Fig. 2: Evolution of the cumulative reward during training for the three RL swimmers. | Nature Communications

Fig. 2: Evolution of the cumulative reward during training for the three RL swimmers.

From: Learning efficient navigation in vortical flow fields

Fig. 2: Evolution of the cumulative reward during training for the three RL swimmers.

The cumulative rewards for each episode are plotted as points, and a moving average with a window of 201 episodes is plotted with a solid line. Because the swimmer gains a bonus of 200 for reaching the target, successful episodes are clustered around a reward of 200 while unsuccessful episodes are clustered below zero.

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