Before revision:  Different from the traditional sparse reward function , we present three dense reward functions in this paper. Firstly, posture reward function is proposed to accelerate the learning process with a more reasonable trajectory by modeling the distance and direction constraints, which can reduce the blindness of exploration.
After revision:  Different from the traditional sparse reward function , we present three dense reward functions . These rewards differ from the traditional sparse reward. First, a posture reward function is proposed to accelerate the learning process with a more reasonable trajectory by modeling the distance and direction constraints, which can reduce the blindness of exploration.