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update walker (#4217)

/develop/bisim-review
GitHub 4 年前
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32dd1e86
共有 23 个文件被更改，包括 1904 次插入 和 2009 次删除
  1. 5
      Project/Assets/ML-Agents/Examples/SharedAssets/Materials/Outline.mat
  2. 5
      Project/Assets/ML-Agents/Examples/SharedAssets/Materials/UIDefault.mat
  3. 15
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/OrientationCube.prefab
  4. 7
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
  5. 61
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
  6. 314
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/DynamicPlatformWalker.prefab
  7. 153
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerRagdoll.prefab
  8. 443
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerWithTargetPair.prefab
  9. 173
      Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
  10. 60
      Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStatic.unity
  11. 168
      Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
  12. 1001
      Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic.nn
  13. 2
      Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic.nn.meta
  14. 1001
      Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerStatic.nn
  15. 2
      Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerStatic.nn.meta
  16. 159
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTarget.prefab
  17. 7
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTarget.prefab.meta
  18. 149
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/StaticTarget.prefab
  19. 7
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/StaticTarget.prefab.meta
  20. 24
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs
  21. 11
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs.meta
  22. 135
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.cs
  23. 11
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.cs.meta

5
Project/Assets/ML-Agents/Examples/SharedAssets/Materials/Outline.mat
查看文件


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5
Project/Assets/ML-Agents/Examples/SharedAssets/Materials/UIDefault.mat
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15
Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/OrientationCube.prefab
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7
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
查看文件


bp.groundContact.agent = gameObject.GetComponent<Agent>();
}
// Add & setup the target contact script
bp.targetContact = t.GetComponent<TargetContact>();
if (!bp.targetContact)
{
bp.targetContact = t.gameObject.AddComponent<TargetContact>();
}
bp.thisJdController = this;
bodyPartsDict.Add(t, bp);
bodyPartsList.Add(bp);

61
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
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/// Utility class to allow the NNModel file for an agent to be overriden during inference.
/// This is used internally to validate the file after training is done.
/// The behavior name to override and file path are specified on the commandline, e.g.
/// player.exe --mlagents-override-model behavior1 /path/to/model1.nn --mlagents-override-model behavior2 /path/to/model2.nn
/// player.exe --mlagents-override-model-directory /path/to/models
///
/// Additionally, a number of episodes to run can be specified; after this, the application will quit.
/// Note this will only work with example scenes that have 1:1 Agent:Behaviors. More complicated scenes like WallJump

{
HashSet<string> k_SupportedExtensions = new HashSet<string>{"nn", "onnx"};
const string k_CommandLineModelOverrideExtensionFlag = "--mlagents-override-model-extension";
const string k_CommandLineQuitAfterEpisodesFlag = "--mlagents-quit-after-episodes";
const string k_CommandLineQuitOnLoadFailure = "--mlagents-quit-on-load-failure";

Dictionary<string, string> m_BehaviorNameOverrides = new Dictionary<string, string>();
string m_BehaviorNameOverrideDirectory;
string m_OverrideExtension = "nn";
// Cached loaded NNModels, with the behavior name as the key.
Dictionary<string, NNModel> m_CachedModels = new Dictionary<string, NNModel>();

{
m_BehaviorNameOverrideDirectory = args[i + 1].Trim();
}
else if (args[i] == k_CommandLineModelOverrideExtensionFlag && i < args.Length-1)
{
m_OverrideExtension = args[i + 1].Trim().ToLower();
var isKnownExtension = k_SupportedExtensions.Contains(m_OverrideExtension);
// Not supported yet - need to update the model loading code to support
var isOnnx = m_OverrideExtension.Equals("onnx");
if (!isKnownExtension || isOnnx)
{
Debug.LogError($"loading unsupported format: {m_OverrideExtension}");
Application.Quit(1);
#if UNITY_EDITOR
EditorApplication.isPlaying = false;
#endif
}
}
else if (args[i] == k_CommandLineQuitAfterEpisodesFlag && i < args.Length-1)
{
Int32.TryParse(args[i + 1], out maxEpisodes);

}
else if(!string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory))
{
assetPath = Path.Combine(m_BehaviorNameOverrideDirectory, $"{behaviorName}.nn");
assetPath = Path.Combine(m_BehaviorNameOverrideDirectory, $"{behaviorName}.{m_OverrideExtension}");
}
if (string.IsNullOrEmpty(assetPath))

return null;
}
// Note - this approach doesn't work for onnx files. Need to replace with
// the equivalent of ONNXModelImporter.OnImportAsset()
var asset = ScriptableObject.CreateInstance<NNModel>();
asset.modelData = ScriptableObject.CreateInstance<NNModelData>();
asset.modelData.Value = model;

/// </summary>
void OverrideModel()
{
bool overrideOk = false;
string overrideError = null;
if (nnModel == null && m_QuitOnLoadFailure)
if (nnModel == null)
Debug.Log(
overrideError =
$"and that the model file exists"
);
$"and that the model file exists";
}
else
{
var modelName = nnModel != null ? nnModel.name : "<null>";
Debug.Log($"Overriding behavior {behaviorName} for agent with model {modelName}");
try
{
m_Agent.SetModel(GetOverrideBehaviorName(behaviorName), nnModel);
overrideOk = true;
}
catch (Exception e)
{
overrideError = $"Exception calling Agent.SetModel: {e}";
}
}
if (!overrideOk && m_QuitOnLoadFailure)
{
if(!string.IsNullOrEmpty(overrideError))
{
Debug.LogWarning(overrideError);
}
var modelName = nnModel != null ? nnModel.name : "<null>";
Debug.Log($"Overriding behavior {behaviorName} for agent with model {modelName}");
// This might give a null model; that's better because we'll fall back to the Heuristic
m_Agent.SetModel(GetOverrideBehaviorName(behaviorName), nnModel);
}
}

314
Project/Assets/ML-Agents/Examples/Walker/Prefabs/DynamicPlatformWalker.prefab
查看文件


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Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
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60
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168
Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
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using System;
using MLAgentsExamples;
using UnityEngine;
using Unity.MLAgents;

using Random = UnityEngine.Random;
Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
// Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
public float targetSpawnRadius; //The radius in which a target can be randomly spawned.
public Transform target; //Target the agent will walk towards.
public Transform ground; //Ground gameobject. The height will be used for target spawning
public bool detectTargets; //Should this agent detect targets
public bool respawnTargetWhenTouched; //Should the target respawn to a different position when touched
public TargetController target; //Target the agent will walk towards.
[Header("Body Parts")] [Space(10)] public Transform hips;
public Transform chest;

public Transform armR;
public Transform forearmR;
public Transform handR;
//This will be used as a stable reference point for observations
//Because ragdolls can move erratically, using a standalone reference point can significantly improve learning
public GameObject orientationCube;
//This will be used as a stabilized model space reference point for observations
//Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
public OrientationCubeController orientationCube;
JointDriveController m_JdController;

{
UpdateOrientationCube();
orientationCube.UpdateOrientation(hips, target.transform);
//Setup each body part
m_JdController = GetComponent<JointDriveController>();
m_JdController.SetupBodyPart(hips);
m_JdController.SetupBodyPart(chest);

}
/// <summary>
/// Loop over body parts and reset them to initial conditions.
/// </summary>
public override void OnEpisodeBegin()
{
//Reset all of the body parts
foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
{
bodyPart.Reset(bodyPart);
}
//Random start rotation to help generalize
transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
orientationCube.UpdateOrientation(hips, target.transform);
SetResetParameters();
}
/// <summary>
sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
//Get velocities in the context of our orientation cube's space
//Note: You can get these velocities in world space as well but it may not train as well.

sensor.AddObservation(Quaternion.FromToRotation(hips.forward, orientationCube.transform.forward));
sensor.AddObservation(Quaternion.FromToRotation(head.forward, orientationCube.transform.forward));
sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.position));
sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.transform.position));
foreach (var bodyPart in m_JdController.bodyPartsList)
{

bpDict[forearmR].SetJointStrength(vectorAction[++i]);
}
void UpdateOrientationCube()
{
//FACING DIR
m_WalkDir = target.position - orientationCube.transform.position;
m_WalkDir.y = 0; //flatten dir on the y
m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
//UPDATE ORIENTATION CUBE POS & ROT
orientationCube.transform.position = hips.position;
orientationCube.transform.rotation = m_WalkDirLookRot;
}
if (detectTargets)
{
foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
{
if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
{
TouchedTarget();
}
}
}
UpdateOrientationCube();
var cubeForward = orientationCube.transform.forward;
orientationCube.UpdateOrientation(hips, target.transform);
var moveTowardsTargetReward = Vector3.Dot(orientationCube.transform.forward,
var moveTowardsTargetReward = Vector3.Dot(cubeForward,
if (float.IsNaN(moveTowardsTargetReward))
{
throw new ArgumentException(
"NaN in moveTowardsTargetReward.\n" +
$" cubeForward: {cubeForward}\n"+
$" hips.velocity: {m_JdController.bodyPartsDict[hips].rb.velocity}\n"+
$" maximumWalkingSpeed: {maximumWalkingSpeed}"
);
}
var lookAtTargetReward = Vector3.Dot(orientationCube.transform.forward, head.forward);
// c. Encourage head height.
var headHeightOverFeetReward = (head.position.y - footL.position.y) + (head.position.y - footR.position.y);
var lookAtTargetReward = Vector3.Dot(cubeForward, head.forward);
if (float.IsNaN(lookAtTargetReward))
{
throw new ArgumentException(
"NaN in lookAtTargetReward.\n" +
$" cubeForward: {cubeForward}\n"+
$" head.forward: {head.forward}"
);
}
// c. Encourage head height. //Should normalize to ~1
var headHeightOverFeetReward =
((head.position.y - footL.position.y) + (head.position.y - footR.position.y) / 10);
if (float.IsNaN(headHeightOverFeetReward))
{
throw new ArgumentException(
"NaN in headHeightOverFeetReward.\n" +
$" head.position: {head.position}\n"+
$" footL.position: {footL.position}\n"+
$" footR.position: {footR.position}"
);
}
+0.02f * moveTowardsTargetReward
+ 0.01f * lookAtTargetReward
+ 0.01f * headHeightOverFeetReward
+ 0.02f * moveTowardsTargetReward
+ 0.02f * lookAtTargetReward
+ 0.005f * headHeightOverFeetReward
);
}

public void TouchedTarget()
{
AddReward(1f);
if (respawnTargetWhenTouched)
{
MoveTargetToRandomPosition();
}
}
/// <summary>
/// Moves target to a random position within specified radius.
/// </summary>
public void MoveTargetToRandomPosition()
{
var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
newTargetPos.y = 5;
target.position = newTargetPos + ground.position;
}
/// <summary>
/// Loop over body parts and reset them to initial conditions.
/// </summary>
public override void OnEpisodeBegin()
{
//Reset all of the body parts
foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
{
bodyPart.Reset(bodyPart);
}
//Random start rotation to help generalize
transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
UpdateOrientationCube();
if (detectTargets && respawnTargetWhenTouched)
{
MoveTargetToRandomPosition();
}
SetResetParameters();
}
public void SetTorsoMass()

public void SetResetParameters()
{
SetTorsoMass();
}
private void OnDrawGizmosSelected()
{
if (Application.isPlaying)
{
Gizmos.color = Color.green;
Gizmos.matrix = orientationCube.transform.localToWorldMatrix;
Gizmos.DrawWireCube(Vector3.zero, orientationCube.transform.localScale);
Gizmos.DrawRay(Vector3.zero, Vector3.forward);
}
}
}

1001
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Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs
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using UnityEngine;
namespace Unity.MLAgentsExamples
{
/// <summary>
/// Utility class to allow a stable observation platform.
/// </summary>
public class OrientationCubeController : MonoBehaviour
{
//Update position and Rotation
public void UpdateOrientation(Transform rootBP, Transform target)
{
var dirVector = target.position - transform.position;
dirVector.y = 0; //flatten dir on the y. this will only work on level, uneven surfaces
var lookRot =
dirVector == Vector3.zero
? Quaternion.identity
: Quaternion.LookRotation(dirVector); //get our look rot to the target
//UPDATE ORIENTATION CUBE POS & ROT
transform.SetPositionAndRotation(rootBP.position, lookRot);
}
}
}

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135
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.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 TargetController : MonoBehaviour
{
[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<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>
{
}
[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);
if (respawnIfTouched)
{
MoveTargetToRandomPosition();
}
}
}
private void OnCollisionStay(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionStayEvent.Invoke(col);
}
}
private void OnCollisionExit(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionExitEvent.Invoke(col);
}
}
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);
}
}
}
}

11
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.cs.meta
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