Nature CommunicationsDiscovery of the reward function for embodied reinforcement learning agentsRenzhi LuZonghe ShaoYuemin DingRuijuan ChenDongrui WuHousheng SuTao YangFumin ZhangJun WangYang ShiZhong-Ping JiangHan DingHai-Tao Zhang2025-12-11Full textDOI https://doi.org/10.1038/s41467-025-66009-y