Deep Reinforcement Learning for Vectored Thruster Autonomous Underwater Vehicle Control

Table 2

The hyperparameters used for training the DDPG controller.

Hyperparameters	Value
M	3000
T	1000
dt	0.1 s
m max	500000
m min	1000
LR−A	0.0001
LR−C	0.0001
γ	0.99
τ	0.0001
N	64