Lyapunov Exponent as Physics-Informed Dense Reward: RL Discovery of Stabilization Beyond the Kapitza Pendulum· 李雅普诺夫指数作为物理信息密集奖励：超越卡皮察摆的 RL 稳定

We suggest using the Lyapunov characteristic exponent (LCE) as a dense reward signal for the reinforcement learning problem of stabilizing the inverted pendulum with vertical motion. With LCE, the agent not only successfully found the oscillatory motion known as the Kapitza pendulum but also damped the pendulum's pivoting, leaving it in a strictly upright position.