normalize

Normalize input data using method defined in normalizer object

Since R2024a

Syntax

y = normalize(normalizer,u)

Description

y = normalize(normalizer,u) normalizes the input u according to the method defined in normalizer and returns the normalized value y.

Examples

Assign Normalizers to Actor and Critic Inputs

This example shows how to assign normalizer objects to the actor and critics of a DDPG agent.

Create DDPG Agent and Extract Actor and Critic

Create specification objects to define observation and action channels. For this example, the agent has two observation channels. The first channel has a vector with three elements and the second channel has a vector with four elements.

The action channel carries a two-dimensional vector.

obsInfo = [rlNumericSpec([3,1]) rlNumericSpec([4,1])];
actInfo = rlNumericSpec([2,1]);

Create a default DDPG agent.

agent = rlDDPGAgent(obsInfo, actInfo);

Extract the approximator objects.

actor = getActor(agent);
critic = getCritic(agent);

Create Normalizer Objects

Create one normalizer object for each input channel. DDPG agents use a Q-value function critic, which requires both the observation and the action as inputs. The Mean, StandardDeviation, Min, and Max properties apply to each element of the channel.

Create the normalizer for the first observation channel.

obs1Nrz = rlNormalizer(obsInfo(1).Dimension, ...
    Normalization="zscore", Mean=2, StandardDeviation=3)

obs1Nrz = 
  rlNormalizer with properties:

            Dimension: [3 1]
        Normalization: "zscore"
                 Mean: 2
    StandardDeviation: 3

Create the normalizer for the second observation channel.

obs2Nrz = rlNormalizer(obsInfo(2).Dimension, ...
    Normalization="zerocenter", Mean=4)

obs2Nrz = 
  rlNormalizer with properties:

        Dimension: [4 1]
    Normalization: "zerocenter"
             Mean: 4

Create the normalizer for the action input channel of the Q-value function critic.

actInNrz = rlNormalizer(actInfo.Dimension, ...
    Normalization="rescale-symmetric", Min=-2, Max=2)

actInNrz = 
  rlNormalizer with properties:

        Dimension: [2 1]
    Normalization: "rescale-symmetric"
              Min: -2
              Max: 2

To check how the normalizer works on an input, use normalize.

normalize(obs2Nrz,6)

ans = 
2

Assign Normalizer Objects to Actor and Critic

To assign new normalizers to the actor and critic, use setNormalizer.

actor = setNormalizer(actor, [obs1Nrz, obs2Nrz]);
critic = setNormalizer(critic, [obs1Nrz, obs2Nrz, actInNrz]);

You can also assign normalizers to selected channels only. For example, to assign normalizers only to the first observation channel (in the order specified by obsInfo) and the action channel, use an indices vector.

critic = setNormalizer(critic, [obs1Nrz actInNrz], [1 3]);

Display the normalization properties of the actor and critic.

actor.Normalization

ans = 1x2 string
    "zscore"    "zerocenter"

critic.Normalization

ans = 1x3 string
    "zscore"    "zerocenter"    "rescale-symmetric"

Assign Actor and Critic to Agent

To assign the new actor and critic to the agent, use setActor and setCritic.

setCritic(agent, critic);
setActor(agent, actor);

To check that agent works, use getAction.

a = getAction(agent, { ...
    rand(obsInfo(1).Dimension) ...
    rand(obsInfo(2).Dimension)});
a{1}

ans = 2×1

   -0.1039
    0.5166

Create DQN Agent and Extract Critic

Define a mixed observation space and a discrete action channel.

obsInfo = [rlNumericSpec([3,1]), rlFiniteSetSpec([5,3,4,2])];
actInfo = rlFiniteSetSpec([-1,0,1]);

Create a default DQN agent.

agent = rlDQNAgent(obsInfo, actInfo);

Extract the agent critic.

critic = getCritic(agent);

Extract Normalizer Objects from Actor or Critic

Use getNormalizer to extract an array of normalizer objects from the agent critic.

crtNrz = getNormalizer(critic)

crtNrz = 
  1x2 rlNormalizer array with properties:

    Dimension
    Normalization
    Mean
    StandardDeviation
    Min
    Max

Modify Normalizer Objects Using Dot Notation

Use dot notation to access and change the property of the second normalizer object (associated with the second observation channel).

crtNrz(2).Normalization="rescale-zero-one";
crtNrz(2).Min=-5;
crtNrz(2).Max=15;

Assign the modified normalizer to the critic and assign the critic to the agent.

critic = setNormalizer(critic, crtNrz);
setCritic(agent, critic);

To check that the agent works, use getAction.

a = getAction(agent, { ...
    rand(obsInfo(1).Dimension) ...
    rand(obsInfo(2).Dimension)});
a{1}

ans = 
0

Input Arguments

normalizer — Normalizer object

rlNormalizer object

Normalizer object, specified as an rlNormalizer object.

u — Input to normalize

scalar | vector | matrix

Input to normalize, specified as a matrix with the same dimensions specified in the Dimension property of normalizer. The input must have a numerical data type (including dlarray).

Example: 9.5

Output Arguments

y — Normalized value of input

scalar | vector | matrix

Normalized value of the input, returned as a matrix with the same dimensions and data type as u.

Example: 0.95

Version History

Introduced in R2024a