bhh
5 年前
当前提交
35736d30
共有 6 个文件被更改，包括 794 次插入 和 27 次删除
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560Project/Assets/ML-Agents/Examples/Snake/Scenes/WormDynamicTarget.unity
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15config/trainer_config.yaml
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8Project/Assets/ML-Agents/Examples/Snake/Scripts.meta
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225Project/Assets/ML-Agents/Examples/Snake/Scripts/WormAgent.cs
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13Project/Assets/ML-Agents/Examples/Snake/Scripts/WormAgent.cs.meta
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using UnityEngine; |
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using MLAgents; |
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using MLAgentsExamples; |
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using MLAgents.Sensors; |
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[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
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public class WormAgent : Agent |
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{ |
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[Header("Target To Walk Towards")] |
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[Space(10)] |
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public Transform target; |
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public Transform ground; |
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public bool detectTargets; |
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public bool targetIsStatic; |
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public bool respawnTargetWhenTouched; |
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public float targetSpawnRadius; |
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[Header("Body Parts")] [Space(10)] |
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public Transform bodySegment0; |
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public Transform bodySegment1; |
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public Transform bodySegment2; |
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public Transform bodySegment3; |
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[Header("Joint Settings")] [Space(10)] |
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JointDriveController m_JdController; |
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Vector3 m_DirToTarget; |
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float m_MovingTowardsDot; |
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float m_FacingDot; |
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[Header("Reward Functions To Use")] |
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[Space(10)] |
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public bool rewardMovingTowardsTarget; // Agent should move towards target
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public bool rewardFacingTarget; // Agent should face the target
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public bool rewardUseTimePenalty; // Hurry up
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Quaternion m_LookRotation; |
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Matrix4x4 m_TargetDirMatrix; |
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public override void Initialize() |
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{ |
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m_JdController = GetComponent<JointDriveController>(); |
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m_DirToTarget = target.position - bodySegment0.position; |
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//Setup each body part
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m_JdController.SetupBodyPart(bodySegment0); |
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m_JdController.SetupBodyPart(bodySegment1); |
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m_JdController.SetupBodyPart(bodySegment2); |
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m_JdController.SetupBodyPart(bodySegment3); |
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} |
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/// <summary>
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/// Add relevant information on each body part to observations.
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/// </summary>
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public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor) |
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{ |
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var rb = bp.rb; |
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sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
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var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity); |
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sensor.AddObservation(velocityRelativeToLookRotationToTarget); |
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var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity); |
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sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget); |
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if (bp.rb.transform != bodySegment0) |
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{ |
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var localPosRelToBody = bodySegment0.InverseTransformPoint(rb.position); |
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sensor.AddObservation(localPosRelToBody); |
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sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
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sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
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sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
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sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit); |
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} |
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} |
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public override void CollectObservations(VectorSensor sensor) |
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{ |
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m_JdController.GetCurrentJointForces(); |
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// Update pos to target
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m_DirToTarget = target.position - bodySegment0.position; |
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m_LookRotation = Quaternion.LookRotation(m_DirToTarget); |
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m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one); |
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RaycastHit hit; |
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float maxDist = 10; |
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if (Physics.Raycast(bodySegment0.position, Vector3.down, out hit, maxDist)) |
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{ |
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sensor.AddObservation(hit.distance/maxDist); |
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} |
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else |
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sensor.AddObservation(1); |
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// Forward & up to help with orientation
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var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(bodySegment0.up); |
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sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget); |
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var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(-bodySegment0.forward); |
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sensor.AddObservation(bodyUpRelativeToLookRotationToTarget); |
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foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
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{ |
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CollectObservationBodyPart(bodyPart, sensor); |
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} |
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} |
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/// <summary>
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/// Agent touched the target
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/// </summary>
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public void TouchedTarget() |
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{ |
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AddReward(1f); |
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if (respawnTargetWhenTouched) |
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{ |
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GetRandomTargetPos(); |
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} |
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} |
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/// <summary>
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/// Moves target to a random position within specified radius.
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/// </summary>
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public void GetRandomTargetPos() |
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{ |
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var newTargetPos = Random.insideUnitSphere * targetSpawnRadius; |
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newTargetPos.y = 5; |
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target.position = newTargetPos + ground.position; |
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} |
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public override void OnActionReceived(float[] vectorAction) |
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{ |
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// The dictionary with all the body parts in it are in the jdController
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var bpDict = m_JdController.bodyPartsDict; |
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var i = -1; |
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// Pick a new target joint rotation
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bpDict[bodySegment1].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0); |
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bpDict[bodySegment2].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0); |
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bpDict[bodySegment3].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0); |
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// Update joint strength
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bpDict[bodySegment1].SetJointStrength(vectorAction[++i]); |
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bpDict[bodySegment2].SetJointStrength(vectorAction[++i]); |
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bpDict[bodySegment3].SetJointStrength(vectorAction[++i]); |
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} |
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void FixedUpdate() |
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{ |
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if (detectTargets) |
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{ |
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foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
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{ |
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if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget) |
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{ |
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TouchedTarget(); |
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} |
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} |
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} |
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// Set reward for this step according to mixture of the following elements.
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if (rewardMovingTowardsTarget) |
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{ |
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RewardFunctionMovingTowards(); |
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} |
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if (rewardFacingTarget) |
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{ |
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RewardFunctionFacingTarget(); |
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} |
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if (rewardUseTimePenalty) |
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{ |
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RewardFunctionTimePenalty(); |
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} |
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} |
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/// <summary>
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/// Reward moving towards target & Penalize moving away from target.
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/// </summary>
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void RewardFunctionMovingTowards() |
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{ |
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m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[bodySegment0].rb.velocity, m_DirToTarget.normalized); |
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AddReward(0.03f * m_MovingTowardsDot); |
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} |
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/// <summary>
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/// Reward facing target & Penalize facing away from target
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/// </summary>
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void RewardFunctionFacingTarget() |
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{ |
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m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, bodySegment0.forward); |
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AddReward(0.01f * m_FacingDot); |
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} |
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/// <summary>
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/// Existential penalty for time-contrained tasks.
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/// </summary>
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void RewardFunctionTimePenalty() |
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{ |
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AddReward(-0.001f); |
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} |
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/// <summary>
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/// Loop over body parts and reset them to initial conditions.
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/// </summary>
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public override void OnEpisodeBegin() |
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{ |
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if (m_DirToTarget != Vector3.zero) |
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{ |
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transform.rotation = Quaternion.LookRotation(m_DirToTarget); |
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} |
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transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f)); |
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foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
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{ |
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bodyPart.Reset(bodyPart); |
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} |
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if (!targetIsStatic) |
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{ |
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GetRandomTargetPos(); |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 292fce25fb4b541f4b007a7b92c5923c |
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timeCreated: 1525902546 |
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licenseType: Free |
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externalObjects: {} |
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serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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