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Learning curves of several reinforcement learning methods and mechanosensory feedback compositions. Each solid curve is an average of over 10 training trials, and the dotted lines show standard deviation. Curves are smoothed over every 20 epochs. DDPG, TRPO, and PPO, which update the policy at every step, yielded poor performance compared to PGPE. DDPG, deep deterministic policy gradient; PPO, proximal policy optimization; TRPO, trust region policy optimization.
