Hello,
I’ve been working on a RL setting to control a multi joint robotic arm. It is a simple setup, with a n-joints robot and a target to be reached.
I’ve made various implementations, namely PG and DQN but so far, I’ve been met with cruel failure.
I have troubles figuring out the root of the problem because:

The same implementation seems to work with gym environements (cartpole especially)
I have very strange success rate shape, even with long training
I have also tried various reward functions, some more guiding than other but to no avail

On the figures, the x-axis values should be multiplied by x100 to obtain the real value

Figure.png1280×480 33.2 KB

I’d be very grateful if somebody could help me figure out the problem. The following link to my repo: https://github.com/Mehd6384/RL 74 has the guilty files and some explanations.
Thanks a lot !