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Emmanouil Tzorakoleftherakis

MathWorks

Last seen: 3 Tage vor Aktiv seit 2018

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Beantwortet
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...

25 Tage vor | 0

Beantwortet
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...

3 Monate vor | 0

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Beantwortet
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.

4 Monate vor | 0

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Beantwortet
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...

4 Monate vor | 0

Beantwortet
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...

4 Monate vor | 0

Beantwortet
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 ...

4 Monate vor | 0

Beantwortet
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...

4 Monate vor | 1

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Beantwortet
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 ...

4 Monate vor | 0

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Beantwortet
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...

4 Monate vor | 0

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Beantwortet
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...

4 Monate vor | 0

Beantwortet
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...

4 Monate vor | 0

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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...

4 Monate vor | 0

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Beantwortet
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 Monate vor | 0

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

5 Monate vor | 0

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Beantwortet
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...

5 Monate vor | 0

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

5 Monate vor | 0

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Beantwortet
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...

5 Monate vor | 0

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Beantwortet
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.

5 Monate vor | 1

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Beantwortet
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...

5 Monate vor | 1

Beantwortet
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...

5 Monate vor | 0

Beantwortet
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...

5 Monate vor | 1

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Beantwortet
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...

5 Monate vor | 0

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Beantwortet
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...

5 Monate vor | 0

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Beantwortet
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...

5 Monate vor | 0

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Beantwortet
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 ...

5 Monate vor | 0

Beantwortet
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 Monate vor | 0

Beantwortet
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 Monate vor | 0

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Beantwortet
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 Monate vor | 0

Beantwortet
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...

6 Monate vor | 0

Beantwortet
PPO and LSTM agent creation
Hi, With lstm policies, BOTH the actor and the critic should have lstm layers. That's why you are getting this error. LSTM po...

6 Monate vor | 0

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