Andrew Cohen
4 年前
当前提交
2f870407
共有 46 个文件被更改,包括 7154 次插入 和 0 次删除
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8Project/Assets/ML-Agents/Examples/Bullet.meta
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26config/ppo/Bullet.yaml
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8Project/Assets/ML-Agents/Examples/Bullet/Demos.meta
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1001Project/Assets/ML-Agents/Examples/Bullet/Demos/ExpertPush.demo
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10Project/Assets/ML-Agents/Examples/Bullet/Demos/ExpertPush.demo.meta
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8Project/Assets/ML-Agents/Examples/Bullet/Materials.meta
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14Project/Assets/ML-Agents/Examples/Bullet/Materials/noFric.physicMaterial
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8Project/Assets/ML-Agents/Examples/Bullet/Materials/noFric.physicMaterial.meta
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8Project/Assets/ML-Agents/Examples/Bullet/Meshes.meta
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1001Project/Assets/ML-Agents/Examples/Bullet/Meshes/PushBlockCourt.fbx
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120Project/Assets/ML-Agents/Examples/Bullet/Meshes/PushBlockCourt.fbx.meta
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10Project/Assets/ML-Agents/Examples/Bullet/Prefabs.meta
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571Project/Assets/ML-Agents/Examples/Bullet/Prefabs/BulletArea.prefab
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7Project/Assets/ML-Agents/Examples/Bullet/Prefabs/BulletArea.prefab.meta
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634Project/Assets/ML-Agents/Examples/Bullet/Prefabs/DodgeAgent.prefab
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7Project/Assets/ML-Agents/Examples/Bullet/Prefabs/DodgeAgent.prefab.meta
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641Project/Assets/ML-Agents/Examples/Bullet/Prefabs/GridDodgeAgent.prefab
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7Project/Assets/ML-Agents/Examples/Bullet/Prefabs/GridDodgeAgent.prefab.meta
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124Project/Assets/ML-Agents/Examples/Bullet/Prefabs/bullet.prefab
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7Project/Assets/ML-Agents/Examples/Bullet/Prefabs/bullet.prefab.meta
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10Project/Assets/ML-Agents/Examples/Bullet/Scenes.meta
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1001Project/Assets/ML-Agents/Examples/Bullet/Scenes/Bullet.unity
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9Project/Assets/ML-Agents/Examples/Bullet/Scenes/Bullet.unity.meta
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10Project/Assets/ML-Agents/Examples/Bullet/Scripts.meta
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7Project/Assets/ML-Agents/Examples/Bullet/Scripts/.BulletAgent.cs.swp
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32Project/Assets/ML-Agents/Examples/Bullet/Scripts/Bullet.cs
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11Project/Assets/ML-Agents/Examples/Bullet/Scripts/Bullet.cs.meta
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103Project/Assets/ML-Agents/Examples/Bullet/Scripts/BulletAgent.cs
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11Project/Assets/ML-Agents/Examples/Bullet/Scripts/BulletAgent.cs.meta
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24Project/Assets/ML-Agents/Examples/Bullet/Scripts/BulletSettings.cs
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11Project/Assets/ML-Agents/Examples/Bullet/Scripts/BulletSettings.cs.meta
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188Project/Assets/ML-Agents/Examples/Bullet/Scripts/DodgeAgent.cs
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11Project/Assets/ML-Agents/Examples/Bullet/Scripts/DodgeAgent.cs.meta
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8Project/Assets/ML-Agents/Examples/Bullet/TFModels.meta
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472Project/Assets/ML-Agents/Examples/Bullet/TFModels/Dodge.onnx
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14Project/Assets/ML-Agents/Examples/Bullet/TFModels/Dodge.onnx.meta
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1001Project/Assets/ML-Agents/Examples/Bullet/TFModels/PushBlock.nn
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11Project/Assets/ML-Agents/Examples/Bullet/TFModels/PushBlock.nn.meta
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1001
Project/Assets/ML-Agents/Examples/Bullet/Scenes/Bullet.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
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Project/Assets/ML-Agents/Examples/Bullet/Scripts/.BulletAgent.cs.swp
文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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|
|||
//Put this script on your blue cube.
|
|||
|
|||
using System.Collections; |
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgents.Actuators; |
|||
|
|||
public class Bullet : MonoBehaviour |
|||
{ |
|||
/// <summary>
|
|||
/// The ground. The bounds are used to spawn the elements.
|
|||
/// </summary>
|
|||
Rigidbody m_BulletRb; |
|||
public float speed; |
|||
void Awake() |
|||
{ |
|||
m_BulletRb = GetComponent<Rigidbody>(); |
|||
//m_BulletRb.AddForce(20f*transform.forward, ForceMode.VelocityChange);
|
|||
} |
|||
|
|||
public void FixedUpdate() |
|||
{ |
|||
transform.position += transform.forward * speed; |
|||
} |
|||
public void OnCollisionEnter(Collision c) |
|||
{ |
|||
if (c.gameObject.CompareTag("wall")){ |
|||
//gameObject.SetActive(false);
|
|||
Destroy(gameObject); |
|||
} |
|||
} |
|||
} |
|
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userData: |
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assetBundleName: |
|||
assetBundleVariant: |
|
|||
//Put this script on your blue cube.
|
|||
|
|||
using System.Collections; |
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgents.Actuators; |
|||
|
|||
public class BulletAgent : MonoBehaviour |
|||
{ |
|||
/// <summary>
|
|||
/// The ground. The bounds are used to spawn the elements.
|
|||
/// </summary>
|
|||
public GameObject ground; |
|||
|
|||
public GameObject area; |
|||
|
|||
public GameObject bullet; |
|||
Rigidbody m_BulletRb; |
|||
|
|||
float m_BulletTime; |
|||
/// <summary>
|
|||
/// The area bounds.
|
|||
/// </summary>
|
|||
[HideInInspector] |
|||
public Bounds areaBounds; |
|||
public float rad; |
|||
|
|||
BulletSettings m_BulletSettings; |
|||
|
|||
float m_x; |
|||
float m_z; |
|||
float radius; |
|||
float m_currX; |
|||
float m_currZ; |
|||
Vector3 m_center; |
|||
public bool useVectorObs; |
|||
|
|||
//Rigidbody m_AgentRb; //cached on initialization
|
|||
Material m_GroundMaterial; //cached on Awake()
|
|||
|
|||
/// <summary>
|
|||
/// We will be changing the ground material based on success/failue
|
|||
/// </summary>
|
|||
Renderer m_GroundRenderer; |
|||
|
|||
EnvironmentParameters m_ResetParams; |
|||
|
|||
void Awake() |
|||
{ |
|||
m_BulletSettings = FindObjectOfType<BulletSettings>(); |
|||
areaBounds = ground.GetComponent<Collider>().bounds; |
|||
m_BulletRb = bullet.GetComponent<Rigidbody>(); |
|||
//area = GetComponent<BulletArea>();
|
|||
m_x = areaBounds.extents.x; |
|||
m_z = areaBounds.extents.z; |
|||
m_currX = area.transform.position.x; |
|||
m_currZ = area.transform.position.z + m_z - rad; |
|||
var angle = (Random.Range(0f,360f) * Mathf.PI/ 180f); |
|||
var x = Mathf.Cos(angle) * (m_currX - area.transform.position.x) - Mathf.Sin(angle) * (m_currZ - area.transform.position.z) + area.transform.position.x;; |
|||
var z = Mathf.Sin(angle) * (m_currX - area.transform.position.x) + Mathf.Cos(angle) * (m_currZ - area.transform.position.z) + area.transform.position.z; |
|||
m_currX = x; |
|||
m_currZ = z; |
|||
m_center = new Vector3(area.transform.position.x, 0.5f, area.transform.position.z); |
|||
m_BulletTime = 0f; |
|||
} |
|||
|
|||
|
|||
// Cache the agent rigidbody
|
|||
// m_AgentRb = GetComponent<Rigidbody>();
|
|||
// Cache the block rigidbody
|
|||
// Get the ground's bounds
|
|||
// Get the ground renderer so we can change the material when a goal is scored
|
|||
|
|||
|
|||
public void FixedUpdate() |
|||
{ |
|||
if (Time.time > m_BulletTime + 0.03f) |
|||
{ |
|||
//var x = Random.Range(-1f * m_x, m_x) + area.transform.position.x;
|
|||
//var z = Random.Range(-1f * m_z, m_z) + area.transform.position.z;
|
|||
var r = Random.Range(0f, 360f); |
|||
var ra = Random.Range(0, 2); |
|||
var dir = -1f; |
|||
if (ra == 1) |
|||
{ |
|||
dir = 1f; |
|||
} |
|||
var angle = dir * (5f * Mathf.PI/ 180f); |
|||
var x = Mathf.Cos(angle) * (m_currX - area.transform.position.x) - Mathf.Sin(angle) * (m_currZ - area.transform.position.z) + area.transform.position.x;; |
|||
var z = Mathf.Sin(angle) * (m_currX - area.transform.position.x) + Mathf.Cos(angle) * (m_currZ - area.transform.position.z) + area.transform.position.z; |
|||
var pos = new Vector3(x, 0.5f, z); |
|||
|
|||
Quaternion rotation = Quaternion.Euler(0, r, 0); |
|||
//Quaternion rotation = Quaternion.LookRotation(m_center - pos);
|
|||
var ob = Instantiate(m_BulletRb, pos, rotation); |
|||
m_currX = x; |
|||
m_currZ = z; |
|||
// ob.GetComponent<Rigidbody>().AddForce(20f*ob.transform.forward, ForceMode.VelocityChange);
|
|||
m_BulletTime = Time.time; |
|||
|
|||
} |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: df91a3b0545914867a3e12c2612ff2e7 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using UnityEngine; |
|||
|
|||
public class BulletSettings : MonoBehaviour |
|||
{ |
|||
/// <summary>
|
|||
/// The "walking speed" of the agents in the scene.
|
|||
/// </summary>
|
|||
public float agentRunSpeed; |
|||
|
|||
/// <summary>
|
|||
/// The agent rotation speed.
|
|||
/// Every agent will use this setting.
|
|||
/// </summary>
|
|||
public float agentRotationSpeed; |
|||
|
|||
/// <summary>
|
|||
/// The spawn area margin multiplier.
|
|||
/// ex: .9 means 90% of spawn area will be used.
|
|||
/// .1 margin will be left (so players don't spawn off of the edge).
|
|||
/// The higher this value, the longer training time required.
|
|||
/// </summary>
|
|||
public float spawnAreaMarginMultiplier; |
|||
|
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 72fc5e76d68b84deb8848e7935d473e6 |
|||
MonoImporter: |
|||
externalObjects: {} |
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serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
//Put this script on your blue cube.
|
|||
|
|||
using System.Collections; |
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgents.Actuators; |
|||
using Unity.MLAgents.Sensors; |
|||
|
|||
public class DodgeAgent : Agent |
|||
{ |
|||
/// <summary>
|
|||
/// The ground. The bounds are used to spawn the elements.
|
|||
/// </summary>
|
|||
public GameObject ground; |
|||
|
|||
public GameObject area; |
|||
|
|||
/// <summary>
|
|||
/// The area bounds.
|
|||
/// </summary>
|
|||
[HideInInspector] |
|||
public Bounds areaBounds; |
|||
|
|||
BulletSettings m_BulletSettings; |
|||
|
|||
|
|||
public bool useVectorObs; |
|||
|
|||
Rigidbody m_AgentRb; //cached on initialization
|
|||
Material m_GroundMaterial; //cached on Awake()
|
|||
|
|||
/// <summary>
|
|||
/// We will be changing the ground material based on success/failue
|
|||
/// </summary>
|
|||
Renderer m_GroundRenderer; |
|||
|
|||
EnvironmentParameters m_ResetParams; |
|||
|
|||
void Awake() |
|||
{ |
|||
m_BulletSettings = FindObjectOfType<BulletSettings>(); |
|||
} |
|||
|
|||
public override void Initialize() |
|||
{ |
|||
|
|||
// Cache the agent rigidbody
|
|||
m_AgentRb = GetComponent<Rigidbody>(); |
|||
// Cache the block rigidbody
|
|||
// Get the ground's bounds
|
|||
areaBounds = ground.GetComponent<Collider>().bounds; |
|||
// Get the ground renderer so we can change the material when a goal is scored
|
|||
m_GroundRenderer = ground.GetComponent<Renderer>(); |
|||
// Starting material
|
|||
m_GroundMaterial = m_GroundRenderer.material; |
|||
|
|||
m_ResetParams = Academy.Instance.EnvironmentParameters; |
|||
|
|||
SetResetParameters(); |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Use the ground's bounds to pick a random spawn position.
|
|||
/// </summary>
|
|||
public Vector3 GetRandomSpawnPos() |
|||
{ |
|||
var foundNewSpawnLocation = false; |
|||
var randomSpawnPos = Vector3.zero; |
|||
while (foundNewSpawnLocation == false) |
|||
{ |
|||
var randomPosX = Random.Range(-areaBounds.extents.x * m_BulletSettings.spawnAreaMarginMultiplier, |
|||
areaBounds.extents.x * m_BulletSettings.spawnAreaMarginMultiplier); |
|||
|
|||
var randomPosZ = Random.Range(-areaBounds.extents.z * m_BulletSettings.spawnAreaMarginMultiplier, |
|||
areaBounds.extents.z * m_BulletSettings.spawnAreaMarginMultiplier); |
|||
randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ); |
|||
if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false) |
|||
{ |
|||
foundNewSpawnLocation = true; |
|||
} |
|||
} |
|||
return randomSpawnPos; |
|||
} |
|||
|
|||
public override void CollectObservations(VectorSensor sensor) |
|||
{ |
|||
|
|||
sensor.AddObservation(transform.position.x - area.transform.position.x); |
|||
sensor.AddObservation(transform.position.z - area.transform.position.z); |
|||
|
|||
} |
|||
/// <summary>
|
|||
/// Called every step of the engine. Here the agent takes an action.
|
|||
/// </summary>
|
|||
public override void OnActionReceived(ActionBuffers actionBuffers) |
|||
|
|||
{ |
|||
var forwardForce = Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f); |
|||
var lateralForce = Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f); |
|||
var rotationForce = Mathf.Clamp(actionBuffers.ContinuousActions[2], -1f, 1f); |
|||
|
|||
Vector3 dirToGo = transform.forward * forwardForce + transform.right * lateralForce; |
|||
Vector3 rotateDir = transform.up * rotationForce; |
|||
|
|||
transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f); |
|||
m_AgentRb.AddForce(dirToGo * m_BulletSettings.agentRunSpeed, |
|||
ForceMode.VelocityChange); |
|||
|
|||
AddReward(.001f); |
|||
} |
|||
|
|||
public override void Heuristic(in ActionBuffers actionsOut) |
|||
{ |
|||
var continuousActionsOut = actionsOut.ContinuousActions; |
|||
continuousActionsOut[0] = 0f; |
|||
continuousActionsOut[1] = 0f; |
|||
continuousActionsOut[2] = 0f; |
|||
if (Input.GetKey(KeyCode.D)) |
|||
{ |
|||
continuousActionsOut[2] = 1f; |
|||
} |
|||
else if (Input.GetKey(KeyCode.W)) |
|||
{ |
|||
continuousActionsOut[0] = 1f; |
|||
} |
|||
else if (Input.GetKey(KeyCode.A)) |
|||
{ |
|||
continuousActionsOut[2] = -1f; |
|||
} |
|||
else if (Input.GetKey(KeyCode.S)) |
|||
{ |
|||
continuousActionsOut[0] = -1f; |
|||
} |
|||
else if (Input.GetKey(KeyCode.Q)) |
|||
{ |
|||
continuousActionsOut[1] = -1f; |
|||
} |
|||
else if (Input.GetKey(KeyCode.E)) |
|||
{ |
|||
continuousActionsOut[1] = 1f; |
|||
} |
|||
|
|||
} |
|||
|
|||
void OnCollisionEnter(Collision collision) |
|||
{ |
|||
if (collision.gameObject.CompareTag("bullet") || collision.gameObject.CompareTag("wall")) |
|||
{ |
|||
SetReward(0f); |
|||
EndEpisode(); |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Resets the block position and velocities.
|
|||
/// </summary>
|
|||
|
|||
/// <summary>
|
|||
/// In the editor, if "Reset On Done" is checked then AgentReset() will be
|
|||
/// called automatically anytime we mark done = true in an agent script.
|
|||
/// </summary>
|
|||
public override void OnEpisodeBegin() |
|||
{ |
|||
var rotation = Random.Range(0, 4); |
|||
var rotationAngle = rotation * 90f; |
|||
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f)); |
|||
|
|||
transform.position = GetRandomSpawnPos();//
|
|||
m_AgentRb.velocity = Vector3.zero; |
|||
m_AgentRb.angularVelocity = Vector3.zero; |
|||
|
|||
SetResetParameters(); |
|||
} |
|||
|
|||
public void SetGroundMaterialFriction() |
|||
{ |
|||
var groundCollider = ground.GetComponent<Collider>(); |
|||
|
|||
groundCollider.material.dynamicFriction = m_ResetParams.GetWithDefault("dynamic_friction", 0); |
|||
groundCollider.material.staticFriction = m_ResetParams.GetWithDefault("static_friction", 0); |
|||
} |
|||
|
|||
|
|||
void SetResetParameters() |
|||
{ |
|||
//SetGroundMaterialFriction();
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 232c9ff708bbc42229855bb8d3366b4c |
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pytorch1.5:�� |
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^ |
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vector_observation |
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8network_body.vector_processors.0.normalizer.running_mean25Sub_0"Sub |
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|||
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|||
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