Author

Yiyang He

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Preprint Aug 2026

Where Entropy Is Measured Matters: Policy Geometry in Bounded Continuous-Control PPO

Many continuous-control policies are optimized as unbounded Gaussians and then mapped into bounded actions. We show that where entropy is measured changes the policy geometry learned by proximal policy optimization (PPO). In an 80-muscle MyoLeg task, a clipped Gaussian executes 89.07% of actions within 5% of a bound. A...

Yiyang He, Zhi-Chun Zhou, Zi-Wei Wang et al. · 0 citations