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Walker Environment (#720)

* Add `Walker` example environment and documentation.
/develop-generalizationTraining-TrainerController
GitHub 7 年前
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共有 51 个文件被更改,包括 6421 次插入97 次删除
  1. 19
      docs/Learning-Environment-Examples.md
  2. 13
      python/trainer_config.yaml
  3. 3
      unity-environment/Assets/ML-Agents/Examples.meta
  4. 164
      unity-environment/Assets/ML-Agents/Examples/3DBall/3DBall.unity
  5. 904
      unity-environment/Assets/ML-Agents/Examples/3DBall/TFModels/3DBall.bytes
  6. 2
      unity-environment/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs
  7. 2
      unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgentConfigurable.cs
  8. 6
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Block.mat
  9. 4
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Wall.mat
  10. 2
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/agent.mat
  11. 2
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/blueAgent.mat
  12. 2
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/goal.mat
  13. 2
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/redAgent.mat
  14. 4
      unity-environment/ProjectSettings/DynamicsManager.asset
  15. 7
      unity-environment/ProjectSettings/EditorBuildSettings.asset
  16. 634
      unity-environment/ProjectSettings/ProjectSettings.asset
  17. 1001
      docs/images/walker.png
  18. 76
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Grass.mat
  19. 8
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Grass.mat.meta
  20. 90
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/GrassTexture.png
  21. 84
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/GrassTexture.png.meta
  22. 52
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/GroundContact.cs
  23. 12
      unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/GroundContact.cs.meta
  24. 10
      unity-environment/Assets/ML-Agents/Examples/Walker.meta
  25. 8
      unity-environment/Assets/ML-Agents/Examples/Walker/Materials.meta
  26. 76
      unity-environment/Assets/ML-Agents/Examples/Walker/Materials/WalkerHeadband.mat
  27. 10
      unity-environment/Assets/ML-Agents/Examples/Walker/Materials/WalkerHeadband.mat.meta
  28. 10
      unity-environment/Assets/ML-Agents/Examples/Walker/Prefabs.meta
  29. 1001
      unity-environment/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerAgent.prefab
  30. 8
      unity-environment/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerAgent.prefab.meta
  31. 10
      unity-environment/Assets/ML-Agents/Examples/Walker/Scenes.meta
  32. 1001
      unity-environment/Assets/ML-Agents/Examples/Walker/Scenes/Walker.unity
  33. 9
      unity-environment/Assets/ML-Agents/Examples/Walker/Scenes/Walker.unity.meta
  34. 10
      unity-environment/Assets/ML-Agents/Examples/Walker/Scripts.meta
  35. 26
      unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs
  36. 12
      unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs.meta
  37. 204
      unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
  38. 12
      unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs.meta
  39. 10
      unity-environment/Assets/ML-Agents/Examples/Walker/TFModels.meta
  40. 1001
      unity-environment/Assets/ML-Agents/Examples/Walker/TFModels/Walker.bytes
  41. 7
      unity-environment/Assets/ML-Agents/Examples/Walker/TFModels/Walker.bytes.meta
  42. 0
      /unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/CheckerTexture.png
  43. 0
      /unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/CheckerTexture.png.meta
  44. 0
      /unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/black.mat
  45. 0
      /unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/black.mat.meta

19
docs/Learning-Environment-Examples.md


* Goalie: 4 corresponding to forward, backward, sideways movement.
* Visual Observations: None
* Reset Parameters: None
## Walker
![Walker](images/walker.png)
* Set-up: Physics-based Humanoids agents with 26 degrees of freedom. These DOFs correspond to articulation of the following body-parts: hips, chest, spine, head, thighs, shins, feets, arms, forearms and hands.
* Goal: The agents must move its body toward the goal direction as quickly as possible without falling.
* Agents: The environment contains 11 independent agent linked to a single brain.
* Agent Reward Function (independent):
* +0.03 times body velocity in the goal direction.
* +0.01 times head y position.
* +0.01 times body direction alignment with goal direction.
* -0.01 times head velocity difference from body velocity.
* Brains: One brain with the following observation/action space.
* Vector Observation space: (Continuous) 215 variables corresponding to position, rotation, velocity, and angular velocities of each limb, along with goal direction.
* Vector Action space: (Continuous) Size of 39, corresponding to target rotations applicable to the joints.
* Visual Observations: None
* Reset Parameters: None

13
python/trainer_config.yaml


max_steps: 1e6
summary_freq: 3000
WalkerBrain:
normalize: true
num_epoch: 3
time_horizon: 1000
batch_size: 2048
buffer_size: 20480
beta: 0.001
gamma: 0.995
max_steps: 2e6
summary_freq: 3000
num_layers: 2
hidden_units: 256
ReacherBrain:
normalize: true
num_epoch: 3

3
unity-environment/Assets/ML-Agents/Examples.meta


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904
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global_stepConst*
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76
unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Grass.mat


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52
unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/GroundContact.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
/// <summary>
/// This class contains logic for locomotion agents with joints which might make contact with the ground.
/// By attaching this as a component to those joints, their contact with the ground can be used as either
/// an observation for that agent, and/or a means of punishing the agent for making undesirable contact.
/// </summary>
public class GroundContact : MonoBehaviour
{
public Agent agent;
public float contactPenalty;
public bool touchingGround;
public bool penalizeOnContact;
private const string Ground = "ground";
/// <summary>
/// Obtain reference to agent.
/// </summary>
void Start()
{
agent = transform.root.GetComponent<Agent>();
}
/// <summary>
/// Check for collision with ground, and optionally penalize agent.
/// </summary>
void OnCollisionEnter(Collision other)
{
if (other.transform.CompareTag(Ground))
{
touchingGround = true;
if (penalizeOnContact)
{
agent.Done();
agent.SetReward(contactPenalty);
}
}
}
/// <summary>
/// Check for end of ground collision and reset flag appropriately.
/// </summary>
void OnCollisionExit(Collision other)
{
if (other.transform.CompareTag(Ground))
{
touchingGround = false;
}
}
}

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unity-environment/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerAgent.prefab
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1001
unity-environment/Assets/ML-Agents/Examples/Walker/Scenes/Walker.unity
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unity-environment/Assets/ML-Agents/Examples/Walker/Scenes/Walker.unity.meta


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unity-environment/Assets/ML-Agents/Examples/Walker/Scripts.meta


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26
unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class WalkerAcademy : Academy
{
public override void InitializeAcademy()
{
Monitor.verticalOffset = 1f;
// We increase the Physics solver iterations in order to
// make walker joint calculations more accurate.
Physics.defaultSolverIterations = 12;
Physics.defaultSolverVelocityIterations = 12;
}
public override void AcademyReset()
{
}
public override void AcademyStep()
{
}
}

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unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs.meta


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204
unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class WalkerAgent : Agent
{
[Header("Specific to Walker")]
public Vector3 goalDirection;
public Transform hips;
public Transform chest;
public Transform spine;
public Transform head;
public Transform thighL;
public Transform shinL;
public Transform footL;
public Transform thighR;
public Transform shinR;
public Transform footR;
public Transform armL;
public Transform forearmL;
public Transform handL;
public Transform armR;
public Transform forearmR;
public Transform handR;
public Dictionary<Transform, BodyPart> bodyParts = new Dictionary<Transform, BodyPart>();
/// <summary>
/// Used to store relevant information for acting and learning for each body part in agent.
/// </summary>
[System.Serializable]
public class BodyPart
{
public ConfigurableJoint joint;
public Rigidbody rb;
public Vector3 startingPos;
public Quaternion startingRot;
public GroundContact groundContact;
/// <summary>
/// Reset body part to initial configuration.
/// </summary>
public void Reset()
{
rb.transform.position = startingPos;
rb.transform.rotation = startingRot;
rb.velocity = Vector3.zero;
rb.angularVelocity = Vector3.zero;
}
/// <summary>
/// Apply torque according to defined goal `x, y, z` angle and force `strength`.
/// </summary>
public void SetNormalizedTargetRotation(float x, float y, float z, float strength)
{
// Transform values from [-1, 1] to [0, 1]
x = (x + 1f) * 0.5f;
y = (y + 1f) * 0.5f;
z = (z + 1f) * 0.5f;
var xRot = Mathf.Lerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, x);
var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y);
var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z);
joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot);
var jd = new JointDrive
{
positionSpring = ((strength + 1f) * 0.5f) * 10000f,
maximumForce = 250000f
};
joint.slerpDrive = jd;
}
}
/// <summary>
/// Create BodyPart object and add it to dictionary.
/// </summary>
public void SetupBodyPart(Transform t)
{
BodyPart bp = new BodyPart
{
rb = t.GetComponent<Rigidbody>(),
joint = t.GetComponent<ConfigurableJoint>(),
startingPos = t.position,
startingRot = t.rotation
};
bodyParts.Add(t, bp);
bp.groundContact = t.GetComponent<GroundContact>();
}
public override void InitializeAgent()
{
SetupBodyPart(hips);
SetupBodyPart(chest);
SetupBodyPart(spine);
SetupBodyPart(head);
SetupBodyPart(thighL);
SetupBodyPart(shinL);
SetupBodyPart(footL);
SetupBodyPart(thighR);
SetupBodyPart(shinR);
SetupBodyPart(footR);
SetupBodyPart(armL);
SetupBodyPart(forearmL);
SetupBodyPart(handL);
SetupBodyPart(armR);
SetupBodyPart(forearmR);
SetupBodyPart(handR);
}
/// <summary>
/// Obtains joint rotation (in Quaternion) from joint.
/// </summary>
public static Quaternion GetJointRotation(ConfigurableJoint joint)
{
return (Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
}
/// <summary>
/// Add relevant information on each body part to observations.
/// </summary>
public void CollectObservationBodyPart(BodyPart bp)
{
var rb = bp.rb;
AddVectorObs(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
bp.groundContact.touchingGround = false;
AddVectorObs(rb.velocity);
AddVectorObs(rb.angularVelocity);
Vector3 localPosRelToHips = hips.InverseTransformPoint(rb.position);
AddVectorObs(localPosRelToHips);
if (bp.joint && (bp.rb.transform != handL && bp.rb.transform != handR))
{
var jointRotation = GetJointRotation(bp.joint);
AddVectorObs(jointRotation); // Get the joint rotation
}
}
/// <summary>
/// Loop over body parts to add them to observation.
/// </summary>
public override void CollectObservations()
{
AddVectorObs(goalDirection);
foreach (var bodyPart in bodyParts.Values)
{
CollectObservationBodyPart(bodyPart);
}
}
public override void AgentAction(float[] vectorAction, string textAction)
{
// Apply action to all relevant body parts.
bodyParts[chest].SetNormalizedTargetRotation(vectorAction[0], vectorAction[1], vectorAction[2],
vectorAction[26]);
bodyParts[spine].SetNormalizedTargetRotation(vectorAction[3], vectorAction[4], vectorAction[5],
vectorAction[27]);
bodyParts[thighL].SetNormalizedTargetRotation(vectorAction[6], vectorAction[7], 0, vectorAction[28]);
bodyParts[shinL].SetNormalizedTargetRotation(vectorAction[8], 0, 0, vectorAction[29]);
bodyParts[footL].SetNormalizedTargetRotation(vectorAction[9], vectorAction[10], vectorAction[11],
vectorAction[30]);
bodyParts[thighR].SetNormalizedTargetRotation(vectorAction[12], vectorAction[13], 0, vectorAction[31]);
bodyParts[shinR].SetNormalizedTargetRotation(vectorAction[14], 0, 0, vectorAction[32]);
bodyParts[footR].SetNormalizedTargetRotation(vectorAction[15], vectorAction[16], vectorAction[17],
vectorAction[33]);
bodyParts[armL].SetNormalizedTargetRotation(vectorAction[18], vectorAction[19], 0, vectorAction[34]);
bodyParts[forearmL].SetNormalizedTargetRotation(vectorAction[20], 0, 0, vectorAction[34]);
bodyParts[armR].SetNormalizedTargetRotation(vectorAction[21], vectorAction[22], 0, vectorAction[36]);
bodyParts[forearmR].SetNormalizedTargetRotation(vectorAction[23], 0, 0, vectorAction[37]);
bodyParts[head].SetNormalizedTargetRotation(vectorAction[24], vectorAction[25], 0, vectorAction[38]);
// Set reward for this step according to mixture of the following elements.
// a. Velocity alignment with goal direction.
// b. Rotation alignment with goal direction.
// c. Encourage head height.
// d. Discourage head movement.
AddReward(
+ 0.03f * Vector3.Dot(goalDirection, bodyParts[hips].rb.velocity)
+ 0.01f * Vector3.Dot(goalDirection, hips.forward)
+ 0.01f * (head.position.y - hips.position.y)
- 0.01f * Vector3.Distance(bodyParts[head].rb.velocity, bodyParts[hips].rb.velocity)
);
}
/// <summary>
/// Loop over body parts and reset them to initial conditions.
/// </summary>
public override void AgentReset()
{
transform.rotation = Quaternion.LookRotation(goalDirection);
foreach (var bodyPart in bodyParts.Values)
{
bodyPart.Reset();
}
}
}

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unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs.meta


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10
unity-environment/Assets/ML-Agents/Examples/Walker/TFModels.meta


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unity-environment/Assets/ML-Agents/Examples/Walker/TFModels/Walker.bytes
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unity-environment/Assets/ML-Agents/Examples/Walker/TFModels/Walker.bytes.meta


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/unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/PrototypeCheckerAlbedo.png → /unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/CheckerTexture.png

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/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Materials/black.mat → /unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/black.mat

/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Materials/black.mat.meta → /unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/black.mat.meta

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