Deep Reinforcement Learning-Based Enhancement of Robotic Arm Target-Reaching Performance

摘要

This work investigates the implementation of the Deep Deterministic Policy Gradient (DDPG) algorithm to enhance the target-reaching capability of the seven degree-of-freedom (7-DoF) Franka Pandarobotic arm. A simulated environment is established by employing OpenAI Gym, PyBullet, and Panda Gym. After 100,000 training time steps, the DDPG algorithm attains a success rate of 100% and an average reward of −1.8. The actor loss and critic loss values are 0.0846 and 0.00486, respectively, indicating improved decision-making and accurate value function estimations. The simulation results demonstrate the efficiency of DDPG in improving robotic arm performance, highlighting its potential for application to improve robotic arm manipulation.