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22db3d64
共有 113 个文件被更改,包括 11504 次插入 和 370 次删除
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64docs/Example-Environments.md
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47python/ppo/models.py
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29python/ppo/trainer.py
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162unity-environment/Assets/ML-Agents/Examples/3DBall/Scene.unity
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12unity-environment/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
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3unity-environment/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DDecision.cs
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96unity-environment/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs
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100unity-environment/Assets/ML-Agents/Examples/GridWorld/GridWorld.unity
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22unity-environment/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
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242unity-environment/Assets/ML-Agents/Examples/Tennis/Tennis.unity
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495images/push.png
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1001images/reacher.png
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695images/wall.png
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9unity-environment/Assets/ML-Agents/Examples/Area.meta
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9unity-environment/Assets/ML-Agents/Examples/Reacher.meta
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9unity-environment/Assets/ML-Agents/Examples/Area/Materials.meta
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76unity-environment/Assets/ML-Agents/Examples/Area/Materials/agent.mat
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9unity-environment/Assets/ML-Agents/Examples/Area/Materials/agent.mat.meta
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76unity-environment/Assets/ML-Agents/Examples/Area/Materials/block.mat
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9unity-environment/Assets/ML-Agents/Examples/Area/Materials/block.mat.meta
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76unity-environment/Assets/ML-Agents/Examples/Area/Materials/goal.mat
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9unity-environment/Assets/ML-Agents/Examples/Area/Materials/goal.mat.meta
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77unity-environment/Assets/ML-Agents/Examples/Area/Materials/wall.mat
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9unity-environment/Assets/ML-Agents/Examples/Area/Materials/wall.mat.meta
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9unity-environment/Assets/ML-Agents/Examples/Area/Prefabs.meta
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224unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/Agent.prefab
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9unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/Agent.prefab.meta
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111unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/Block.prefab
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9unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/Block.prefab.meta
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190unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/GoalHolder.prefab
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9unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/GoalHolder.prefab.meta
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718unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/PushArea.prefab
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9unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/PushArea.prefab.meta
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832unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/WallArea.prefab
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9unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/WallArea.prefab.meta
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1001unity-environment/Assets/ML-Agents/Examples/Area/Push.unity
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8unity-environment/Assets/ML-Agents/Examples/Area/Push.unity.meta
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9unity-environment/Assets/ML-Agents/Examples/Area/Scripts.meta
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20unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Area.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Area.cs.meta
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77unity-environment/Assets/ML-Agents/Examples/Area/Scripts/AreaAgent.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/AreaAgent.cs.meta
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20unity-environment/Assets/ML-Agents/Examples/Area/Scripts/AreaDecision.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/AreaDecision.cs.meta
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31unity-environment/Assets/ML-Agents/Examples/Area/Scripts/GoalInteract.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/GoalInteract.cs.meta
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9unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push.meta
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19unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAcademy.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAcademy.cs.meta
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98unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAgent.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAgent.cs.meta
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32unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushArea.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushArea.cs.meta
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9unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall.meta
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21unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallAcademy.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallAcademy.cs.meta
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101unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallAgent.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallAgent.cs.meta
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29unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallArea.cs
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12unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallArea.cs.meta
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9unity-environment/Assets/ML-Agents/Examples/Area/TFModels.meta
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951unity-environment/Assets/ML-Agents/Examples/Area/TFModels/Jump.bytes
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8unity-environment/Assets/ML-Agents/Examples/Area/TFModels/Jump.bytes.meta
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297unity-environment/Assets/ML-Agents/Examples/Area/TFModels/Push.bytes
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8unity-environment/Assets/ML-Agents/Examples/Area/TFModels/Push.bytes.meta
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1001unity-environment/Assets/ML-Agents/Examples/Area/Wall.unity
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8unity-environment/Assets/ML-Agents/Examples/Area/Wall.unity.meta
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Materials.meta
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77unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Goal.mat
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Goal.mat.meta
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84unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Goal_on.mat
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Goal_on.mat.meta
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76unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Hand.mat
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Hand.mat.meta
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Materials.meta
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76unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Materials/checker 1.mat
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Materials/checker 1.mat.meta
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76unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Materials/checker.mat
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Materials/checker.mat.meta
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25unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/checker.jpg
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74unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/checker.jpg.meta
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Prefabs.meta
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824unity-environment/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab.meta
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1001unity-environment/Assets/ML-Agents/Examples/Reacher/Scene.unity
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8unity-environment/Assets/ML-Agents/Examples/Reacher/Scene.unity.meta
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9unity-environment/Assets/ML-Agents/Examples/Reacher/Scripts.meta
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112unity-environment/Assets/ML-Agents/Examples/Reacher/Scripts/FlyCamera.cs
1001
images/reacher.png
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1001
unity-environment/Assets/ML-Agents/Examples/Area/Push.unity
文件差异内容过多而无法显示
查看文件
文件差异内容过多而无法显示
查看文件
|
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licenseType: Free |
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DefaultImporter: |
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|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class Area : MonoBehaviour { |
|||
|
|||
// Use this for initialization
|
|||
void Start () { |
|||
|
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void Update () { |
|||
|
|||
} |
|||
|
|||
public virtual void ResetArea() { |
|||
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: b46b66a9b32b24fab9d7ffcca24f1f43 |
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timeCreated: 1506809357 |
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licenseType: Pro |
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MonoImporter: |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class AreaAgent : Agent |
|||
{ |
|||
|
|||
public GameObject area; |
|||
|
|||
public override List<float> CollectState() |
|||
{ |
|||
List<float> state = new List<float>(); |
|||
Vector3 velocity = GetComponent<Rigidbody>().velocity; |
|||
|
|||
state.Add((transform.position.x - area.transform.position.x)); |
|||
state.Add((transform.position.y - area.transform.position.y)); |
|||
state.Add((transform.position.z + 5 - area.transform.position.z)); |
|||
state.Add(velocity.x); |
|||
state.Add(velocity.y); |
|||
state.Add(velocity.z); |
|||
|
|||
|
|||
return state; |
|||
} |
|||
|
|||
public override void AgentStep(float[] act) |
|||
{ |
|||
reward = -0.01f; |
|||
float movement = act[0]; |
|||
float directionX = 0; |
|||
float directionZ = 0; |
|||
float directionY = 0; |
|||
if (movement == 1) { directionX = -1; } |
|||
if (movement == 2) { directionX = 1; } |
|||
if (movement == 3) { directionZ = -1; } |
|||
if (movement == 4) { directionZ = 1; } |
|||
if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; } |
|||
|
|||
|
|||
Vector3 fwd = transform.TransformDirection(Vector3.down); |
|||
if (!Physics.Raycast(transform.position, fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f)) |
|||
{ |
|||
directionY = 0f; |
|||
directionX = directionX / 5f; |
|||
directionZ = directionZ / 5f; |
|||
} |
|||
|
|||
gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f)); |
|||
if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f) |
|||
{ |
|||
GetComponent<Rigidbody>().velocity *= 0.95f; |
|||
} |
|||
|
|||
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8) |
|||
{ |
|||
done = true; |
|||
reward = -1f; |
|||
} |
|||
} |
|||
|
|||
public override void AgentReset() |
|||
{ |
|||
transform.position = new Vector3(Random.Range(-3.5f, 3.5f), 1.1f, -8f) + area.transform.position; |
|||
GetComponent<Rigidbody>().velocity = new Vector3(0f, 0f, 0f); |
|||
|
|||
area.GetComponent<Area>().ResetArea(); |
|||
} |
|||
|
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: d1ed6eb5b71e34a75b416c45c4c6f39c |
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timeCreated: 1506829089 |
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licenseType: Pro |
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assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class AreaDecision : MonoBehaviour, Decision { |
|||
|
|||
public float[] Decide (List<float> state, List<Camera> observation, float reward, bool done, float[] memory) |
|||
{ |
|||
float[] action = new float[1]; |
|||
action[0] = Random.Range(0, 5); |
|||
return action; |
|||
|
|||
} |
|||
|
|||
public float[] MakeMemory (List<float> state, List<Camera> observation, float reward, bool done, float[] memory) |
|||
{ |
|||
return default(float[]); |
|||
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: c0205d4e23c794363ba1d78b1e3d7339 |
|||
timeCreated: 1503355437 |
|||
licenseType: Free |
|||
MonoImporter: |
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|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class GoalInteract : MonoBehaviour |
|||
{ |
|||
public GameObject myAgent; |
|||
public GameObject myObject; |
|||
// Use this for initialization
|
|||
void Start() |
|||
{ |
|||
|
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void Update() |
|||
{ |
|||
|
|||
} |
|||
|
|||
private void OnCollisionEnter(Collision collision) |
|||
{ |
|||
if (collision.gameObject == myObject) |
|||
{ |
|||
Agent agent = myAgent.GetComponent<Agent>(); |
|||
agent.done = true; |
|||
agent.reward = 1f; |
|||
} |
|||
} |
|||
|
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 7f7d39fa1cc584f83aa99151c78122f4 |
|||
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userData: |
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|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class PushAcademy : Academy { |
|||
|
|||
public float objectSize; |
|||
|
|||
public override void AcademyReset() |
|||
{ |
|||
objectSize = (int)resetParameters["object_size"]; |
|||
} |
|||
|
|||
public override void AcademyStep() |
|||
{ |
|||
|
|||
} |
|||
|
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 0d8678972c7c0497584073f29b210d8d |
|||
timeCreated: 1506829765 |
|||
licenseType: Pro |
|||
MonoImporter: |
|||
serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class PushAgent : AreaAgent |
|||
{ |
|||
public GameObject goalHolder; |
|||
public GameObject block; |
|||
|
|||
public override void InitializeAgent() |
|||
{ |
|||
base.InitializeAgent(); |
|||
} |
|||
|
|||
public override List<float> CollectState() |
|||
{ |
|||
List<float> state = new List<float>(); |
|||
Vector3 velocity = GetComponent<Rigidbody>().velocity; |
|||
Vector3 blockVelocity = block.GetComponent<Rigidbody>().velocity; |
|||
state.Add((transform.position.x - area.transform.position.x)); |
|||
state.Add((transform.position.y - area.transform.position.y)); |
|||
state.Add((transform.position.z + 5 - area.transform.position.z)); |
|||
|
|||
state.Add((goalHolder.transform.position.x - area.transform.position.x)); |
|||
state.Add((goalHolder.transform.position.y - area.transform.position.y)); |
|||
state.Add((goalHolder.transform.position.z + 5 - area.transform.position.z)); |
|||
|
|||
state.Add((block.transform.position.x - area.transform.position.x)); |
|||
state.Add((block.transform.position.y - area.transform.position.y)); |
|||
state.Add((block.transform.position.z + 5 - area.transform.position.z)); |
|||
|
|||
state.Add(velocity.x); |
|||
state.Add(velocity.y); |
|||
state.Add(velocity.z); |
|||
|
|||
state.Add(blockVelocity.x); |
|||
state.Add(blockVelocity.y); |
|||
state.Add(blockVelocity.z); |
|||
|
|||
return state; |
|||
} |
|||
|
|||
public override void AgentStep(float[] act) |
|||
{ |
|||
reward = -0.01f; |
|||
float movement = act[0]; |
|||
float directionX = 0; |
|||
float directionZ = 0; |
|||
float directionY = 0; |
|||
if (movement == 1) { directionX = -1; } |
|||
if (movement == 2) { directionX = 1; } |
|||
if (movement == 3) { directionZ = -1; } |
|||
if (movement == 4) { directionZ = 1; } |
|||
if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; } |
|||
|
|||
|
|||
Vector3 fwd = transform.TransformDirection(Vector3.down); |
|||
if (!Physics.Raycast(transform.position, fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f)) |
|||
{ |
|||
directionY = 0f; |
|||
directionX = directionX / 5f; |
|||
directionZ = directionZ / 5f; |
|||
} |
|||
|
|||
gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f)); |
|||
if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f) |
|||
{ |
|||
GetComponent<Rigidbody>().velocity *= 0.95f; |
|||
} |
|||
|
|||
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8) |
|||
{ |
|||
done = true; |
|||
reward = -1f; |
|||
} |
|||
} |
|||
|
|||
public override void AgentReset() |
|||
{ |
|||
transform.position = new Vector3(Random.Range(-3.5f, 3.5f), 1.1f, -8f) + area.transform.position; |
|||
GetComponent<Rigidbody>().velocity = new Vector3(0f, 0f, 0f); |
|||
|
|||
area.GetComponent<Area>().ResetArea(); |
|||
} |
|||
|
|||
public override void AgentOnDone() |
|||
{ |
|||
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 49f021cd5b5ee49a7bbce654270e260e |
|||
timeCreated: 1506829537 |
|||
licenseType: Pro |
|||
MonoImporter: |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class PushArea : Area { |
|||
|
|||
public GameObject block; |
|||
public GameObject goalHolder; |
|||
public GameObject academy; |
|||
|
|||
// Use this for initialization
|
|||
void Start () { |
|||
academy = GameObject.Find("Academy"); |
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void Update () { |
|||
|
|||
} |
|||
|
|||
public override void ResetArea() |
|||
{ |
|||
block.transform.position = new Vector3(Random.Range(-2.5f, 2.5f), 1f, Random.Range(-7f, -5f)) + gameObject.transform.position; |
|||
goalHolder.transform.position = new Vector3(Random.Range(-3.5f, 3.5f), -0.1f, Random.Range(0f, -3f)) + gameObject.transform.position; |
|||
|
|||
float size = academy.GetComponent<PushAcademy>().objectSize; |
|||
|
|||
block.transform.localScale = new Vector3(size, 1f, size); |
|||
goalHolder.transform.localScale = new Vector3(size + 1f, 1f, size + 1f); |
|||
} |
|||
|
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 0572958da97104432a0f155301472bbb |
|||
timeCreated: 1506809696 |
|||
licenseType: Pro |
|||
MonoImporter: |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
fileFormatVersion: 2 |
|||
guid: 96f0da72d86b14ac293d14ce775e4dd4 |
|||
folderAsset: yes |
|||
timeCreated: 1507918296 |
|||
licenseType: Pro |
|||
DefaultImporter: |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class WallAcademy : Academy { |
|||
|
|||
public int minWallHeight; |
|||
public int maxWallHeight; |
|||
|
|||
public override void AcademyReset() |
|||
{ |
|||
minWallHeight = (int)resetParameters["min_wall_height"]; |
|||
maxWallHeight = (int)resetParameters["max_wall_height"]; |
|||
} |
|||
|
|||
public override void AcademyStep() |
|||
{ |
|||
|
|||
} |
|||
|
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 3d90d7400713f423b9862a2ee7262eb7 |
|||
timeCreated: 1503355437 |
|||
licenseType: Free |
|||
MonoImporter: |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class WallAgent : AreaAgent |
|||
{ |
|||
public GameObject goalHolder; |
|||
public GameObject block; |
|||
public GameObject wall; |
|||
|
|||
public override void InitializeAgent() |
|||
{ |
|||
base.InitializeAgent(); |
|||
} |
|||
|
|||
public override List<float> CollectState() |
|||
{ |
|||
List<float> state = new List<float>(); |
|||
Vector3 velocity = GetComponent<Rigidbody>().velocity; |
|||
state.Add((transform.position.x - area.transform.position.x)); |
|||
state.Add((transform.position.y - area.transform.position.y)); |
|||
state.Add((transform.position.z + 5 - area.transform.position.z)); |
|||
|
|||
state.Add((goalHolder.transform.position.x - area.transform.position.x)); |
|||
state.Add((goalHolder.transform.position.y - area.transform.position.y)); |
|||
state.Add((goalHolder.transform.position.z + 5 - area.transform.position.z)); |
|||
|
|||
state.Add((block.transform.position.x - area.transform.position.x)); |
|||
state.Add((block.transform.position.y - area.transform.position.y)); |
|||
state.Add((block.transform.position.z + 5 - area.transform.position.z)); |
|||
|
|||
state.Add(wall.transform.localScale.y); |
|||
|
|||
state.Add(velocity.x); |
|||
state.Add(velocity.y); |
|||
state.Add(velocity.z); |
|||
|
|||
Vector3 blockVelocity = block.GetComponent<Rigidbody>().velocity; |
|||
state.Add(blockVelocity.x); |
|||
state.Add(blockVelocity.y); |
|||
state.Add(blockVelocity.z); |
|||
|
|||
return state; |
|||
} |
|||
|
|||
public override void AgentStep(float[] act) |
|||
{ |
|||
reward = -0.01f; |
|||
float movement = act[0]; |
|||
float directionX = 0; |
|||
float directionZ = 0; |
|||
float directionY = 0; |
|||
if (movement == 1) { directionX = -1; } |
|||
if (movement == 2) { directionX = 1; } |
|||
if (movement == 3) { directionZ = -1; } |
|||
if (movement == 4) { directionZ = 1; } |
|||
if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; } |
|||
|
|||
|
|||
Vector3 fwd = transform.TransformDirection(Vector3.down); |
|||
if (!Physics.Raycast(transform.position, fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) && |
|||
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f)) |
|||
{ |
|||
directionY = 0f; |
|||
directionX = directionX / 5f; |
|||
directionZ = directionZ / 5f; |
|||
} |
|||
|
|||
gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f)); |
|||
if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f) |
|||
{ |
|||
GetComponent<Rigidbody>().velocity *= 0.95f; |
|||
} |
|||
|
|||
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8) |
|||
{ |
|||
done = true; |
|||
reward = -1f; |
|||
} |
|||
} |
|||
|
|||
public override void AgentReset() |
|||
{ |
|||
transform.position = new Vector3(Random.Range(-3.5f, 3.5f), 1.1f, -8f) + area.transform.position; |
|||
GetComponent<Rigidbody>().velocity = new Vector3(0f, 0f, 0f); |
|||
|
|||
area.GetComponent<Area>().ResetArea(); |
|||
} |
|||
|
|||
public override void AgentOnDone() |
|||
{ |
|||
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 4276057469b484664b731803aa947656 |
|||
timeCreated: 1503355437 |
|||
licenseType: Free |
|||
MonoImporter: |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class WallArea : Area { |
|||
|
|||
public GameObject wall; |
|||
public GameObject academy; |
|||
public GameObject block; |
|||
public GameObject goalHolder; |
|||
|
|||
// Use this for initialization
|
|||
void Start () { |
|||
academy = GameObject.Find("Academy"); |
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void Update () { |
|||
|
|||
} |
|||
|
|||
public override void ResetArea() { |
|||
int wallHeightMin = (int)academy.GetComponent<WallAcademy>().minWallHeight; |
|||
int wallHeightMax = (int)academy.GetComponent<WallAcademy>().maxWallHeight; |
|||
wall.transform.localScale = new Vector3(12f, Random.Range(wallHeightMin, wallHeightMax), 1f); |
|||
block.transform.position = new Vector3(Random.Range(-3.5f, 3.5f), 1f, Random.Range(-4f, -8f)) + gameObject.transform.position; |
|||
goalHolder.transform.position = new Vector3(Random.Range(-3.5f, 3.5f), 0.25f, 0f) + gameObject.transform.position; |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 8852782dcebdd427799bf307c5ef2314 |
|||
timeCreated: 1506809294 |
|||
licenseType: Pro |
|||
MonoImporter: |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
fileFormatVersion: 2 |
|||
guid: e569a4a63a0064d8fb2e4e021009cadd |
|||
folderAsset: yes |
|||
timeCreated: 1506988981 |
|||
licenseType: Pro |
|||
DefaultImporter: |
|||
userData: |
|||
assetBundleName: |
|||
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|
|||
|
|||
? |
|||
statePlaceholder* |
|||
dtype0* |
|||
shape:��������� |
|||
�h |
|||
dense/kernelConst* |
|||
dtype0*�h |
|||
value�hB�h
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�<"��>K���o&E�f�ʾ2���4�ƽ�X����E�N��T�q=�P� |
|||
�i���&>.S��[h?^��=N���;o�>E V�$w�>��k�j\���ڪ�{I ?��t�=J'���@��k?q���=�? �I��\>v��>�L8?��b:���p�>��ڽ�xٽte�=!��>]�T?k��+����ʽB�?�
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A��}M>Қ<O�h=� �="��=�^8��ְ���Ƚ�]a?�X������>a>�!۽�S����R= E=���a<,��>4#> |