How to set boundaries for action in reinforcement leaning?
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There are 3 actions in my environment and the boundaries of them are from [1; 1; 0] to [5; 5; 1]. The codes are as follows:
function this = myEnvClass()
% Initialize Observation settings
ObservationInfo = rlNumericSpec([9 1]);
ObservationInfo.Name = 'ASV States';
%ObservationInfo.Description = 'x, dx, theta, dtheta';
ObservationInfo.Description = 'dx, dy, dz,dl,vx,vy,vz,phi,theta';
% Initialize Action settings
ActionInfo = rlNumericSpec([3 1 1], 'LowerLimit',[1;1;0], 'UpperLimit',[5;5;1]);
ActionInfo.Name = 'ASV Action';
ActionInfo.Description = 'rho,sigma,theta';
% The following line implements built-in functions of RL env
this = this@rl.env.MATLABEnvironment(ObservationInfo,ActionInfo);
% Initialize property values and pre-compute necessary values
updateActionInfo(this);
% this.State = [400 400 -50 0 0 0 0 0 0]';
end
and the codes of updateActionInfo function are as follow:
function updateActionInfo(this)
% this.ActionInfo.Elements = this.MaxAngle*[-1 1];
this.ActionInfo = rlNumericSpec([3 1 1], 'LowerLimit',[1;1;0], 'UpperLimit',[5;5;1]);
this.ActionInfo.Name = 'ASV Action';
this.ActionInfo.Description = 'rho,sigma,theta';
end
But when I trained the agent(PPO), the actions in step fucntion were always far greater or far less than the boundary value. For example, action = [144, 152, -63], action = [1608, -1463, -598].
I attached my myEnvClass.m, would someone please help me?
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