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soccer 2v1 on the cloud

/asymm-envs
Andrew Cohen 5 年前
当前提交
072b4135
共有 7 个文件被更改,包括 978 次插入818 次删除
  1. 878
      Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
  2. 13
      Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
  3. 27
      config/trainer_config.yaml
  4. 14
      ml-agents/mlagents/trainers/ghost/controller.py
  5. 4
      ml-agents/mlagents/trainers/ghost/trainer.py
  6. 852
      Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwoVsOne.unity
  7. 8
      Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwoVsOne.unity.meta

878
Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
文件差异内容过多而无法显示
查看文件

13
Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs


float m_KickPower;
int m_PlayerIndex;
public SoccerFieldArea area;
float m_LateralSpeed;
float m_Power;
[HideInInspector]
public Rigidbody agentRb;

{
team = Team.Blue;
m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
m_LateralSpeed = 0.3f;
m_Power = 2000f;
m_LateralSpeed = 1.0f;
m_Power = 3000f;
}
m_SoccerSettings = FindObjectOfType<SoccerSettings>();
agentRb = GetComponent<Rigidbody>();

switch (rightAxis)
{
case 1:
dirToGo = transform.right * 0.3f;
dirToGo = transform.right * m_LateralSpeed;
dirToGo = transform.right * -0.3f;
dirToGo = transform.right * m_LateralSpeed;
break;
}

/// </summary>
void OnCollisionEnter(Collision c)
{
var force = 2000f * m_KickPower;
var force = m_Power * m_KickPower;
if (c.gameObject.CompareTag("ball"))
{
var dir = c.contacts[0].point - transform.position;

27
config/trainer_config.yaml


save_steps: 50000
swap_steps: 50000
Soccer:
SoccerOne:
normalize: false
max_steps: 1.0e7
learning_rate_schedule: constant
batch_size: 2048
buffer_size: 20480
hidden_units: 512
time_horizon: 1000
num_layers: 3
self_play:
window: 20
play_against_current_self_ratio: 0.2
save_steps: 40000
swap_steps: 20000
SoccerTwos:
max_steps: 5.0e7
max_steps: 1.0e7
learning_rate_schedule: constant
batch_size: 2048
buffer_size: 20480

self_play:
window: 10
play_against_current_self_ratio: 0.5
save_steps: 50000
swap_steps: 50000
window: 20
play_against_current_self_ratio: 0.2
save_steps: 40000
swap_steps: 40000
CrawlerStatic:
normalize: true

14
ml-agents/mlagents/trainers/ghost/controller.py


import logging
logger = logging.getLogger("mlagents.trainers")
class GhostController(object):

def subscribe_team_id(self, team_id: int, trainer: GhostTrainer) -> None:
if team_id not in self._ghost_trainers:
self._queue.append(team_id)
else:
self._queue.append(team_id)
self._queue.append(self._learning_team)
self._queue.append(self._learning_team)
logger.debug(
"Learning team {} swapped on step {}".format(
self._learning_team, self._last_swap
)
)
return self._learning_team
# Adapted from https://github.com/Unity-Technologies/ml-agents/pull/1975 and

4
ml-agents/mlagents/trainers/ghost/trainer.py


parsed_behavior_id = self._name_to_parsed_behavior_id[
trajectory_queue.behavior_id
]
if parsed_behavior_id.team_id == self._learning_team:
# With a future multiagent trainer, this will be indexed by 'role'
internal_trajectory_queue = self._internal_trajectory_queues[

except AgentManagerQueue.Empty:
pass
self._learning_team = self.controller.get_learning_team(self.ghost_step)
self._learning_team = self.controller.get_learning_team(self.get_step)
# self._learning_team = self.controller.get_learning_team(self.ghost_step)
# Note save and swap should be on different step counters.
# We don't want to save unless the policy is learning.

852
Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwoVsOne.unity


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Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwoVsOne.unity.meta


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