Optimizing Robotic Arm Learning: Curiosity-Driven Deep Deterministic Policy Gradient
This study explores the application of the Reinforcement Learning (RL) in training robotic arms, particularly using the Deep Deterministic Policy Gradient (DDPG) algorithm enhanced by a curiosity- driven mechanism. Robotic arms have various real-life applications, such as in the surgeries and assist...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2025-01-01
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| Series: | ITM Web of Conferences |
| Online Access: | https://www.itm-conferences.org/articles/itmconf/pdf/2025/04/itmconf_iwadi2024_01007.pdf |
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| Summary: | This study explores the application of the Reinforcement Learning (RL) in training robotic arms, particularly using the Deep Deterministic Policy Gradient (DDPG) algorithm enhanced by a curiosity- driven mechanism. Robotic arms have various real-life applications, such as in the surgeries and assistive technologies. However, collecting the large- scale real-world data is costly and impractical, making simulation environments essential for optimization. The DDPG, well-suited for continuous action spaces, was employed to improve the robotic arm’s precision and adaptability. Integrating a curiosity mechanism allowed the system to explore and learn more efficiently, significantly improving the training time and success rate. The results demonstrate a 12% reduction in training time and an 18% increase in the success rate when using curiosity- driven exploration. These findings suggest that the enhanced DDPG algorithm not only accelerates learning but also enables better task execution, offering a promising approach for the real-world robotic applications. |
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| ISSN: | 2271-2097 |