allExperiences

Return all experiences in replay memory buffer

Since R2022b

Syntax

experiences = allExperiences(buffer)

experience = allExperiences(buffer,ConcatenateMode=mode)

Description

experiences = allExperiences(buffer) returns all experiences stored in experience buffer buffer as individual experiences, each with a batch size of 1 and a sequence length of 1.

experience = allExperiences(buffer,ConcatenateMode=mode) returns experiences concatenated along the dimension specified by mode. You can concatenate experiences along the batch dimension or the sequence dimension.

Examples

Extract All Experiences from Replay Memory Buffer

Define observation specifications for the environment. For this example, assume that the environment has two observation channels: one channel with two continuous observations and one channel with a three-valued discrete observation

obsContinuous = rlNumericSpec([2 1],...
    LowerLimit=0,...
    UpperLimit=[1;5]);
obsDiscrete = rlFiniteSetSpec([1 2 3]);
obsInfo = [obsContinuous obsDiscrete];

Define action specifications for the environment. For this example, assume that the environment has a single action channel with one continuous action in a specified range.

actInfo = rlNumericSpec([2 1],...
    LowerLimit=0,...
    UpperLimit=[5;10]);

Create an experience buffer with a maximum length of 5,000.

buffer = rlReplayMemory(obsInfo,actInfo,5000);

Append a sequence of 10 random experiences to the buffer.

for i = 1:10
    experience(i).Observation = ...
        {obsInfo(1).UpperLimit.*rand(2,1) randi(3)};
    experience(i).Action = {actInfo.UpperLimit.*rand(2,1)};
    experience(i).NextObservation = ...
        {obsInfo(1).UpperLimit.*rand(2,1) randi(3)};
    experience(i).Reward = 10*rand(1);
    experience(i).IsDone = 0;
end

append(buffer,experience);

After appending experiences to the buffer, you extract all of the experiences from the buffer. Extract all of the experiences as individual experiences, each with a batch size of 1 and sequence size of 1.

experience = allExperiences(buffer)

experience=10×1 struct array with fields:
    Observation
    Action
    NextObservation
    Reward
    IsDone

Alternatively, you can extract all of the experiences as a single experience batch.

expBatch = allExperiences(buffer,ConcatenateMode="batch")

expBatch = struct with fields:
        Observation: {[2x1x10 double]  [1x1x10 double]}
             Action: {[2x1x10 double]}
             Reward: [9.5751 9.1574 7.4313 8.2346 1.8687 1.6261 5.0596 2.5428 3.5166 5.6782]
    NextObservation: {[2x1x10 double]  [1x1x10 double]}
             IsDone: [0 0 0 0 0 0 0 0 0 0]

Input Arguments

buffer — Experience buffer

rlReplayMemory object | rlPrioritizedReplayMemory object | rlHindsightReplayMemory object | rlHindsightPrioritizedReplayMemory object

Experience buffer, specified as one of the following replay memory objects.

• rlReplayMemory

• rlPrioritizedReplayMemory

• rlHindsightReplayMemory

• rlHindsightPrioritizedReplayMemory

mode — Concatenation mode

"none" (default) | "batch" | "sequence"

Concatenation mode specified as a one of the following values.

• "none" — Return experience as N individual experiences, each with a batch size of 1 and a sequence length of 1.

• "batch" — Return experience as a single batch with a sequence length of 1.

• "sequence" — Return experience as a single sequence with a batch size of 1.

Output Arguments

experience — All buffered experiences

structure array | structure

All N buffered experiences, returned as a structure array or structure. When mode is:

• "none", experience is returned as a structure array of length N, where each element contains one buffered experience (batchSize = 1 and SequenceLength = 1).

• "batch", experience is returned as a structure. Each field of experience contains all buffered experiences concatenated along the batch dimension (batchSize = N and SequenceLength = 1).

• "sequence", experience is returned as a structure. Each field of experience contains all buffered experiences concatenated along the batch dimension (batchSize = 1 and SequenceLength = N).

experience contains the following fields.

Observation — Observation

cell array

Observation, returned as a cell array with length equal to the number of observation specifications specified when creating the buffer. Each element of Observation contains a D_O-by-batchSize-by-SequenceLength array, where D_O is the dimension of the corresponding observation specification.

Action — Agent action

cell array

Agent action, returned as a cell array with length equal to the number of action specifications specified when creating the buffer. Each element of Action contains a D_A-by-batchSize-by-SequenceLength array, where D_A is the dimension of the corresponding action specification.

Reward — Reward value

scalar | array

Reward value obtained by taking the specified action from the observation, returned as a 1-by-1-by-SequenceLength array.

NextObservation — Next observation

cell array

Next observation reached by taking the specified action from the observation, returned as a cell array with the same format as Observation.

IsDone — Termination signal

integer | array

Termination signal, returned as a 1-by-1-by-SequenceLength array of integers. Each element of IsDone has one of the following values.

• 0 — This experience is not the end of an episode.

• 1 — The episode terminated because the environment generated a termination signal.

• 2 — The episode terminated by reaching the maximum episode length.

Version History

Introduced in R2022b