanity.com/paper/2402.09075/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Interpretable and logic-guided RL, one of 15 directions in Deep reinforcement learning methods.
- Builds on 6 of its 19 references that are in the map.
- First posted on arXiv 14 Feb 2024.

## Placed in

- Deep reinforcement learning methods / [Interpretable and logic-guided RL](https://mlsanity.com/deeprl/interpretable-and-logic-guided-rl/)

## Builds on (most cited first, 6 of 6)

- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Sigmoid-Weighted Linear Units for Neural Network Function Approximation in Reinforcement Learning](https://mlsanity.com/paper/1702.03118/) (2017)
- [Deep Reinforcement Learning: An Overview](https://mlsanity.com/paper/1701.07274/) (2017)
- [An Introduction to Deep Reinforcement Learning](https://mlsanity.com/paper/1811.12560/) (2018)
- [Comparison of Deep Reinforcement Learning and Model Predictive Control for Adaptive Cruise Control](https://mlsanity.com/paper/1910.12047/) (2019)
- [Numerically Stable Dynamic Bicycle Model for Discrete-time Control](https://mlsanity.com/paper/2011.09612/) (2020)

## Abstract (arXiv)

The selection of a reward function in Reinforcement Learning (RL) has garnered significant attention because of its impact on system performance. Issues of significant steady-state errors often manifest when quadratic reward functions are employed. Although absolute-value-type reward functions alleviate this problem, they tend to induce substantial fluctuations in specific system states, leading to abrupt changes. In response to this challenge, this study proposes an approach that introduces an integral term. By integrating this integral term into quadratic-type reward functions, the RL algorithm is adeptly tuned, augmenting the system's consideration of reward history, and consequently alleviates concerns related to steady-state errors. Through experiments and performance evaluations on the Adaptive Cruise Control (ACC) and lane change models, we validate that the proposed method effectively diminishes steady-state errors and does not cause significant spikes in some system states.