New Crawler Variable Speed Scenes (#4382)

* init

* updating prefabs

* spawn a target

* add brains

* update static prefabs

* enable enhanced determinism

* reset manifest

* add nn files. update to 15M steps

* update prefabs

* increase max speed to 15

* add new local model for 15 speed

* update prefabs

* add configs

* update configs/prefabs

* cleanup

* added final nn models

* add new demos and do more cleanup.

* add meta files

* add RigidbodySensor

* update prefab. about to retrain

* remove body pen

* add fixed crawler & retrained nn file, new demos

* train 10M steps

* Update Crawler Docs

* more prefab cleanup

* add meta files

* Update Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

Co-authored-by: Vincent-Pierre BERGES <vincentpierre@unity3d.com>

* remove unused prefab

* update comment

* add summary tags

* cleanup and add more comments

* remove unused prefab

* Update P...

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Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

 using System;
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.Barracuda;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgentsExamples;
 using Unity.MLAgents.Sensors;
 public class CrawlerAgent : Agent
 {
-    public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
-    Vector3 m_WalkDir; //Direction to the target
-    Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
+    //The type of crawler behavior we want to use.
+    //This setting will determine how the agent is set up during initialization.
+    public enum CrawlerAgentBehaviorType
+    {
+        CrawlerDynamic,
+        CrawlerDynamicVariableSpeed,
+        CrawlerStatic,
+        CrawlerStaticVariableSpeed
+    }
+
+    [Tooltip(
+        "VariableSpeed - The agent will sample random speed magnitudes while training.\n" +
+        "Dynamic - The agent will run towards a target that changes position.\n" +
+        "Static - The agent will run towards a static target. "
+    )]
+    public CrawlerAgentBehaviorType typeOfCrawler;
+
+    //Crawler Brains
+    //A different brain will be used depending on the CrawlerAgentBehaviorType selected
+    [Header("NN Models")] public NNModel crawlerDyModel;
+    public NNModel crawlerDyVSModel;
+    public NNModel crawlerStModel;
+    public NNModel crawlerStVSModel;
+
+    [Header("Walk Speed")]
+    [Range(0.1f, m_maxWalkingSpeed)]
+    [SerializeField]
+    [Tooltip(
+        "The speed the agent will try to match.\n\n" +
+        "TRAINING:\n" +
+        "For VariableSpeed envs, this value will randomize at the start of each training episode.\n" +
+        "Otherwise the agent will try to match the speed set here.\n\n" +
+        "INFERENCE:\n" +
+        "During inference, VariableSpeed agents will modify their behavior based on this value " +
+        "whereas the CrawlerDynamic & CrawlerStatic agents will run at the speed specified during training "
+    )]
+    //The walking speed to try and achieve
+    private float m_TargetWalkingSpeed = m_maxWalkingSpeed;
-    [Header("Target To Walk Towards")]
-    [Space(10)]
-    public TargetController target; //Target the agent will walk towards.
+    const float m_maxWalkingSpeed = 15; //The max walking speed
+
+    //The current target walking speed. Clamped because a value of zero will cause NaNs
+    public float TargetWalkingSpeed
+    {
+        get { return m_TargetWalkingSpeed; }
+        set { m_TargetWalkingSpeed = Mathf.Clamp(value, .1f, m_maxWalkingSpeed); }
+    }
+
+    //Should the agent sample a new goal velocity each episode?
+    //If true, TargetWalkingSpeed will be randomly set between 0.1 and m_maxWalkingSpeed in OnEpisodeBegin()
+    //If false, the goal velocity will be m_maxWalkingSpeed
+    private bool m_RandomizeWalkSpeedEachEpisode;
+
+    //The direction an agent will walk during training.
+    [Header("Target To Walk Towards")] public Transform dynamicTargetPrefab; //Target prefab to use in Dynamic envs
+    public Transform staticTargetPrefab; //Target prefab to use in Static envs
+    private Transform m_Target; //Target the agent will walk towards during training.
 
     [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
     public Transform leg3Upper;
     public Transform leg3Lower;
 
-
-    [Header("Orientation")]
-    [Space(10)]
-    public OrientationCubeController orientationCube;
+    OrientationCubeController m_OrientationCube;
+    //The indicator graphic gameobject that points towards the target
+    DirectionIndicator m_DirectionIndicator;
-    [Header("Reward Functions To Use")]
-    [Space(10)]
-    public bool rewardMovingTowardsTarget; // Agent should move towards target
-
-    public bool rewardFacingTarget; // Agent should face the target
-    public bool rewardUseTimePenalty; // Hurry up
-
     [Header("Foot Grounded Visualization")]
     [Space(10)]
     public bool useFootGroundedVisualization;
 
     public override void Initialize()
     {
-        orientationCube.UpdateOrientation(body, target.transform);
+        SetAgentType();
+        m_OrientationCube = GetComponentInChildren<OrientationCubeController>();
+        m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();
         m_JdController = GetComponent<JointDriveController>();
 
         //Setup each body part
     }
 
     /// <summary>
+    /// Spawns a target prefab at pos
+    /// </summary>
+    /// <param name="prefab"></param>
+    /// <param name="pos"></param>
+    void SpawnTarget(Transform prefab, Vector3 pos)
+    {
+        m_Target = Instantiate(prefab, pos, Quaternion.identity, transform);
+    }
+
+    /// <summary>
+    /// Set up the agent based on the typeOfCrawler
+    /// </summary>
+    void SetAgentType()
+    {
+        var behaviorParams = GetComponent<Unity.MLAgents.Policies.BehaviorParameters>();
+        switch (typeOfCrawler)
+        {
+            case CrawlerAgentBehaviorType.CrawlerDynamic:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamic"; //set behavior name
+                    if (crawlerDyModel)
+                        behaviorParams.Model = crawlerDyModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed"; //set behavior name
+                    if (crawlerDyVSModel)
+                        behaviorParams.Model = crawlerDyVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerStatic:
+                {
+                    behaviorParams.BehaviorName = "CrawlerStatic"; //set behavior name
+                    if (crawlerStModel)
+                        behaviorParams.Model = crawlerStModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerStaticVariableSpeed:
+                {
+                    behaviorParams.BehaviorName = "CrawlerStaticVariableSpeed"; //set behavior name
+                    if (crawlerStVSModel)
+                        behaviorParams.Model = crawlerStVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
+                    break;
+                }
+        }
+    }
+
+    /// <summary>
     /// Loop over body parts and reset them to initial conditions.
     /// </summary>
     public override void OnEpisodeBegin()
         }
 
         //Random start rotation to help generalize
-        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+        body.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+
+        UpdateOrientationObjects();
-        orientationCube.UpdateOrientation(body, target.transform);
+        //Set our goal walking speed
+        TargetWalkingSpeed =
+            m_RandomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : TargetWalkingSpeed;
     }
 
     /// <summary>
     /// </summary>
     public override void CollectObservations(VectorSensor sensor)
     {
+        var cubeForward = m_OrientationCube.transform.forward;
+
+        //velocity we want to match
+        var velGoal = cubeForward * TargetWalkingSpeed;
+        //ragdoll's avg vel
+        var avgVel = GetAvgVelocity();
+
+        //current ragdoll velocity. normalized
+        sensor.AddObservation(Vector3.Distance(velGoal, avgVel));
+        //avg body vel relative to cube
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVel));
+        //vel goal relative to cube
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(velGoal));
+        //rotation delta
+        sensor.AddObservation(Quaternion.FromToRotation(body.forward, cubeForward));
+
-        sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.transform.position));
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(m_Target.transform.position));
 
         RaycastHit hit;
         float maxRaycastDist = 10;
         }
     }
 
-    /// <summary>
-    /// Agent touched the target
-    /// </summary>
-    public void TouchedTarget()
-    {
-        AddReward(1f);
-    }
-
-
     {
         // The dictionary with all the body parts in it are in the jdController
         var bpDict = m_JdController.bodyPartsDict;
 
     void FixedUpdate()
     {
-        orientationCube.UpdateOrientation(body, target.transform);
+        UpdateOrientationObjects();
 
         // If enabled the feet will light up green when the foot is grounded.
         // This is just a visualization and isn't necessary for function
                 ? groundedMaterial
                 : unGroundedMaterial;
         }
+
+        var cubeForward = m_OrientationCube.transform.forward;
-        if (rewardMovingTowardsTarget)
-        {
-            RewardFunctionMovingTowards();
-        }
+        // a. Match target speed
+        //This reward will approach 1 if it matches perfectly and approach zero as it deviates
+        var matchSpeedReward = GetMatchingVelocityReward(cubeForward * TargetWalkingSpeed, GetAvgVelocity());
-        if (rewardFacingTarget)
-        {
-            RewardFunctionFacingTarget();
-        }
+        // b. Rotation alignment with target direction.
+        //This reward will approach 1 if it faces the target direction perfectly and approach zero as it deviates
+        var lookAtTargetReward = (Vector3.Dot(cubeForward, body.forward) + 1) * .5F;
-        if (rewardUseTimePenalty)
-        {
-            RewardFunctionTimePenalty();
-        }
+        AddReward(matchSpeedReward * lookAtTargetReward);
-    /// Reward moving towards target & Penalize moving away from target.
+    /// Update OrientationCube and DirectionIndicator
-    void RewardFunctionMovingTowards()
+    void UpdateOrientationObjects()
-        var movingTowardsDot = Vector3.Dot(orientationCube.transform.forward,
-            Vector3.ClampMagnitude(m_JdController.bodyPartsDict[body].rb.velocity, maximumWalkingSpeed));
-        if (float.IsNaN(movingTowardsDot))
+        m_OrientationCube.UpdateOrientation(body, m_Target);
+        if (m_DirectionIndicator)
-            throw new ArgumentException(
-                "NaN in movingTowardsDot.\n" +
-                $" orientationCube.transform.forward: {orientationCube.transform.forward}\n" +
-                $" body.velocity: {m_JdController.bodyPartsDict[body].rb.velocity}\n" +
-                $" maximumWalkingSpeed: {maximumWalkingSpeed}"
-            );
+            m_DirectionIndicator.MatchOrientation(m_OrientationCube.transform);
-        AddReward(0.03f * movingTowardsDot);
-    /// Reward facing target & Penalize facing away from target
+    ///Returns the average velocity of all of the body parts
+    ///Using the velocity of the body only has shown to result in more erratic movement from the limbs
+    ///Using the average helps prevent this erratic movement
-    void RewardFunctionFacingTarget()
+    Vector3 GetAvgVelocity()
-        var facingReward = Vector3.Dot(orientationCube.transform.forward, body.forward);
-        if (float.IsNaN(facingReward))
+        Vector3 velSum = Vector3.zero;
+        Vector3 avgVel = Vector3.zero;
+
+        //ALL RBS
+        int numOfRB = 0;
+        foreach (var item in m_JdController.bodyPartsList)
-            throw new ArgumentException(
-                "NaN in movingTowardsDot.\n" +
-                $" orientationCube.transform.forward: {orientationCube.transform.forward}\n" +
-                $" body.forward: {body.forward}"
-            );
+            numOfRB++;
+            velSum += item.rb.velocity;
-        AddReward(0.01f * facingReward);
+
+        avgVel = velSum / numOfRB;
+        return avgVel;
-    /// Existential penalty for time-contrained tasks.
+    /// Normalized value of the difference in actual speed vs goal walking speed.
-    void RewardFunctionTimePenalty()
+    public float GetMatchingVelocityReward(Vector3 velocityGoal, Vector3 actualVelocity)
-        AddReward(-0.001f);
+        //distance between our actual velocity and goal velocity
+        var velDeltaMagnitude = Mathf.Clamp(Vector3.Distance(actualVelocity, velocityGoal), 0, TargetWalkingSpeed);
+
+        //return the value on a declining sigmoid shaped curve that decays from 1 to 0
+        //This reward will approach 1 if it matches perfectly and approach zero as it deviates
+        return Mathf.Pow(1 - Mathf.Pow(velDeltaMagnitude / TargetWalkingSpeed, 2), 2);
+    }
+
+    /// <summary>
+    /// Agent touched the target
+    /// </summary>
+    public void TouchedTarget()
+    {
+        AddReward(1f);
     }
 }

Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn.meta

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Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStaticVariableSpeed.unity

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config/ppo/CrawlerDynamic.yaml

   CrawlerDynamic:
     trainer_type: ppo
     hyperparameters:
-      batch_size: 2024
-      buffer_size: 20240
+      batch_size: 2048
+      buffer_size: 20480
       learning_rate: 0.0003
       beta: 0.005
       epsilon: 0.2

config/ppo/CrawlerStatic.yaml

   CrawlerStatic:
     trainer_type: ppo
     hyperparameters:
-      batch_size: 2024
-      buffer_size: 20240
+      batch_size: 2048
+      buffer_size: 20480
       learning_rate: 0.0003
       beta: 0.005
       epsilon: 0.2

docs/Learning-Environment-Examples.md

 
 - Set-up: A creature with 4 arms and 4 forearms.
 - Goal: The agents must move its body toward the goal direction without falling.
+  - `CrawlerDynamicTarget`- Goal direction is randomized.
+  - `CrawlerDynamicVariableSpeed`- Goal direction and walking speed are randomized.
-  - `CrawlerDynamicTarget`- Goal direction is randomized.
+  - `CrawlerStaticVariableSpeed`- Goal direction is always forward. Walking speed is randomized
-  - +0.03 times body velocity in the goal direction.
-  - +0.01 times body direction alignment with goal direction.
+  The reward function is now geometric meaning the reward each step is a product
+  of all the rewards instead of a sum, this helps the agent try to maximize all
+  rewards instead of the easiest rewards.
+  - Body velocity matches goal velocity. (normalized between (0,1))
+  - Head direction alignment with goal direction. (normalized between (0,1))
-  - Vector Observation space: 138 variables corresponding to position, rotation,
+  - Vector Observation space: 172 variables corresponding to position, rotation,
     velocity, and angular velocities of each limb plus the acceleration and
     angular acceleration of the body.
   - Vector Action space: (Continuous) Size of 20, corresponding to target
-- Benchmark Mean Reward for `CrawlerStaticTarget`: 1600
-- Benchmark Mean Reward for `CrawlerDynamicTarget`: 800
+- Benchmark Mean Reward for `CrawlerDynamicTarget`: 2000
+- Benchmark Mean Reward for `CrawlerDynamicVariableSpeed`: 3000
+- Benchmark Mean Reward for `CrawlerStaticTarget`: 4000
+- Benchmark Mean Reward for `CrawlerStaticVariableSpeed`: 4000
 
 ## Worm
 

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config/ppo/CrawlerDynamicVariableSpeed.yaml

+behaviors:
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+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 2048
+      buffer_size: 20480
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
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+      hidden_units: 512
+      num_layers: 3
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 10000000
+    time_horizon: 1000
+    summary_freq: 30000
+    threaded: true

config/ppo/CrawlerStaticVariableSpeed.yaml

+behaviors:
+  CrawlerStaticVariableSpeed:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 2048
+      buffer_size: 20480
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: true
+      hidden_units: 512
+      num_layers: 3
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 10000000
+    time_horizon: 1000
+    summary_freq: 30000
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