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

Abstract: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 same-state decomposition shows that this is not due to variance alone: setting variance to zero still leaves 83.83% of actions near a bound, while 82.12% of state-conditioned means lie outside the executable interval. Replacing clipping with a tanh map does not remove the high-variance regime. For latent Gaussian entropy H(u), the entropy loss has zero gradient with respect to the mean and a constant variance-increasing gradient. For executed-action entropy H(a), the transform Jacobian adds an inward gradient on the mean. Across three matched MyoLeg seeds, near-boundary occupancy is 71.42%, 29.76%, and 18.83% under latent entropy, no entropy, and executed-action entropy. A 38-dimensional Dog-Stand replication with an independent CleanRL-based PPO implementation reproduces the ordering in mean geometry, which also survives shared-state evaluation and boundary margins from 1% to 10%. Direct mean penalties can match or exceed the centering produced by H(a), showing that interior means are not unique to executed entropy. However, matched mean geometry can coexist with substantially different variance and return. Entropy measurement space is therefore a coupled mean-variance design choice, and task return alone does not characterize bounded-policy geometry.

Machine Learning (cs.LG)

arXiv:2608.24488 [cs.LG]

(or arXiv:2608.24488v1 [cs.LG] for this version)

https://doi.org/10.48550/arXiv.2608.24488 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.