The preparation of quantum states is essential in the realm of quantum information processing, and the development of efficient methodologies can significantly alleviate the strain on quantum resources. Under the framework of deep reinforcement learning (DRL), we integrate the initial and the target state information within the state preparation task together, so as to realize the control trajectory design between two arbitrary quantum states. Taking a semiconductor double quantum dots (DQDs) model as an example, our results demonstrate that the resulting control trajectories can effectively achieve arbitrary quantum state preparation (AQSP) for both single-qubit and two-qubit systems, with average fidelities of 0.9868 and 0.9556 for the test sets, respectively. For the DQDs, charge and nuclear noises will exist, thus decreases the average fidelity of AQSP. We have also incorporated noise amplitude as an input feature in the training process, leading to the development of noise-aware models. The control trajectories designed by these models can effectively suppress the influence of noise. Our research validates the effectiveness of DRL in quantum state preparation and offers solutions for multi-initial and multi-objective quantum control tasks, with potential for broader application in quantum control problems.
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