An improved Q-learning algorithm with a modified action-value function and reward-penalty scheme generates time-optimal robot trajectories that respect velocity-dependent piecewise-linear torque constraints.
Combined with the improved approaches in Section 4, the steps of the IQL algorithm are as follows: Step 1
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Reinforcement Learning for Robotic Time-optimal Path Tracking Using Prior Knowledge
An improved Q-learning algorithm with a modified action-value function and reward-penalty scheme generates time-optimal robot trajectories that respect velocity-dependent piecewise-linear torque constraints.