Modifying the control actions to safe ones before storing in the experience buffer during SAC agent training.
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Ahmed R. Sayed
il 18 Gen 2022
Risposto: Ahmed R. Sayed
il 21 Set 2022
Hello everyone,
I am implementing a safe off-policy DRL SAC algorithm. Using an iterative convex optimization algorithm moves actions into a safe region. However, this algorithm is applied in the environment. Therefore, the existing rlSACAgent still store unsafe actions in the buffer, and the agent cannot learn the modified actions. Therefore, the iterative algorithm will be supplied with unlearned actions and takes more time to converge. My question is:
How can I store the modified actions in the experience buffer instead of the unsafe ones?
Illustrative figure:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/866360/image.png)
Many thanks for your help.
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