add new nn file

4 年前 · 16b33ca8
--- a/Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
+++ b/Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
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--- a/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
 {
    [Range(0, 15)]
    public float walkingSpeed = 15; //The walking speed to try and achieve
-    float m_maxWalkingSpeed = 15; //The max walking speed
+//    float m_maxWalkingSpeed = 15; //The max walking speed
    public bool randomizeWalkSpeedEachEpisode;
    
    Vector3 m_WalkDir; //Direction to the target
    JointDriveController m_JdController;

    EnvironmentParameters m_ResetParams;
-
+    private WalkGroup walkGroup;
-
+        walkGroup = FindObjectOfType<WalkGroup>();
        //Setup each body part
        m_JdController = GetComponent<JointDriveController>();
        m_JdController.SetupBodyPart(hips);

        rewardManager.ResetEpisodeRewards();
        
-        walkingSpeed = randomizeWalkSpeedEachEpisode? Random.Range(0.0f, m_maxWalkingSpeed): walkingSpeed; //Random Walk Speed
+//        walkingSpeed = randomizeWalkSpeedEachEpisode? Random.Range(0.0f, m_maxWalkingSpeed): walkingSpeed; //Random Walk Speed

        SetResetParameters();
    }
        //value of 0 means we are matching velocity perfectly
        //value of 1 means we are not matching velocity
 //        sensor.AddObservation(VelocityInverseLerp(cubeForward * walkingSpeed, avgVelValue));
-        sensor.AddObservation(VelocityInverseLerp( cubeForward * walkingSpeed));
+        sensor.AddObservation(VelocityInverseLerp( cubeForward * walkGroup.walkingSpeed));
+//        sensor.AddObservation(VelocityInverseLerp( cubeForward * walkingSpeed));
-        sensor.AddObservation(walkingSpeed/m_maxWalkingSpeed);
+//        sensor.AddObservation(walkingSpeed/m_maxWalkingSpeed);
+        sensor.AddObservation(walkGroup.walkingSpeed/walkGroup.m_maxWalkingSpeed);
        sensor.AddObservation(Quaternion.FromToRotation(hips.forward, cubeForward));
        sensor.AddObservation(Quaternion.FromToRotation(head.forward, cubeForward));

 //        velSum += m_JdController.bodyPartsDict[head].rb.velocity;
 //        avgVelValue = velSum/4;
 //        velInverseLerpVal = VelocityInverseLerp(cubeForward * walkingSpeed, avgVelValue);
-        velInverseLerpVal = VelocityInverseLerp(cubeForward * walkingSpeed);
+//        velInverseLerpVal = VelocityInverseLerp(cubeForward * walkingSpeed);
+        velInverseLerpVal = VelocityInverseLerp(cubeForward * walkGroup.walkingSpeed);
        rewardManager.UpdateReward("productOfAllRewards", velInverseLerpVal * lookAtTargetReward);
 //        rewardManager.UpdateReward("productOfAllRewards", velInverseLerpVal * lookAtTargetReward * headHeightOverFeetReward);
 //            velInverseLerpVal = VelocityInverseLerp(Vector3.zero, cubeForward * walkingSpeed, avgVelValue);

        velDeltaDistance = Vector3.Distance(avgVelValue, velocityGoal);
 //        float percent = Mathf.InverseLerp(m_maxWalkingSpeed, 0, velDeltaDistance);
-        float percent = Mathf.InverseLerp(walkingSpeed, 0, velDeltaDistance);
+//        float percent = Mathf.InverseLerp(walkingSpeed, 0, velDeltaDistance);
+        float percent = Mathf.InverseLerp(velocityGoal.magnitude, 0, velDeltaDistance);
        return percent;
    }
    
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/WalkGroup.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/WalkGroup.cs
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class WalkGroup : MonoBehaviour
+{
+    [Range(0, 15)]
+    public float walkingSpeed = 15; //The walking speed to try and achieve
+    public float m_maxWalkingSpeed = 15; //The max walking speed
+}
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/WalkGroup.cs.meta
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/WalkGroup.cs.meta
+fileFormatVersion: 2
+guid: 0a2c0686fcb9742d1b62b7888d87bba9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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--- a/Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic
+++ b/Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic
--- a/Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic
+++ b/Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic
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--- a//Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDy_Local_MatchSpeedAvgVelALLRBsRandSpeed_5kDampen_HeavierArms_NO_HHRew.nn
+++ b//Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDy_Local_MatchSpeedAvgVelALLRBsRandSpeed_5kDampen_HeavierArms_NO_HHRew.nn
--- a//Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDy_Local_MatchSpeedAvgVelALLRBsRandSpeed_5kDampen_HeavierArms_NO_HHRew.nn.meta
+++ b//Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDy_Local_MatchSpeedAvgVelALLRBsRandSpeed_5kDampen_HeavierArms_NO_HHRew.nn.meta