# Distilling Deep Reinforcement Learning into Interpretable Fuzzy Rules: An Explainable AI Framework

arXiv: https://arxiv.org/abs/2603.13257 · HTML: https://mlsanity.com/paper/2603.13257/

## 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 14 of its 45 references that are in the map.
- First posted on arXiv 24 Feb 2026.

## 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, 14 of 14)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [A Unified Approach to Interpreting Model Predictions](https://mlsanity.com/paper/1705.07874/) (2017)
- ["Why Should I Trust You?": Explaining the Predictions of Any Classifier](https://mlsanity.com/paper/1602.04938/) (2016)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [Explainable Artificial Intelligence (XAI): Concepts, Taxonomies, Opportunities and Challenges toward Responsible AI](https://mlsanity.com/paper/1910.10045/) (2019)
- [End-to-End Training of Deep Visuomotor Policies](https://mlsanity.com/paper/1504.00702/) (2015)
- [Programmatically Interpretable Reinforcement Learning](https://mlsanity.com/paper/1804.02477/) (2018)
- [Verifiable Reinforcement Learning via Policy Extraction](https://mlsanity.com/paper/1805.08328/) (2018)
- [Visualizing and Understanding Atari Agents](https://mlsanity.com/paper/1711.00138/) (2017)
- [Explainable Reinforcement Learning: A Survey](https://mlsanity.com/paper/2005.06247/) (2020)
- [Self-supervised Deep Reinforcement Learning with Generalized Computation Graphs for Robot Navigation](https://mlsanity.com/paper/1709.10489/) (2017)
- [Graying the black box: Understanding DQNs](https://mlsanity.com/paper/1602.02658/) (2016)
- [Toward Interpretable Deep Reinforcement Learning with Linear Model U-Trees](https://mlsanity.com/paper/1807.05887/) (2018)
- [Establishing Appropriate Trust via Critical States](https://mlsanity.com/paper/1810.08174/) (2018)

## Abstract (arXiv)

Deep Reinforcement Learning (DRL) agents achieve remarkable performance in continuous control but remain opaque, hindering deployment in safety-critical domains. Existing explainability methods either provide only local insights (SHAP, LIME) or employ over-simplified surrogates failing to capture continuous dynamics (decision trees). This work proposes a Hierarchical Takagi-Sugeno-Kang (TSK) Fuzzy Classifier System (FCS) distilling neural policies into human-readable IF-THEN rules through K-Means clustering for state partitioning and Ridge Regression for local action inference. Three quantifiable metrics are introduced: Fuzzy Rule Activation Density (FRAD) measuring explanation focus, Fuzzy Set Coverage (FSC) validating vocabulary completeness, and Action Space Granularity (ASG) assessing control mode diversity. Dynamic Time Warping (DTW) validates temporal behavioral fidelity. Empirical evaluation on textitLunar Lander(Continuous) shows the Triangular membership function variant achieves 81.48% ± 0.43% fidelity, outperforming Decision Trees by 21 percentage points. The framework exhibits statistically superior interpretability (FRAD = 0.814 vs. 0.723 for Gaussian, p < 0.001) with low MSE (0.0053) and DTW distance (1.05). Extracted rules such as ``IF lander drifting left at high altitude THEN apply upward thrust with rightward correction'' enable human verification, establishing a pathway toward trustworthy autonomous systems.