Abubakar Elsafi1,*, Arafat Abdulgader Mohammed Elhag2, Lubna A. Gabralla3, Ali Ahmed4, Ashraf Osman Ibrahim5
CMES-Computer Modeling in Engineering & Sciences, Vol.145, No.1, pp. 621-647, 2025, DOI:10.32604/cmes.2025.072726
- 30 October 2025
Abstract Energy efficiency stands as an essential factor when implementing deep reinforcement learning (DRL) policies for robotic control systems. Standard algorithms, including Deep Deterministic Policy Gradient (DDPG), primarily optimize task rewards but at the cost of excessively high energy consumption, making them impractical for real-world robotic systems. To address this limitation, we propose Physics-Informed DDPG (PI-DDPG), which integrates physics-based energy penalties to develop energy-efficient yet high-performing control policies. The proposed method introduces adaptive physics-informed constraints through a dynamic weighting factor (), enabling policies that balance reward maximization with energy savings. Our motivation is to overcome the… More >