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Dynamic Sensor Benchmarks In

/hh-develop-gridsensor-tests/static
HH 4 年前
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1912e47a
共有 37 个文件被更改,包括 15129 次插入979 次删除
  1. 197
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerGRAVEYARD.unity
  2. 462
      Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
  3. 950
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockHard.prefab
  4. 693
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockGridSensor.unity
  5. 241
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentGrid.cs
  6. 35
      com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
  7. 8
      config/ppo/PushBlock.yaml
  8. 2
      config/sac/PushBlock.yaml
  9. 329
      Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Canvas.prefab
  10. 7
      Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Canvas.prefab.meta
  11. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/DynamicRays_3Rays_3Hazards_PPO.nn
  12. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/DynamicRays_3Rays_3Hazards_PPO.nn.meta
  13. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus.nn
  14. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus.nn.meta
  15. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus3Stack_SAC_RaySizep5_grid.nn
  16. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus3Stack_SAC_RaySizep5_grid.nn.meta
  17. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus3Stack_SAC_RaySizep5_grid_Maze.nn
  18. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus3Stack_SAC_RaySizep5_grid_Maze.nn.meta
  19. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus5Stacking.nn
  20. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocus5Stacking.nn.meta
  21. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusNoStacking.nn
  22. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusNoStacking.nn.meta
  23. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusWithGrid.nn
  24. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusWithGrid.nn.meta
  25. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusWithGridRotateWithAgentNoStacking.nn
  26. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusWithGridRotateWithAgentNoStacking.nn.meta
  27. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusWithGridRotateWithPlatform.nn
  28. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockAutoFocusWithGridRotateWithPlatform.nn.meta
  29. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboDynamicGridNewRBSensor.nn
  30. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboDynamicGridNewRBSensor.nn.meta
  31. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboStaticGridNew.nn
  32. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboStaticGridNew.nn.meta
  33. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockMoreRaysComboRBSensorStaticGrid.nn
  34. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockMoreRaysComboRBSensorStaticGrid.nn.meta
  35. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockSAC.nn
  36. 11
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockSAC.nn.meta
  37. 28
      config/sac/PushBlockcopy.yaml

197
Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerGRAVEYARD.unity


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950
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文件差异内容过多而无法显示
查看文件

693
Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockGridSensor.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:
lookA