add WalkerStaticVariableSpeedScene and PPO config

4 年前 · 00cb4c89
--- a/Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
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--- a/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
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    public bool randomizeWalkSpeedEachEpisode;
    
    Vector3 m_WalkDir; //Direction to the target
-    public AnimationCurve velocityRewardCurve;
    [Header("Target To Walk Towards")]
    public TargetController target; //Target the agent will walk towards.

--- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerRagdoll
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--- a/config/ppo/WalkerStaticVariableSpeed.yaml
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+behaviors:
+  WalkerStaticVariableSpeed:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 2048
+      buffer_size: 20480
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: true
+      hidden_units: 512
+      num_layers: 3
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 30000000
+    time_horizon: 1000
+    summary_freq: 30000
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