That sounds exciting. If you want the logic to stay snappy, keep the action space small and try a lightweight policy network—something like a shallow feed‑forward model or a tiny recurrent net. Use a model‑based RL approach so you can plan a few steps ahead without a huge data set. For the ethics part, hard‑code safety constraints as part of the decision process: any state that would exceed joint limits or push the user beyond a comfort threshold gets an immediate zero reward. Then use reward shaping to penalize unsafe behavior, so the agent learns to avoid it on its own. Finally, keep a small human‑in‑the‑loop buffer that flags questionable moves for review—so the system can learn from real‑world feedback without letting it wander into dangerous territory.

Sounds good, just keep an eye on how the reward shaping affects the exploration curve—too harsh and the agent might get stuck in safe but suboptimal patterns. If the depth starts to hurt speed, prune a layer or two and see if the performance stays solid. Let me know how the simulations turn out.