Before revision:  The percentage increase in  convergence mean reward is 4.4 \%~15.5\% and the percentage decreases with respect to standard deviation by 21.9 \%~63.2\% . In the evaluation  , the success rate of trajectory planning for robot manipulator is up to 99.6\%.
After revision:  The percentage increase in convergence mean reward is 4.4 \%~15.5\% and the percentage decreases with respect to standard deviation by 21.9 \%~63.2\% . In the evaluation experiments , the success rate of trajectory planning for robot manipulator is up to 99.6\%.