Smoothening the model outputs

Unity Engine
,
1

Hi all,

My PPO trained car is driving in lane but it keeps shaking left and right to stay at the center of the lane. How can i smoothen the control of the car? If PID, how can i integrate it to work with the RL model?

2

It’s kinda expected to have a jittery behaviour with RL, It also depends on how you formulate the actions and what is the rate of decision requests. You can also try imitation learning with demo files.

3

Hey,
have you tried smoothing your values in Update? ML-agent runs on Fixed Frames/ in fixedupdate, so you could try to interpolate there (e.g. the position, or output).

4

am i right to say that decreasing the rate of decision requests will lead to smoother actions?
for imitation learning, im assuming to use GAIL and set use_actions = true?