soccer 2v1 on the cloud

5 年前 · 072b4135
--- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/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;
--- a/config/trainer_config.yaml
+++ b/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
--- a/ml-agents/mlagents/trainers/ghost/controller.py
+++ b/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
--- a/ml-agents/mlagents/trainers/ghost/trainer.py
+++ b/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.
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwoVsOne.unity
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwoVsOne.unity
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