get_obs_qpos
时间: 2024-05-11 13:10:41 浏览: 4
get_obs_qpos是一个函数,用于获取物体的当前位置信息。在机器人学和物理仿真领域中,通常使用状态向量来表示物体的状态,其中包括位置、速度、角度等信息。get_obs_qpos函数可以用来获取物体的位置信息。
具体而言,get_obs_qpos函数可以返回一个包含物体位置信息的向量。这个向量的维度取决于物体的自由度,每个维度对应一个坐标轴。例如,在三维空间中,一个物体的位置可以由三个坐标表示:x、y和z。
使用get_obs_qpos函数可以方便地获取物体的位置信息,以便进行后续的计算、控制或者其他操作。
相关问题
def train_model(stock_df, agent, num_episodes): for episode in range(num_episodes): obs = stock_df.iloc[0] state = get_state(obs) done = False total_reward = 0 while not done: action = agent.act(state) next_obs = stock_df.iloc[agent.current_step + 1] next_state = get_state(next_obs) reward = get_reward(action, obs, next_obs) total_reward += reward done = agent.current_step == len(stock_df) - 2 agent.learn(state, action, reward, next_state, done) state = next_state obs = next_obs # 输出每个episode的总奖励 print('Episode:', episode, 'Total Reward:', total_reward) # 逐渐降低探索率 agent.set_exploration_rate(agent.exploration_rate * 0.99)修改代码
这段代码中,训练模型时出现了错误,是因为 QLearningAgent 对象没有 current_step 属性,需要在 QLearningAgent 类中实现该属性。你可以在 QLearningAgent 类中添加 current_step 属性,并在 act 方法中更新该属性。例如:
```
class QLearningAgent:
def __init__(self, state_size, action_size):
self.state_size = state_size
self.action_size = action_size
self.q_table = np.zeros((state_size, action_size))
self.exploration_rate = 1.0
self.current_step = 0 # 新增 current_step 属性
def act(self, state):
if np.random.rand() < self.exploration_rate:
return np.random.choice(self.action_size)
q_values = self.q_table[state]
return np.argmax(q_values)
def learn(self, state, action, reward, next_state, done):
# 更新 Q 表
q_next = self.q_table[next_state]
if done:
q_next = np.zeros(self.action_size)
td_target = reward + GAMMA * np.max(q_next)
td_error = td_target - self.q_table[state, action]
self.q_table[state, action] += ALPHA * td_error
# 更新探索率和当前步数
self.current_step += 1
self.exploration_rate *= EXPLORATION_DECAY
self.exploration_rate = max(EXPLORATION_MIN, self.exploration_rate)
```
在修改后的代码中,我们在 QLearningAgent 类中新增了 current_step 属性,并在 act 方法和 learn 方法中更新该属性。最后,在训练模型时,我们可以使用 QLearningAgent 对象的 current_step 属性来获取当前步数,而不会再出现属性错误。
转matlab: n_points_total = numpy.int(noisy_sensor_measured_total.shape[1]/(n_obs_in_sensor_array + 1)) intrinsic_process_total_reshaped = numpy.reshape(intrinsic_process_total, [dim_intrinsic, n_points_total, n_obs_in_sensor_array + 1], order='C') noisy_sensor_measured_total_reshaped = numpy.reshape(noisy_sensor_measured_total, [dim_measurement, n_points_total, n_obs_in_sensor_array + 1], order='C') intrinsic_process_base_total = intrinsic_process_total_reshaped[:, :, 0] intrinsic_process_step_total = intrinsic_process_total_reshaped[:, :, 1:] noisy_sensor_base_total = noisy_sensor_measured_total_reshaped[:, :, 0] n_obs_used_in_each_cluster = min(n_obs_used_in_cluster, n_obs_in_sensor_array) obs_used_in_each_cluster_indexes = numpy.random.choice(n_obs_in_sensor_array, size=n_obs_used_in_each_cluster, replace=False) sensor_array_matrix = sensor_array_matrix_dense[:, obs_used_in_each_cluster_indexes] noisy_sensor_step_total = noisy_sensor_measured_total_reshaped[:, :, 1:]
在Matlab中,您可以将以下Python代码转换为对应的Matlab代码:
```matlab
n_points_total = int(size(noisy_sensor_measured_total, 2) / (n_obs_in_sensor_array + 1));
intrinsic_process_total_reshaped = reshape(intrinsic_process_total, [dim_intrinsic, n_points_total, n_obs_in_sensor_array + 1]);
noisy_sensor_measured_total_reshaped = reshape(noisy_sensor_measured_total, [dim_measurement, n_points_total, n_obs_in_sensor_array + 1]);
intrinsic_process_base_total = intrinsic_process_total_reshaped(:, :, 1);
intrinsic_process_step_total = intrinsic_process_total_reshaped(:, :, 2:end);
noisy_sensor_base_total = noisy_sensor_measured_total_reshaped(:, :, 1);
n_obs_used_in_each_cluster = min(n_obs_used_in_cluster, n_obs_in_sensor_array);
obs_used_in_each_cluster_indexes = datasample(1:n_obs_in_sensor_array, n_obs_used_in_each_cluster, 'Replace', false);
sensor_array_matrix = sensor_array_matrix_dense(:, obs_used_in_each_cluster_indexes);
noisy_sensor_step_total = noisy_sensor_measured_total_reshaped(:, :, 2:end);
```
请注意,上述代码中的 `datasample` 函数用于在 `1:n_obs_in_sensor_array` 中随机选择 `n_obs_used_in_each_cluster` 个索引,并且不允许重复。如果您的Matlab版本不支持 `datasample` 函数,可以使用以下代码替代:
```matlab
obs_used_in_each_cluster_indexes = randsample(1:n_obs_in_sensor_array, n_obs_used_in_each_cluster, false);
```
这里使用了 `randsample` 函数来实现相同的功能。