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Emmanouil Tzorakoleftherakis

MathWorks

Last seen: 12 days ago Active since 2018

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Answered
Reinforcement Learning on Simscape
One option is to look at introducing the delay on the observation, not the action. Please take a look at <https://www.mathworks....

18 days ago | 0

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Answered
Does MPC without constraints also solves QP problem? How to check QP solver within matlab?
Hi, If you don't have constraints, the toolbox will use the analytical solution to the problem, which you can see here. This ha...

2 months ago | 0

Answered
Reaching observation data and pass them to the learning process
In general, you cannot change the observation/action space definition once they are defined. That said, it seems to me that what...

4 months ago | 0

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Answered
How to build a reinforcement learning environment for a DCDC converter?
I would look at this example which starts with a model that has a PID controller and shows how to replace it with an RL Agent.

5 months ago | 0

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Answered
PPO minibatch size for parallel training with variable number of steps
No data will be discarded actually. As of R2023b, the 4 experiences that are left in your example form their own minibatch and a...

5 months ago | 0

Answered
Why is my DDPG agent converging to a state where it gets continuous penalization, while having a state it can go with 0 penalization?
My guess is that this happens due to the specifics of the problem. You want to build a controller that generates 'zeroes' when t...

5 months ago | 0

Answered
Reinforcement learning: Step function "AvoidObstaclesUsingReinforcementLearningForMobileRobotsExample" example
This example trains the agent against a Simulink environment, not a MATLAB one. The equivalent of the 'step' function is inside ...

5 months ago | 0

Answered
How can I deploy the trained DRL model in a microprocessor, such as DSP or STM32?
You can follow the steps here to generate code from the trained policy. We also have hardware support for STM32 processors, so i...

5 months ago | 1

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Answered
Parallel Training of Multiple RL Agents in same environment
Parallel training is currently not supported for multi-agent reinforcement learning. One thing you could do is train the agents ...

5 months ago | 0

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Answered
Augmenting MPC Block with Integral Action
Hello, Let me paste a couple of links here that show how we formulate the underlying QP problem in linear mpc in Model Predicti...

5 months ago | 0

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Answered
Does my PI + MPC (feedforward controller) configuration make sense?
Looks like the whole point of using an MPC controller was to provide deltas on the PI output based on the output of the piezo ac...

5 months ago | 0

Answered
how to freeze and reset the weights to initial values of neural network.?
You can accomplish what you asked with something along the lines of: init_model = getModel(getCritic(agent)); new_model_layers...

5 months ago | 0

Answered
Cannot propagate non-bus signal to block because the block has a bus object specified.
Looking at the first screenshot, looks like the output of the grid world block is not a bus, but the observations in your RL Age...

5 months ago | 0

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Answered
Constraint to state derivatives with NLMPC
See here for all available constraint options with nlmpc. If the state derivatives you need are part of the state vector, you ca...

5 months ago | 0

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Answered
Cannot generate C code from MPC object
Please take a look at the example here that uses 'codegen' command.

6 months ago | 0

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Answered
RL Agent learns a constant trajectory instead of actual trajectory
Thanks for adding all the details. The first thing I will say is that the average reward on the Episode Manager is moving in the...

6 months ago | 0

Answered
Tune PI Controller Using Reinforcement Learning
Do you maybe have linearize shadowed somewhere on your path? If not, a reproduction model would be good.

6 months ago | 0

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Answered
Training Reinforcement Learning Agents --> Use ResetFcn to delay the agent's behaviour in the environment
You can place the RL Agent block inside a triggered subsystem and set the agent's sample time to -1 (see e.g. here). Then set th...

6 months ago | 0

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Answered
How to specify the training algorithm of an agent - Reinforcement Learning
'train' takes an agent object as input, so yes the algorithm will be selected depending on the agent.

6 months ago | 1

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Answered
DDPG training converges to the worst results obtained during exploration
I cannot see your training options, but what do you mean by "converges"? The training plot only shows about 1800 episodes. There...

6 months ago | 1

Answered
Not able to use multibel GPUs when training a DDPG agent
Can you share your agent options and the architecture of the actor and critic networks? As mentioned here, "Using GPUs is likely...

6 months ago | 0

Answered
Problem with RL agent block
You can use a delay block for the last observation and set the initial value of the delay in the block dialog. That should resol...

6 months ago | 1

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Answered
decaying clip factor or entropy loss weight for PPO
These parameters are fixed and cannot be changed after training begins. One workaround would be to train the agent for a certain...

6 months ago | 0

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Answered
How to solve the error "Error using sqpInterface Nonlinear constraint function is undefined at initial point. Fmincon cannot continue." Error occurred when calling NLP solver
The dynamics/state function are turned into constraints internally when creating a NLP for fmincon. You don't provide all the fu...

6 months ago | 0

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Answered
How do I Tune Model Predictive Controller (MPC) in the Real Time?
There could be many reasons why you don't see the expected results. First thing I would check is whether the controller can actu...

6 months ago | 0

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Answered
How Fast is Simulink Real Time? Is Simulink Real Time Faster than Rasberry Pi?
Hi, First of all, how fast (wall clock time) does the Simulink model run with your current MPC implementation? This would be a ...

6 months ago | 0

Answered
Design an actor critic network for non-image inputs
I may be missing something but why don't you frame your observations as a [4 1] vector? That way it would be consistent with how...

6 months ago | 0

Answered
Pausing reinforcement learning by forcing
The proper way to stop it would be through the Episode Manager (top right of the window). Does this not work for you?

6 months ago | 0

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Answered
Why DQN training always fails to converge to the optimal value
What I am seeing here is that the average reward tends to converge to the Q0 profile which is the expected behavior of a converg...

6 months ago | 0

Answered
My reinforcement learning simulation runs for only 0 steps and 0 times in Simulink. I am not getting any error messages so I cannot pinpoint the issue, so I decided to ask.
It likely has to do with the priority of execution of the data store blocks. I would look more into it, but honestly I think you...

7 months ago | 0

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