You may have a look at "Smooth Exploration for Robotic Reinforcement Learning" ;) The jitter issue is one of the main motivation of that paper: https://openreview.net/forum?id=TSuSGVkjuXd
But overall, energy minimization is a good regulariser.
Also related: https://openreview.net/forum?id=PfC1Jr6gvuP
You may have a look at "Smooth Exploration for Robotic Reinforcement Learning" ;) The jitter issue is one of the main motivation of that paper: https://openreview.net/forum?id=TSuSGVkjuXd
But overall, energy minimization is a good regulariser.
Also related: https://openreview.net/forum?id=PfC1Jr6gvuP