Table 2.

Hyperparameters of the model.

DDPG Setup Hyper-Parameters
Actor/Critic learning rate	1 × 10−3
Reward discount factor $\gamma$	0.9
Soft replacement $\tau$	0.01
Batch size	32
Running episodes	300
Number of track points $K$	50
Training steps per update	200
Memory capacity	80,000
Updates	episodes × points × steps