Dynamic Sensor Benchmarks In

Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerGRAVEYARD.unity

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Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity

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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentGrid.cs

 
 using System;
 using System.Collections;
+using System.Collections.Generic;
+using Unity.Mathematics;
 using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgents.Actuators;
     Renderer m_GroundRenderer;
 
     EnvironmentParameters m_ResetParams;
+    public bool useAutoFocus = false;
+    public List<RayPerceptionSensorComponent3D> raySensorsList = new List<RayPerceptionSensorComponent3D>();
+    public float focusAngle = 90;
+    public bool canLookAround;
+    public float lookAngle = 0;
+    public float maxLookAngle = 45f;
+
+    //    public float rayHeight = 0;
     void Awake()
     {
         m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
             sensor.AddObservation(localVelocity.z);
             //            sensor.AddObservation(transform.localRotation);
             //            sensor.AddObservation(transform.localPosition);
+            if (useAutoFocus)
+            {
+                sensor.AddObservation(focusAngle / 180);
+                //                sensor.AddObservation(rayHeight);
+            }
+            if (canLookAround)
+            {
+                sensor.AddObservation(lookAngle / maxLookAngle);
+                //                sensor.AddObservation(rayHeight);
+            }
         }
     }
 
             var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
                 areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
             randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
-            if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
+            //            if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
+            if (Physics.CheckBox(randomSpawnPos, new Vector3(.75f, 0.01f, .75f)) == false)
             {
                 foundNewSpawnLocation = true;
             }
         m_GroundRenderer.material = m_GroundMaterial;
     }
 
+    //    /// <summary>
+    //    /// Moves the agent according to the selected action.
+    //    /// </summary>
+    //    public void MoveAgent(ActionBuffers actionBuffers)
+    //    {
+    //        var dirToGo = Vector3.zero;
+    //        var rotateDir = Vector3.zero;
+    //
+    ////        var forwardAction = act[0];
+    ////        var lateralAction = act[1];
+    ////        var rotatedAction = act[2];
+    //        var act = actionBuffers.ContinuousActions;
+    //        dirToGo += transform.forward * act[0];
+    //        dirToGo += transform.right * act[1];
+    //
+    //        rotateDir = transform.up * act[2];
+    ////        switch (action)
+    ////        {
+    ////            case 1:
+    ////                dirToGo = transform.forward * 1f;
+    ////                break;
+    ////            case 2:
+    ////                dirToGo = transform.forward * -1f;
+    ////                break;
+    ////            case 3:
+    ////                rotateDir = transform.up * 1f;
+    ////                break;
+    ////            case 4:
+    ////                rotateDir = transform.up * -1f;
+    ////                break;
+    ////            case 5:
+    ////                dirToGo = transform.right * -0.75f;
+    ////                break;
+    ////            case 6:
+    ////                dirToGo = transform.right * 0.75f;
+    ////                break;
+    ////        }
+    //        transform.Rotate(rotateDir.normalized, Time.fixedDeltaTime * 200f);
+    //        m_AgentRb.AddForce(dirToGo.normalized * m_PushBlockSettings.agentRunSpeed,
+    //            ForceMode.VelocityChange);
+    //
+    //
+    ////        if (canLookAround)
+    ////        {
+    ////            var angle = act[1];
+    ////            switch (angle)
+    ////            {
+    ////                case 0:
+    ////                    lookAngle = 0;
+    ////                    break;
+    ////                case 1:
+    ////                    lookAngle = maxLookAngle/3;
+    ////                    break;
+    ////                case 2:
+    ////                    lookAngle = maxLookAngle/2;
+    ////                    break;
+    ////                case 3:
+    ////                    lookAngle = maxLookAngle/1;
+    ////                    break;
+    ////                case 4:
+    ////                    lookAngle = -maxLookAngle/3;
+    ////                    break;
+    ////                case 5:
+    ////                    lookAngle = -maxLookAngle/2;
+    ////                    break;
+    ////                case 6:
+    ////                    lookAngle = -maxLookAngle/1;
+    ////                    break;
+    ////            }
+    ////
+    ////            foreach (var item in raySensorsList)
+    ////            {
+    ////                item.transform.localRotation = Quaternion.Euler(0,lookAngle,0);
+    ////            }
+    ////        }
+    //
+    //
+    //        if (useAutoFocus)
+    //        {
+    //            focusAngle = Mathf.Lerp(0, 180, (act[3] + 1f) * 0.5f);
+    ////            var focus = act[1];
+    ////            var focusAngleTarget = act[1];
+    ////            switch (focus)
+    ////            {
+    ////                case 0:
+    ////                    focusAngle = 0;
+    ////                    break;
+    ////                case 1:
+    ////                    focusAngle = 30;
+    ////                    break;
+    ////                case 2:
+    ////                    focusAngle = 60;
+    ////                    break;
+    ////                case 3:
+    ////                    focusAngle = 90;
+    ////                    break;
+    ////                case 4:
+    ////                    focusAngle = 120;
+    ////                    break;
+    ////                case 5:
+    ////                    focusAngle = 180;
+    ////                    break;
+    ////            }
+    ////                    Mathf.MoveTowards()
+    ////            var height = act[2];
+    ////            switch (height)
+    ////            {
+    ////                case 0:
+    ////                    rayHeight = 0;
+    ////                    break;
+    ////                case 1:
+    ////                    rayHeight = 1;
+    ////                    break;
+    ////            }
+    //
+    //            foreach (var item in raySensorsList)
+    //            {
+    //                item.MaxRayDegrees = focusAngle;
+    ////                item.StartVerticalOffset = rayHeight;
+    ////                item.EndVerticalOffset = rayHeight;
+    //            }
+    //        }
+    //    }
+
+
     /// <summary>
     /// Moves the agent according to the selected action.
     /// </summary>
         transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
         m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
             ForceMode.VelocityChange);
+
+
+        if (canLookAround)
+        {
+            var angle = act[1];
+            switch (angle)
+            {
+                case 0:
+                    lookAngle = 0;
+                    break;
+                case 1:
+                    lookAngle = maxLookAngle / 3;
+                    break;
+                case 2:
+                    lookAngle = maxLookAngle / 2;
+                    break;
+                case 3:
+                    lookAngle = maxLookAngle / 1;
+                    break;
+                case 4:
+                    lookAngle = -maxLookAngle / 3;
+                    break;
+                case 5:
+                    lookAngle = -maxLookAngle / 2;
+                    break;
+                case 6:
+                    lookAngle = -maxLookAngle / 1;
+                    break;
+            }
+
+            foreach (var item in raySensorsList)
+            {
+                item.transform.localRotation = Quaternion.Euler(0, lookAngle, 0);
+            }
+        }
+
+
+        if (useAutoFocus)
+        {
+            var focus = act[1];
+            switch (focus)
+            {
+                case 0:
+                    focusAngle = 15;
+                    break;
+                case 1:
+                    focusAngle = 30;
+                    break;
+                case 2:
+                    focusAngle = 60;
+                    break;
+                case 3:
+                    focusAngle = 90;
+                    break;
+                case 4:
+                    focusAngle = 120;
+                    break;
+                case 5:
+                    focusAngle = 180;
+                    break;
+            }
+            //            var height = act[2];
+            //            switch (height)
+            //            {
+            //                case 0:
+            //                    rayHeight = 0;
+            //                    break;
+            //                case 1:
+            //                    rayHeight = 1;
+            //                    break;
+            //            }
+
+            foreach (var item in raySensorsList)
+            {
+                item.MaxRayDegrees = focusAngle;
+                //                item.StartVerticalOffset = rayHeight;
+                //                item.EndVerticalOffset = rayHeight;
+            }
+        }
     }
 
     /// <summary>
 
     {
         // Move the agent using the action.
+        //        MoveAgent(actionBuffers);
+
+    //    /// <summary>
+    //    /// Called every step of the engine. Here the agent takes an action.
+    //    /// </summary>
+    //    public override void OnActionReceived(ActionBuffers actionBuffers)
+    //
+    //    {
+    //        // Move the agent using the action.
+    //        MoveAgent(actionBuffers.DiscreteActions);
+    //
+    //        // Penalty given each step to encourage agent to finish task quickly.
+    //        AddReward(-1f / MaxStep);
+    //    }
 
     public override void Heuristic(in ActionBuffers actionsOut)
     {

com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs

         /// <summary>
         /// Texture where the colors are written to so that they can be compressed in PNG format.
         /// </summary>
-        protected Texture2D m_perceptionTexture2D;
+        public Texture2D m_perceptionTexture2D;
 
         //
         // Utility Constants Calculated on Init
             byteSizesBytesList = new List<byte[]>();
 
             m_perceptionTexture2D = new Texture2D(GridNumSideX, GridNumSideZ, TextureFormat.RGB24, false);
+            testTexture = new Texture2D(GridNumSideX, GridNumSideZ, TextureFormat.RGB24, false);
         }
 
         /// <summary>
             return SensorCompressionType.PNG;
         }
 
+
+        //        public Texture aTexture;
+        public Texture2D testTexture;
+        public bool showGridObservationGUI;
+        void OnGUI()
+        {
+            //            if (!aTexture)
+            if (!testTexture)
+            {
+                Debug.LogError("Assign a Texture in the inspector.");
+                return;
+            }
+
+            if (showGridObservationGUI)
+            {
+                //            GUI.DrawTexture(new Rect(10, 10, 60, 60), aTexture, ScaleMode.ScaleToFit, true, 10.0F);
+                GUI.DrawTexture(new Rect(10, 10, 600, 600), testTexture, ScaleMode.ScaleToFit, true, 1f);
+            }
+        }
+
         /// <summary>
         /// GetCompressedObservation - Calls Perceive then puts the data stored on the perception buffer
         /// onto the m_perceptionTexture2D to be converted to a byte array and returned
                 }
             }
             m_perceptionTexture2D.SetPixels(m_PerceptionColors);
+            if (showGridObservationGUI)
+            {
+                testTexture.SetPixels(m_PerceptionColors);
+                //            testTexture.EncodeToPNG();
+                testTexture.Apply();
+
+            }
         }
 
         public float overlapBoxScale = .5f;
                 Collider[] foundColliders = null;
                 Vector3 cellCenter = Vector3.zero;
 
-                Vector3 halfCellScale = Vector3.one * overlapBoxScale;
+                Vector3 halfCellScale = Vector3.one * (overlapBoxScale * .5f);
                 //                Vector3 halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
 
                 for (int cellIndex = 0; cellIndex < NumCells; cellIndex++)
                     Gizmos.matrix = oldGizmoMatrix * cubeTransform;
                     Gizmos.color = CellActivity[i];
                     //                    Gizmos.DrawCube(Vector3.zero, Vector3.one * .75f);
-                    Gizmos.DrawCube(Vector3.zero, new Vector3(.85f, .15f, .85f));
+                    Gizmos.DrawCube(Vector3.zero, Vector3.one * overlapBoxScale);
+                    //                    Gizmos.DrawCube(Vector3.zero, new Vector3(.85f, .15f, .85f));
                     //                    Gizmos.DrawWireCube(Vector3.zero, Vector3.one * .75f);
                     //                    Gizmos.DrawSphere(Vector3.zero, .5f);
                 }

config/ppo/PushBlock.yaml

       extrinsic:
         gamma: 0.99
         strength: 1.0
-      curiosity:
-        strength: 0.02
-        gamma: 0.99
-        encoding_size: 256
+      # curiosity:
+      #   strength: 0.02
+      #   gamma: 0.99
+      #   encoding_size: 256
     keep_checkpoints: 5
     max_steps: 2000000
     time_horizon: 64

config/sac/PushBlock.yaml

     keep_checkpoints: 5
     max_steps: 2000000
     time_horizon: 64
-    summary_freq: 100000
+    summary_freq: 10000
     threaded: true

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config/sac/PushBlockcopy.yaml

+behaviors:
+  PushBlock:
+    trainer_type: sac
+    hyperparameters:
+      learning_rate: 0.0003
+      learning_rate_schedule: constant
+      batch_size: 128
+      buffer_size: 50000
+      buffer_init_steps: 0
+      tau: 0.005
+      steps_per_update: 10.0
+      save_replay_buffer: false
+      init_entcoef: 0.05
+      reward_signal_steps_per_update: 10.0
+    network_settings:
+      normalize: false
+      hidden_units: 256
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 2000000
+    time_horizon: 64
+    summary_freq: 100000
+    threaded: true