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createIntegratedEnv

Create Simulink model for reinforcement learning, using reference model as environment

Description

env = createIntegratedEnv(refModel,newModel) creates a Simulink® model with the name specified by newModel and returns a reinforcement learning environment object, env, for this model. The new model contains an RL Agent block and uses the reference model refModel as a reinforcement learning environment for training the agent specified by this block.

example

[env,agentBlock,obsInfo,actInfo] = createIntegratedEnv(___) returns the block path to the RL Agent block in the new model and the observation and action data specifications for the reference model, obsInfo and actInfo, respectively.

example

[___] = createIntegratedEnv(___,Name,Value) creates a model and environment interface using port, observation, and action information specified using one or more Name,Value pair arguments.

Examples

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This example shows how to use createIntegratedEnv to create an environment object starting from a Simulink model that implements the system with which the agent. Such a system is often referred to as plant, open-loop system, or reference system, while the whole (integrated) system including the agent is often referred to as the closed-loop system.

For this example, use the flying robot model described in Train DDPG Agent to Control Flying Robot as the reference (open-loop) system.

Open the flying robot model.

open_system('rlFlyingRobotEnv')

Initialize the state variables and sample time.

% initial model state variables
theta0 = 0;
x0 = -15;
y0 = 0;

% sample time
Ts = 0.4;

Create the Simulink model IntegratedEnv containing the flying robot model connected in a closed loop to the agent block. The function also returns the reinforcement learning environment object env to be used for training.

env = createIntegratedEnv('rlFlyingRobotEnv','IntegratedEnv')
env = 
SimulinkEnvWithAgent with properties:

           Model : IntegratedEnv
      AgentBlock : IntegratedEnv/RL Agent
        ResetFcn : []
  UseFastRestart : on

The function can also return the block path to the RL Agent block in the new integrated model, as well as the observation and action specifications for the reference model.

[~,agentBlk,observationInfo,actionInfo] = createIntegratedEnv('rlFlyingRobotEnv','IntegratedEnv')
agentBlk = 
'IntegratedEnv/RL Agent'
observationInfo = 
  rlNumericSpec with properties:

     LowerLimit: -Inf
     UpperLimit: Inf
           Name: "observation"
    Description: [0x0 string]
      Dimension: [7 1]
       DataType: "double"

actionInfo = 
  rlNumericSpec with properties:

     LowerLimit: -Inf
     UpperLimit: Inf
           Name: "action"
    Description: [0x0 string]
      Dimension: [2 1]
       DataType: "double"

Returning the block path and specifications is useful in cases in which you need to modify descriptions, limits, or names in observationInfo and actionInfo. After modifying the specifications, you can then create an environment from the integrated model IntegratedEnv using the rlSimulinkEnv function.

This example shows how to call createIntegratedEnv using name-value pairs to specify port names.

The first argument of createIntegratedEnv is the name of the reference Simulink model that contains the system with which the agent must interact. Such a system is often referred to as plant, or open-loop system. For this example, the reference system is the model of a water tank.

Open the open-loop water tank model.

open_system('rlWatertankOpenloop')

Set the sample time of the discrete integrator block used to generate the observation, so the simulation can run.

Ts = 1;

The input port is called u (instead of action), and the first and third output ports are called y and stop (instead of observation and isdone). Specify the port names using name-value pairs.

env = createIntegratedEnv('rlWatertankOpenloop','IntegratedWatertank',...
    'ActionPortName','u','ObservationPortName','y','IsDonePortName','stop')
env = 
SimulinkEnvWithAgent with properties:

           Model : IntegratedWatertank
      AgentBlock : IntegratedWatertank/RL Agent
        ResetFcn : []
  UseFastRestart : on

The new model IntegratedWatertank contains the reference model connected in a closed-loop with the agent block. The function also returns the reinforcement learning environment object to be used for training.

Input Arguments

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Reference model name, specified as a string or character vector. This is the Simulink model implementing the system that the agent needs to interact with. Such a system is often referred to as plant, open loop system or reference system, while the whole (integrated) system including the agent is often referred to as the closed loop system. The new Simulink model uses this reference model as the dynamic model of the environment for reinforcement learning.

New model name, specified as a string or character vector. createIntegratedEnv creates a Simulink model with this name, but does not save the model.

Name-Value Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'IsDonePortName',"stopSim" sets the stopSim port of the reference model as the source of the isdone signal.

Reference model observation output port name, specified as the comma-separated pair consisting of 'ObservationPortName' and a string or character vector. Specify ObservationPortName when the name of the observation output port of the reference model is not "observation".

Reference model action input port name, specified as the comma-separated pair consisting of 'ActionPortName' and a string or character vector. Specify ActionPortName when the name of the action input port of the reference model is not "action".

Reference model reward output port name, specified as the comma-separated pair consisting of 'RewardPortName' and a string or character vector. Specify RewardPortName when the name of the reward output port of the reference model is not "reward".

Reference model done flag output port name, specified as the comma-separated pair consisting of 'IsDonePortName' and a string or character vector. Specify IsDonePortName when the name of the done flag output port of the reference model is not "isdone".

Names of observation bus leaf elements for which to create specifications, specified as a string array. To create observation specifications for a subset of the elements in a Simulink bus object, specify BusElementNames. If you do not specify BusElementNames, a data specification is created for each leaf element in the bus.

ObservationBusElementNames is applicable only when the observation output port is a bus signal.

Example: 'ObservationBusElementNames',["sin" "cos"] creates specifications for the observation bus elements with the names "sin" and "cos".

Finite values for discrete observation specification elements, specified as the comma-separated pair consisting of 'ObservationDiscreteElements' and a cell array of name-value pairs. Each name-value pair consists of an element name and an array of discrete values.

If the observation output port of the reference model is:

The specified discrete values must be castable to the data type of the specified observation signal.

If you do not specify discrete values for an observation specification element, the element is continuous.

Example: 'ObservationDiscretElements',{'observation',[-1 0 1]} specifies discrete values for a nonbus observation signal with default port name observation.

Example: 'ObservationDiscretElements',{'gear',[-1 0 1 2],'direction',[1 2 3 4]} specifies discrete values for the 'gear' and 'direction' leaf elements of a bus action signal.

Finite values for discrete action specification elements, specified as the comma-separated pair consisting of 'ActionDiscreteElements' and a cell array of name-value pairs. Each name-value pair consists of an element name and an array of discrete values.

If the action input port of the reference model is:

  • A bus signal, specify the name of a leaf element of the bus

  • Nonbus signal, specify the name of the action port, as specified by ActionPortName

The specified discrete values must be castable to the data type of the specified action signal.

If you do not specify discrete values for an action specification element, the element is continuous.

Example: 'ActionDiscretElements',{'action',[-1 0 1]} specifies discrete values for a nonbus action signal with default port name 'action'.

Example: 'ActionDiscretElements',{'force',[-10 0 10],'torque',[-5 0 5]} specifies discrete values for the 'force' and 'torque' leaf elements of a bus action signal.

Output Arguments

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Reinforcement learning environment interface, returned as an SimulinkEnvWithAgent object.

Block path to the agent block in the new model, returned as a character vector. To train an agent in the new Simulink model, you must create an agent and specify the agent name in the RL Agent block indicated by agentBlock.

For more information on creating agents, see Reinforcement Learning Agents.

Observation data specifications, returned as one of the following:

  • rlNumericSpec object for a single continuous observation specification

  • rlFiniteSetSpec object for a single discrete observation specification

  • Array of data specification objects for multiple specifications

Action data specifications, returned as one of the following:

  • rlNumericSpec object for a single continuous action specification

  • rlFiniteSetSpec object for a single discrete action specification

  • Array of data specification objects for multiple action specifications

Introduced in R2019a