OPENTECHNICAL PUBLICATION
OT-2026-000002028

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

Published: 2026-09-15T19:10:18.099977Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002028
Categories: Robotics & Automation > Robot Architectures

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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).

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OpenTechnical publication OT-2026-000002028
Published 2026-09-15T19:10:18.099977Z
https://opentechnical.org/p/OT-2026-000002028