---
publication_id: "OT-2026-000002028"
title: "Method of reinforcement learning of a soft actor-critic robot control model for non-prehensile manipulation of an object"
published_at: "2026-09-15T19:10:18.099977Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002028"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j9/163"
  - "b25j9/16"
  - "b25j9/16"
  - "b25j9/1697"
  - "b25j9/1697"
---

# Method of reinforcement learning of a soft actor-critic robot control model for non-prehensile manipulation of an object

## Abstract

Various aspects relate to a method (200) of reinforcement learning a soft actor-critic robot control model (302) for manipulation of an object, wherein an actor (320) of the soft actor-critic robot control model (302) includes a motion parameter policy for determining, for each point of an object-representing point cloud (306), a motion parameter indicating how to move the object when being contacted at the point and includes a location policy for determining which point of the object-representing point cloud (306) is to be contacted, wherein the method includes a training of the soft actor-critic robot control model (302) using both, an entropy of the motion parameter policy and an entropy of the location policy at each point of the object-representing point cloud (306).