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Merge branch 'main' into develop-coma2-trainer

/develop/coma2/fixgroup
Ervin Teng 4 年前
当前提交
8902c058
共有 209 个文件被更改,包括 3568 次插入16690 次删除
  1. 2
      .yamato/python-ll-api-test.yml
  2. 2
      .yamato/standalone-build-test.yml
  3. 6
      DevProject/Packages/packages-lock.json
  4. 2
      Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo.meta
  5. 13
      Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab
  6. 7
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/Crawler.unity
  7. 84
      Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
  8. 380
      Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
  9. 5
      Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab.meta
  10. 862
      Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity
  11. 5
      Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity.meta
  12. 1001
      Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.onnx
  13. 2
      Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.onnx.meta
  14. 2
      Project/Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGridWorld.demo.meta
  15. 2
      Project/Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPushBlock.demo.meta
  16. 5
      Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs
  17. 2
      Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta
  18. 2
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdoll.prefab
  19. 13
      Project/Assets/ML-Agents/Examples/Worm/Prefabs/Worm.prefab
  20. 9
      Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWorm.prefab
  21. 52
      Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs
  22. 7
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs
  23. 7
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs
  24. 6
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs
  25. 6
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs
  26. 7
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs
  27. 4
      com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs
  28. 12
      com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs
  29. 63
      com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs
  30. 4
      com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef
  31. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs
  32. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs
  33. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs
  34. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs
  35. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs
  36. 17
      com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs
  37. 2
      com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs
  38. 2
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef
  39. 3
      com.unity.ml-agents/CHANGELOG.md
  40. 6
      config/imitation/Crawler.yaml
  41. 4
      config/ppo/FoodCollector.yaml
  42. 2
      config/ppo/Worm.yaml
  43. 4
      config/ppo/Walker.yaml
  44. 2
      config/ppo/Crawler.yaml
  45. 10
      config/sac/FoodCollector.yaml
  46. 2
      config/sac/Worm.yaml
  47. 2
      config/sac/Walker.yaml
  48. 2
      config/sac/Crawler.yaml
  49. 16
      docs/Learning-Environment-Design-Agents.md
  50. 136
      docs/Learning-Environment-Examples.md
  51. 2
      docs/Training-Configuration-File.md
  52. 2
      docs/Training-ML-Agents.md
  53. 999
      docs/images/example-envs.png
  54. 17
      ml-agents/mlagents/trainers/buffer.py
  55. 10
      ml-agents/mlagents/trainers/ppo/trainer.py
  56. 36
      ml-agents/mlagents/trainers/tests/test_buffer.py
  57. 241
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/Platforms/Platform.prefab
  58. 1001
      Project/Assets/ML-Agents/Examples/Walker/Scenes/Walker.unity
  59. 81
      com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs
  60. 3
      com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs.meta
  61. 10
      Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpCrawlerStaVS.demo.meta
  62. 10
      Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerDyn.demo.meta
  63. 10
      Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerSta.demo.meta
  64. 7
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity.meta
  65. 8
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticTarget.unity.meta
  66. 1001
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity
  67. 1001
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticTarget.unity
  68. 8
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticVariableSpeed.unity.meta
  69. 1001
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticVariableSpeed.unity
  70. 1001
      Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn
  71. 11
      Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn.meta
  72. 1001
      Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn
  73. 11
      Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn.meta
  74. 1001
      Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStaticVariableSpeed.nn
  75. 11
      Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStaticVariableSpeed.nn.meta
  76. 7
      Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab.meta
  77. 1001
      Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab
  78. 7
      Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/GridFoodCollector.unity.meta
  79. 1001
      Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/GridFoodCollector.unity
  80. 1001
      Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/GridFoodCollector.onnx
  81. 14
      Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/GridFoodCollector.onnx.meta
  82. 8
      Project/Assets/ML-Agents/Examples/FoodCollector/Demos.meta
  83. 8
      Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab.meta
  84. 1001
      Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab
  85. 7
      Project/Assets/ML-Agents/Examples/Hallway/Scenes/VisualHallway.unity.meta
  86. 1001
      Project/Assets/ML-Agents/Examples/Hallway/Scenes/VisualHallway.unity
  87. 8
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab.meta
  88. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab
  89. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/VisualPushBlock.unity.meta
  90. 983
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/VisualPushBlock.unity
  91. 8
      Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab.meta
  92. 1001
      Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab
  93. 7
      Project/Assets/ML-Agents/Examples/Pyramids/Scenes/VisualPyramids.unity.meta
  94. 859
      Project/Assets/ML-Agents/Examples/Pyramids/Scenes/VisualPyramids.unity

2
.yamato/python-ll-api-test.yml


python ml-agents/tests/yamato/scripts/run_llapi.py
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Basic
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-WallJump
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Bouncer
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Match3
dependencies:
- .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
triggers:

2
.yamato/standalone-build-test.yml


- unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Match3/Scenes/Match3.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedGrid/TestGridCompressed.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureCompressed.unity

6
DevProject/Packages/packages-lock.json


"url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
},
"com.unity.barracuda": {
"version": "1.3.0-preview",
"version": "1.3.1-preview",
"depth": 1,
"source": "registry",
"dependencies": {

"depth": 0,
"source": "local",
"dependencies": {
"com.unity.barracuda": "1.3.0-preview",
"com.unity.barracuda": "1.3.1-preview",
"com.unity.modules.imageconversion": "1.0.0",
"com.unity.modules.jsonserialize": "1.0.0",
"com.unity.modules.physics": "1.0.0",

"depth": 0,
"source": "local",
"dependencies": {
"com.unity.ml-agents": "1.7.2-preview"
"com.unity.ml-agents": "1.8.0-preview"
}
},
"com.unity.multiplayer-hlapi": {

2
Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo.meta


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Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab


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Project/Assets/ML-Agents/Examples/Crawler/Scenes/Crawler.unity


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


[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
public class CrawlerAgent : Agent
{
//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)]

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;
[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
[Header("Target To Walk Towards")]
public Transform TargetPrefab; //Target prefab to use in Dynamic envs
private Transform m_Target; //Target the agent will walk towards during training.
[Header("Body Parts")] [Space(10)] public Transform body;

public override void Initialize()
{
SetAgentType();
SpawnTarget(TargetPrefab, transform.position); //spawn target
m_OrientationCube = GetComponentInChildren<OrientationCubeController>();
m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();

}
/// <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()

UpdateOrientationObjects();
//Set our goal walking speed
TargetWalkingSpeed =
m_RandomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : TargetWalkingSpeed;
TargetWalkingSpeed = Random.Range(0.1f, m_maxWalkingSpeed);
}
/// <summary>

380
Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab


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