The invention discloses an offline
reinforcement learning method based on a
score model, and the method comprises the steps: building a
score generation model, learning a gradient field of an offline
data set through employing a denoising
score matching technology, estimating a score value, introducing a score as a penalty term, and preventing an
intelligent agent from exploring a region where the
data density is rapidly reduced. In the training process, real data and
synthetic data are combined, a soft actor commentator framework is used for optimizing a commentator network, a penalty term is introduced to limit the influence of the
synthetic data on a strategy target, meanwhile, a Q value is maximized, an
intelligent agent strategy is optimized in combination with an entropy term, the
synthetic data quality is improved, and the robustness and generalization ability of the model are enhanced. In scenes such as
robot control, the method can ensure
safe operation of the
robot in a complex environment, effectively utilizes the synthetic data to improve the strategy performance, and reduces the risk of online
data acquisition. Particularly, when tasks such as
robot navigation are processed, key information near a target point can be better handled, strategy failure caused by complexity of data distribution is avoided, and excellent practicability and adaptability are shown.