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Add DungeonEscape POCA Environment (#5128) 

* Add DungeonEscape assets from working branch

* Add Dungeon Escape docs

* Create dungeon_escape.png
/develop/input-actuator-tanks
GitHub 4 年前
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共有 43 个文件被更改，包括 7220 次插入 和 0 次删除
  1. 22
      docs/Learning-Environment-Examples.md
  2. 8
      Project/Assets/ML-Agents/Examples/DungeonEscape.meta
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  7. 143
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
  8. 11
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs.meta
  9. 26
      config/poca/DungeonEscape.yaml
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  29. 260
      Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/DungeonEscapeEnvController.cs
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  31. 137
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  33. 45
      Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/SimpleNPC.cs
  34. 11
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  35. 8
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22
docs/Learning-Environment-Examples.md
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and counterclockwise, move along four different face directions, or do nothing.
- Float Properties: None
- Benchmark Mean Reward: 11 (Group Reward)
## Dungeon Escape
![DungeonEscape](images/dungeon_escape.png)
- Set-up: Agents are trapped in a dungeon with a dragon, and must work together to escape.
To retrieve the key, one of the agents must find and slay the dragon, sacrificing itself
to do so. The dragon will drop a key for the others to use. The other agents can then pick
up this key and unlock the dungeon door. If the agents take too long, the dragon will escape
through a portal and the environment resets.
- Goal: Unlock the dungeon door and leave.
- Agents: The environment contains three Agents in a Multi Agent Group and one Dragon, which
moves in a predetermined pattern.
- Agent Reward Function:
- +1 group reward if any agent successfully unlocks the door and leaves the dungeon.
- Behavior Parameters:
- Observation space: A Ray Perception Sensor with separate tags for the walls, other agents,
the door, key, the dragon, and the dragon's portal. A single Vector Observation which indicates
whether the agent is holding a key.
- Actions: 1 discrete action branch with 7 actions, corresponding to turn clockwise
and counterclockwise, move along four different face directions, or do nothing.
- Float Properties: None
- Benchmark Mean Reward: 1.0 (Group Reward)

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Project/Assets/ML-Agents/Examples/DungeonEscape.meta
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143
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
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using UnityEngine;
using Random = UnityEngine.Random;
using Unity.MLAgents;
using UnityEngine.Events;
namespace Unity.MLAgentsExamples
{
/// <summary>
/// Utility class to allow target placement and collision detection with an agent
/// Add this script to the target you want the agent to touch.
/// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
/// </summary>
public class CollisionCallbacks : MonoBehaviour
{
// [System.Serializable] public class BoolEvent : UnityEvent<bool> { }
// [SerializeField] BoolEvent boolEvent = new BoolEvent();
// public void OnBoolEvent(bool value)
// {
// Debug.Log($"OnBoolEvent {value}");
// }
[Header("Collider Tag To Detect")]
public string tagToDetect = "agent"; //collider tag to detect
// [Header("Target Placement")]
// public float spawnRadius; //The radius in which a target can be randomly spawned.
// public bool respawnIfTouched; //Should the target respawn to a different position when touched
//
// [Header("Target Fell Protection")]
// public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
// public float fallDistance = 5; //distance below the starting height that will trigger a respawn
//
//
// private Vector3 m_startingPos; //the starting position of the target
// private Agent m_agentTouching; //the agent currently touching the target
[System.Serializable]
// public class TriggerEvent : UnityEvent<string>
public class TriggerEvent : UnityEvent<Collider>
{
}
[Header("Trigger Callbacks")]
public TriggerEvent onTriggerEnterEvent = new TriggerEvent();
public TriggerEvent onTriggerStayEvent = new TriggerEvent();
public TriggerEvent onTriggerExitEvent = new TriggerEvent();
[System.Serializable]
public class CollisionEvent : UnityEvent<Collision, Transform>
{
}
[Header("Collision Callbacks")]
public CollisionEvent onCollisionEnterEvent = new CollisionEvent();
public CollisionEvent onCollisionStayEvent = new CollisionEvent();
public CollisionEvent onCollisionExitEvent = new CollisionEvent();
// // Start is called before the first frame update
// void OnEnable()
// {
// m_startingPos = transform.position;
// if (respawnIfTouched)
// {
// MoveTargetToRandomPosition();
// }
// }
// void Update()
// {
// if (respawnIfFallsOffPlatform)
// {
// if (transform.position.y < m_startingPos.y - fallDistance)
// {
// Debug.Log($"{transform.name} Fell Off Platform");
// MoveTargetToRandomPosition();
// }
// }
// }
// /// <summary>
// /// Moves target to a random position within specified radius.
// /// </summary>
// public void MoveTargetToRandomPosition()
// {
// var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius);
// newTargetPos.y = m_startingPos.y;
// transform.position = newTargetPos;
// }
private void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionEnterEvent.Invoke(col, transform);
// if (respawnIfTouched)
// {
// MoveTargetToRandomPosition();
// }
}
}
private void OnCollisionStay(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionStayEvent.Invoke(col, transform);
}
}
private void OnCollisionExit(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionExitEvent.Invoke(col, transform);
}
}
private void OnTriggerEnter(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerEnterEvent.Invoke(col);
}
}
private void OnTriggerStay(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerStayEvent.Invoke(col);
}
}
private void OnTriggerExit(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerExitEvent.Invoke(col);
}
}
}
}

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config/poca/DungeonEscape.yaml
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behaviors:
DungeonEscape:
trainer_type: poca
hyperparameters:
batch_size: 1024
buffer_size: 10240
learning_rate: 0.0003
beta: 0.01
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: constant
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: 20000000
time_horizon: 64
summary_freq: 60000
threaded: true

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103
Project/Assets/ML-Agents/Examples/DungeonEscape/Meshes/Cave.fbx.meta
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Project/Assets/ML-Agents/Examples/DungeonEscape/Meshes/Door.fbx
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7
Project/Assets/ML-Agents/Examples/DungeonEscape/Prefabs/Sword.prefab.meta
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Project/Assets/ML-Agents/Examples/DungeonEscape/Scenes.meta
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Project/Assets/ML-Agents/Examples/DungeonEscape/Scenes/DungeonEscape.unity
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9
Project/Assets/ML-Agents/Examples/DungeonEscape/Scenes/DungeonEscape.unity.meta
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Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts.meta
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260
Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/DungeonEscapeEnvController.cs
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using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using UnityEngine;
public class DungeonEscapeEnvController : MonoBehaviour
{
[System.Serializable]
public class PlayerInfo
{
public PushAgentEscape Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
}
[System.Serializable]
public class DragonInfo
{
public SimpleNPC Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
public Transform T;
public bool IsDead;
}
/// <summary>
/// Max Academy steps before this platform resets
/// </summary>
/// <returns></returns>
[Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
private int m_ResetTimer;
/// <summary>
/// The area bounds.
/// </summary>
[HideInInspector]
public Bounds areaBounds;
/// <summary>
/// The ground. The bounds are used to spawn the elements.
/// </summary>
public GameObject ground;
Material m_GroundMaterial; //cached on Awake()
/// <summary>
/// We will be changing the ground material based on success/failue
/// </summary>
Renderer m_GroundRenderer;
public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
public List<DragonInfo> DragonsList = new List<DragonInfo>();
private Dictionary<PushAgentEscape, PlayerInfo> m_PlayerDict = new Dictionary<PushAgentEscape, PlayerInfo>();
public bool UseRandomAgentRotation = true;
public bool UseRandomAgentPosition = true;
PushBlockSettings m_PushBlockSettings;
private int m_NumberOfRemainingPlayers;
public GameObject Key;
public GameObject Tombstone;
private SimpleMultiAgentGroup m_AgentGroup;
void Start()
{
// 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_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
//Reset Players Remaining
m_NumberOfRemainingPlayers = AgentsList.Count;
//Hide The Key
Key.SetActive(false);
// Initialize TeamManager
m_AgentGroup = new SimpleMultiAgentGroup();
foreach (var item in AgentsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Rb = item.Agent.GetComponent<Rigidbody>();
item.Col = item.Agent.GetComponent<Collider>();
// Add to team manager
m_AgentGroup.RegisterAgent(item.Agent);
}
foreach (var item in DragonsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.T = item.Agent.transform;
item.Col = item.Agent.GetComponent<Collider>();
}
ResetScene();
}
// Update is called once per frame
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
{
m_AgentGroup.GroupEpisodeInterrupted();
ResetScene();
}
}
public void TouchedHazard(PushAgentEscape agent)
{
m_NumberOfRemainingPlayers--;
if (m_NumberOfRemainingPlayers == 0 || agent.IHaveAKey)
{
m_AgentGroup.EndGroupEpisode();
ResetScene();
}
else
{
agent.EndEpisode();
agent.gameObject.SetActive(false);
}
}
public void UnlockDoor()
{
m_AgentGroup.AddGroupReward(1f);
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
print("Unlocked Door");
m_AgentGroup.EndGroupEpisode();
ResetScene();
}
public void KilledByBaddie(PushAgentEscape agent, Collision baddieCol)
{
baddieCol.gameObject.SetActive(false);
m_NumberOfRemainingPlayers--;
agent.EndEpisode();
agent.gameObject.SetActive(false);
print($"{baddieCol.gameObject.name} ate {agent.transform.name}");
//Spawn Tombstone
Tombstone.transform.SetPositionAndRotation(agent.transform.position, agent.transform.rotation);
Tombstone.SetActive(true);
//Spawn the Key Pickup
Key.transform.SetPositionAndRotation(baddieCol.collider.transform.position, baddieCol.collider.transform.rotation);
Key.SetActive(true);
}
/// <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_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
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)
{
foundNewSpawnLocation = true;
}
}
return randomSpawnPos;
}
/// <summary>
/// Swap ground material, wait time seconds, then swap back to the regular material.
/// </summary>
IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
m_GroundRenderer.material = mat;
yield return new WaitForSeconds(time); // Wait for 2 sec
m_GroundRenderer.material = m_GroundMaterial;
}
public void BaddieTouchedBlock()
{
m_AgentGroup.EndGroupEpisode();
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
ResetScene();
}
Quaternion GetRandomRot()
{
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
}
void ResetScene()
{
//Reset counter
m_ResetTimer = 0;
//Reset Players Remaining
m_NumberOfRemainingPlayers = AgentsList.Count;
//Random platform rot
var rotation = Random.Range(0, 4);
var rotationAngle = rotation * 90f;
transform.Rotate(new Vector3(0f, rotationAngle, 0f));
//Reset Agents
foreach (var item in AgentsList)
{
var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
item.Agent.transform.SetPositionAndRotation(pos, rot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
item.Agent.MyKey.SetActive(false);
item.Agent.IHaveAKey = false;
item.Agent.gameObject.SetActive(true);
m_AgentGroup.RegisterAgent(item.Agent);
}
//Reset Key
Key.SetActive(false);
//Reset Tombstone
Tombstone.SetActive(false);
//End Episode
foreach (var item in DragonsList)
{
if (!item.Agent)
{
return;
}
item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
item.Agent.SetRandomWalkSpeed();
item.Agent.gameObject.SetActive(true);
}
}
}

11
Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/DungeonEscapeEnvController.cs.meta
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137
Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/PushAgentEscape.cs
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using System.Collections;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
public class PushAgentEscape : Agent
{
public GameObject MyKey; //my key gameobject. will be enabled when key picked up.
public bool IHaveAKey; //have i picked up a key
private PushBlockSettings m_PushBlockSettings;
private Rigidbody m_AgentRb;
private DungeonEscapeEnvController m_GameController;
public override void Initialize()
{
m_GameController = GetComponentInParent<DungeonEscapeEnvController>();
m_AgentRb = GetComponent<Rigidbody>();
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void OnEpisodeBegin()
{
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(IHaveAKey);
}
/// <summary>
/// Moves the agent according to the selected action.
/// </summary>
public void MoveAgent(ActionSegment<int> act)
{
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var action = act[0];
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, Time.fixedDeltaTime * 200f);
m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
ForceMode.VelocityChange);
}
/// <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);
}
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag("lock"))
{
if (IHaveAKey)
{
MyKey.SetActive(false);
IHaveAKey = false;
m_GameController.UnlockDoor();
}
}
if (col.transform.CompareTag("dragon"))
{
m_GameController.KilledByBaddie(this, col);
MyKey.SetActive(false);
IHaveAKey = false;
}
if (col.transform.CompareTag("portal"))
{
m_GameController.TouchedHazard(this);
}
}
void OnTriggerEnter(Collider col)
{
//if we find a key and it's parent is the main platform we can pick it up
if (col.transform.CompareTag("key") && col.transform.parent == transform.parent && gameObject.activeInHierarchy)
{
print("Picked up key");
MyKey.SetActive(true);
IHaveAKey = true;
col.gameObject.SetActive(false);
}
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var discreteActionsOut = actionsOut.DiscreteActions;
discreteActionsOut[0] = 0;
if (Input.GetKey(KeyCode.D))
{
discreteActionsOut[0] = 3;
}
else if (Input.GetKey(KeyCode.W))
{
discreteActionsOut[0] = 1;
}
else if (Input.GetKey(KeyCode.A))
{
discreteActionsOut[0] = 4;
}
else if (Input.GetKey(KeyCode.S))
{
discreteActionsOut[0] = 2;
}
}
}

12
Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/PushAgentEscape.cs.meta
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45
Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/SimpleNPC.cs
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// using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SimpleNPC : MonoBehaviour
{
public Transform target;
private Rigidbody rb;
public float walkSpeed = 1;
// public ForceMode walkForceMode;
private Vector3 dirToGo;
// private Vector3 m_StartingPos;
// Start is called before the first frame update
void Awake()
{
rb = GetComponent<Rigidbody>();
// m_StartingPos = transform.position;
}
// Update is called once per frame
void Update()
{
}
void FixedUpdate()
{
dirToGo = target.position - transform.position;
dirToGo.y = 0;
rb.rotation = Quaternion.LookRotation(dirToGo);
// rb.AddForce(dirToGo.normalized * walkSpeed * Time.fixedDeltaTime, walkForceMode);
// rb.MovePosition(rb.transform.TransformDirection(Vector3.forward * walkSpeed * Time.deltaTime));
// rb.MovePosition(rb.transform.TransformVector() (Vector3.forward * walkSpeed * Time.deltaTime));
rb.MovePosition(transform.position + transform.forward * walkSpeed * Time.deltaTime);
}
public void SetRandomWalkSpeed()
{
walkSpeed = Random.Range(1f, 7f);
}
}

11
Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/SimpleNPC.cs.meta
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8
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Project/Assets/ML-Agents/Examples/DungeonEscape/TFModels/DungeonEscape.onnx
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14
Project/Assets/ML-Agents/Examples/DungeonEscape/TFModels/DungeonEscape.onnx.meta
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