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Policy

Reinforcement learning policy

  • Library:
  • Reinforcement Learning Toolbox

  • Policy block

Description

Use the Policy block to simulate a reinforcement learning policy in Simulink® and to generate code (using Simulink Coder™) for deployment purposes. This block takes an observation as input and outputs an action. You associate the block with a MAT-file that contains the information needed to fully characterize the policy, and which can be generated by generatePolicyFunction or generatePolicyBlock.

Ports

Input

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This port receives observation signals from the environment. Observation signals represent measurements or other instantaneous system data. If you have multiple observations, you can use a Mux block to combine them into a vector signal. To use a nonvirtual bus signal, use bus2RLSpec.

Output

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Action computed by the policy based on the observation input. Connect this port to the inputs of your system. To use a nonvirtual bus signal, use bus2RLSpec.

Note

Policy blocks generated from a continuous action-space rlStochasticActorPolicy object or a continuous action-space rlACAgent, rlPGAgent, or rlPPOAgent object, do not enforce the constraints set by the action specification. In these cases, you must enforce action space constraints within the environment.

Parameters

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Enter the name of the MAT-file containing the information needed to fully characterize the policy. This file is generated by generatePolicyFunction or generatePolicyBlock. When you generate the block using generatePolicyBlock and specify a non-default dataFileName argument, then the generated block has this parameter set to the specified file name, so that the block is associated with the generated data file.

To use a Policy block within a conditionally executed subsystem, such as a Triggered Subsystem (Simulink) or a Function-Call Subsystem (Simulink), you must generate its data file from an agent or policy object which has its SampleTIme property set to -1. Doing so allows the block to inherit the sample time of its parent subsystem.

Programmatic Use

Block Parameter: MATFile
Type: string, character vector
Default: "blockAgentData.mat"

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2022b