One option is to look at introducing the delay on the observation, not the action. Please take a look at this page for more details
Reinforcement Learning on Simscape
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Karim Darwich
on 28 Jun 2024
Commented: Emmanouil Tzorakoleftherakis
on 2 Jul 2024
I am having an issue with RL in simscape. I added a unit delay in order to break an algrbraic loop but what the unit delay initial condition does it that it sets the value I want to change to a constant equal to the initial condition of the unit delay bloc. Do you by any chance know what might be the problem causing this ?
I will add a screenshot of the training.
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