How to reward after one simulation.

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ryunosuke tazawa 2021-10-15

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1564446-how-to-reward-after-one-simulation

I have a simple pendulum throw a ball and perform reinforcement learning so that the error from the target point becomes small.

The reward is the error (minus absolute value error between the target point and the arrival point of the sphere).

Instead of giving a reward (error) in all states, I want to give only the one with the smallest error (error is close to 0).

In other words, one simulation → calculate the error (reward) when throwing the ball in all observed states → give only the value with the smallest error as a reward.

I want to do it like this. Is there a way?

% Difine of step function
function [NextObservation, Reward, IsDone, LoggedSignals] = myStepfunction(Action,LoggedSignals,SimplePendulum)
global RR
      for i=1:200
       
        statePre = [-2*pi/3;0];
        statePre(1) = SimplePendulum.Theta;
        statePre(2) = SimplePendulum.AngularVelocity;
        
        IsDone = false;
       
        % updating states
        
        SimplePendulum.pstep(Action);
       
        state = [-2*pi/3;0];                             
        state(1) = SimplePendulum.Theta;               
        state(2) = SimplePendulum.AngularVelocity;     
     
        % cariclation of error (reward)
        
        Ball_Target = 20;
         
        Ball_Distance = Ballfunction(SimplePendulum);
        
        R =  -abs(Ball_Distance -Ball_Target); 
       
       teststep(R)  % get the Error (reward) in all observed states
        
         if (state(2) > 0) ||  (SimplePendulum.Y_Position < 0)  %|| (abs(state(2)) > 10)
             IsDone = true;
             [InitialObservation, LoggedSignal] = myResetFunction(SimplePendulum);
              LoggedSignal.State = [-pi ; 0];
              InitialObservation = LoggedSignal.State;
              state = InitialObservation; 
              SimplePendulum.Theta =-2*pi/3;
              SimplePendulum.AngularVelocity = 0;
              
         end
         
         if IsDone == true
             [M,I] = max(RR)
         end
          
        LoggedSignals.State = state;                    
       
        NextObservation = LoggedSignals.State;
      end
      
        Reward =  max(RR); % Gives the smallest error (reward)
        
end