Optimizing TD3 for 7-DOF Robotic Arm Grasping: Overcoming Suboptimality with Exploration-Enhanced Contrastive Learning

In actor-critic-based reinforcement learning algorithms such as Twin Delayed Deep Deterministic policy gradient (TD3), insufficient exploration of the spatial space can result in suboptimal policies when controlling 7-DOF robotic arms. To address this issue, we propose a novel Exploration-Enhanced C...

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Veröffentlicht in:	arXiv.org 2024-08
Hauptverfasser:	Wen-Han, Hsieh, Jen-Yuan, Chang
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Euclidean geometry Grasping (robotics) Machine learning Modules Reagents Robot arms
Online-Zugang:	Volltext
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