Reinforcement Learning Training Algebraic Loop Delay Blocks

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Tech Logg Ding
Tech Logg Ding 2021-4-28
评论： Tech Logg Ding 2021-10-12
Hi all,
I set up a RL training with a simscape model and I needed to use delay blocks to avoid algebraic loop. However, this causes the following problems:
  1. The simulation is terminated if an undesired condition happens. Due to the delay block, the simulation was terminated in the next sample time (instead of immediately). This would cause the RL agent to view the wrong experience tuples as the ones that caused the termination, hence record the penalty wrongly.
  2. All experience tuples would be delayed by one sample time, therefore the recorded 'action' and 'reward' do not correspond to the exact sample time.
What can be done to solve this problem?
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TRONG LINH VU
TRONG LINH VU 2021-8-17
I'm getting the same problem when using the memory block or other blocks to solve the algebraic loop. I've tried to use a first-order transfer function, but it didn't work well. Have you fixed your problem, Tech Logg, and any other recommendations from MATLAB staff?
Thanks
Tech Logg Ding
Tech Logg Ding 2021-10-12
Hi Trong,
Sorry for the super late reply. I just found your comment today. I opted to use a first-order transfer function and it solved the problem for me. I made sure that the delay from the first order function was lower than the agent's sample time. Doing so, the observations were very close to the actual state, which was sufficient for me.
Kind regards,
Tech Logg

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