I think you can also Explore a RL approach.
This is large scale library so probably it doesn’t for your use case:

  
      

      github.com
  

  
    

GitHub - google-research/tensor2robot: Distributed machine learning... 1


  Distributed machine learning infrastructure for large-scale robotics research - GitHub - google-research/tensor2robot: Distributed machine learning infrastructure for large-scale robotics research

  

  
    
    
  

  


But as it is suggested in the Readme you could try to to look to Dopamine of tf-agents repos.
I also suggest to take a look at:

  
      

      github.com
  

  
    

GitHub - AndrejOrsula/drl_grasping: Deep Reinforcement Learning for Robotic... 3


  Deep Reinforcement Learning for Robotic Grasping from Octrees - GitHub - AndrejOrsula/drl_grasping: Deep Reinforcement Learning for Robotic Grasping from Octrees