Additional Environment Variations (#791)

* Add Visual (Camera) and Imitation Learning variations to example environments
6 年前 · 9ab98584
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
 [Making a New Learning Environment](Learning-Environment-Create-New.md)
 page.

+Note: Environment scenes marked as _optional_ do not have accompanying pre-trained model files, and are designed to serve as challenges for researchers. 
+
 If you would like to contribute environments, please see our 
 [contribution guidelines](../CONTRIBUTING.md) page. 

 * Brains: One brain with the following observation/action space.
    * Vector Observation space: (Discrete) One variable corresponding to current state.
    * Vector Action space: (Discrete) Two possible actions (Move left, move right).
-    * Visual Observations: 0
+    * Visual Observations: None.
 * Reset Parameters: None
 * Benchmark Mean Reward: 0.94

    * Vector Observation space: (Continuous) 8 variables corresponding to rotation of platform, and position, rotation, and velocity of ball.
    * Vector Observation space (Hard Version): (Continuous) 5 variables corresponding to rotation of platform and position and rotation of ball.
    * Vector Action space: (Continuous) Size of 2, with one value corresponding to X-rotation, and the other to Z-rotation.
-    * Visual Observations: 0
+    * Visual Observations: None.
 * Reset Parameters: None
 * Benchmark Mean Reward: 100

 * Brains: One brain with the following observation/action space.
    * Vector Observation space: (Continuous) 8 variables corresponding to position and velocity of ball and racket.
    * Vector Action space: (Continuous) Size of 2, corresponding to movement toward net or away from net, and jumping.
-    * Visual Observations: None
+    * Visual Observations: None.
+* Optional Imitation Learning scene: `TennisIL`.

 ## [Push Block](https://youtu.be/jKdw216ZgoE)

 * Brains: One brain with the following observation/action space.
    * Vector Observation space: (Continuous) 15 variables corresponding to position and velocities of agent, block, and goal.
    * Vector Action space: (Continuous) Size of 2, corresponding to movement in X and Z directions.
-    * Visual Observations: None.
+    * Visual Observations (Optional): One first-person camera. Use `VisualPushBlock` scene.
+* Optional Imitation Learning scene: `PushBlockIL`.

 ## [Wall Jump](https://youtu.be/NITLug2DIWQ)

 * Brains: One brain with the following observation/action space.
    * Vector Observation space: (Continuous) 26 variables corresponding to position, rotation, velocity, and angular velocities of the two arm Rigidbodies.
    * Vector Action space: (Continuous) Size of 4, corresponding to torque applicable to two joints. 
-    * Visual Observations: None
+    * Visual Observations: None.
 * Reset Parameters: Two, corresponding to goal size, and goal movement speed.
 * Benchmark Mean Reward: 30

 * Brains: One brain with the following observation/action space.
    * Vector Observation space: (Continuous) 117 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 12, corresponding to torque applicable to 12 joints. 
-    * Visual Observations: None
+    * Visual Observations: None.
 * Reset Parameters: None
 * Benchmark Mean Reward: 2000

 * Brains: One brain with the following observation/action space.
    * Vector Observation space: (Continuous) 53 corresponding to velocity of agent (2), whether agent is frozen and/or shot its laser (2), plus ray-based perception of objects around agent's forward direction (49; 7 raycast angles with 7 measurements for each).
    * Vector Action space: (Continuous) Size of 3, corresponding to forward movement, y-axis rotation, and whether to use laser to disable other agents.
-    * Visual Observations (Optional; None by default): First-person view for each agent. 
-* Reset Parameters: None
+    * Visual Observations (Optional): First-person camera per-agent. Use `VisualBanana` scene. 
+* Reset Parameters: None.
+* Optional Imitation Learning scene: `BananaIL`. 

 ## [Hallway](https://youtu.be/53GyfpPQRUQ)

 * Brains: One brain with the following observation/action space:
    * Vector Observation space: (Continuous) 30 corresponding to local ray-casts detecting objects, goals, and walls.
    * Vector Action space: (Discrete) 4 corresponding to agent rotation and forward/backward movement.
-    * Visual Observations (Optional): First-person view for the agent.
-* Reset Parameters: None
+    * Visual Observations (Optional): First-person view for the agent. Use `VisualHallway` scene.
+* Reset Parameters: None.
+* Optional Imitation Learning scene: `HallwayIL`.

 ## [Bouncer](https://youtu.be/Tkv-c-b1b2I)

 * Brains: One brain with the following observation/action space:
    * Vector Observation space: (Continuous) 6 corresponding to local position of agent and banana.
    * Vector Action space: (Continuous) 3 corresponding to agent force applied for the jump.
-    * Visual Observations: None
-* Reset Parameters: None
+    * Visual Observations: None.
+* Reset Parameters: None.
 * Benchmark Mean Reward: 2.5

 ## [Soccer Twos](https://youtu.be/Hg3nmYD3DjQ)
    * Vector Action space: (Discrete) 
        * Striker: 6 corresponding to forward, backward, sideways movement, as well as rotation.
        * Goalie: 4 corresponding to forward, backward, sideways movement.
-    * Visual Observations: None
+    * Visual Observations: None.
 * Reset Parameters: None
 * Benchmark Mean Reward (Striker & Goalie Brain): 0 (the means will be inverse of each other and criss crosses during training)

 * 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
+    * Visual Observations: None.
+* Reset Parameters: None.
+* Benchmark Mean Reward: 1000

 ## Pyramids

 * Brains: One brain with the following observation/action space:
    * Vector Observation space: (Continuous) 148 corresponding to local ray-casts detecting switch, bricks, golden brick, and walls, plus variable indicating switch state.
    * Vector Action space: (Discrete) 4 corresponding to agent rotation and forward/backward movement.
-    * Visual Observations (Optional): First-person view for the agent.
-* Reset Parameters: None
+    * Visual Observations (Optional): First-person camera per-agent. Use `VisualPyramids` scene. 
+* Reset Parameters: None.
+* Optional Imitation Learning scene: `PyramidsIL`.
+* Benchmark Mean Reward: 1.75
--- a/python/trainer_config.yaml
+++ b/python/trainer_config.yaml
    use_recurrent: false
    sequence_length: 16
    buffer_size: 128
+
+StudentRecurrentBrain:
+    trainer: imitation
+    max_steps: 10000
+    summary_freq: 1000
+    brain_to_imitate: TeacherBrain
+    batch_size: 16
+    batches_per_epoch: 5
+    num_layers: 4
+    hidden_units: 64
+    use_recurrent: true
+    sequence_length: 32
+    buffer_size: 128
--- a/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Prefabs/RLArea.prefab
+++ b/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Prefabs/RLArea.prefab
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+  useVectorObs: 1
--- a/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Scripts/BananaAgent.cs
+++ b/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Scripts/BananaAgent.cs
    public GameObject myLaser;
    public bool contribute;
    private RayPerception rayPer;
+    public bool useVectorObs;

    public override void InitializeAgent()
    {

    public override void CollectObservations()
    {
-        float rayDistance = 50f;
-        float[] rayAngles = { 20f, 90f, 160f, 45f, 135f, 70f, 110f };
-        string[] detectableObjects = { "banana", "agent", "wall", "badBanana", "frozenAgent" };
-        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
-        Vector3 localVelocity = transform.InverseTransformDirection(agentRb.velocity);
-        AddVectorObs(localVelocity.x);
-        AddVectorObs(localVelocity.z);
-        AddVectorObs(System.Convert.ToInt32(frozen));
-        AddVectorObs(System.Convert.ToInt32(shoot));
+        if (useVectorObs)
+        {
+            float rayDistance = 50f;
+            float[] rayAngles = { 20f, 90f, 160f, 45f, 135f, 70f, 110f };
+            string[] detectableObjects = { "banana", "agent", "wall", "badBanana", "frozenAgent" };
+            AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
+            Vector3 localVelocity = transform.InverseTransformDirection(agentRb.velocity);
+            AddVectorObs(localVelocity.x);
+            AddVectorObs(localVelocity.z);
+            AddVectorObs(System.Convert.ToInt32(frozen));
+            AddVectorObs(System.Convert.ToInt32(shoot));
+        }
    }

    public Color32 ToColor(int hexVal)
--- a/unity-environment/Assets/ML-Agents/Examples/Hallway/Prefabs/HallwayArea.prefab
+++ b/unity-environment/Assets/ML-Agents/Examples/Hallway/Prefabs/HallwayArea.prefab
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  orangeBlock: {fileID: 1972707284972814}
  redBlock: {fileID: 1627706890143466}
+  useVectorObs: 1
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--- a/unity-environment/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
+++ b/unity-environment/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
    public GameObject redGoal;
    public GameObject orangeBlock;
    public GameObject redBlock;
+    public bool useVectorObs;
    RayPerception rayPer;
    Rigidbody shortBlockRB;
    Rigidbody agentRB;
    {
        base.InitializeAgent();
        academy = FindObjectOfType<HallwayAcademy>();
-        brain = FindObjectOfType<Brain>();
        rayPer = GetComponent<RayPerception>();
        agentRB = GetComponent<Rigidbody>();
        groundRenderer = ground.GetComponent<Renderer>();
    public override void CollectObservations()
    {
-        float rayDistance = 12f;
-        float[] rayAngles = { 20f, 60f, 90f, 120f, 160f };
-        string[] detectableObjects = { "orangeGoal", "redGoal", "orangeBlock", "redBlock", "wall" };
-        AddVectorObs((float)GetStepCount() / (float)agentParameters.maxStep);
-        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
+        if (useVectorObs)
+        {
+            float rayDistance = 12f;
+            float[] rayAngles = { 20f, 60f, 90f, 120f, 160f };
+            string[] detectableObjects = { "orangeGoal", "redGoal", "orangeBlock", "redBlock", "wall" };
+            AddVectorObs(GetStepCount() / (float)agentParameters.maxStep);
+            AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
+        }
    }

    IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
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--- a/unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
+++ b/unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
 	[HideInInspector]
    public GoalDetect goalDetect;

+    public bool useVectorObs;
+
    Rigidbody blockRB;  //cached on initialization
    Rigidbody agentRB;  //cached on initialization
    Material groundMaterial; //cached on Awake()

    public override void CollectObservations()
    {
-        float rayDistance = 12f;
-        float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
-        string[] detectableObjects;
-        detectableObjects = new string[] { "block", "goal", "wall" };
-        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
-        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 1.5f, 0f));
+        if (useVectorObs)
+        {
+            var rayDistance = 12f;
+            float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
+            var detectableObjects = new[] { "block", "goal", "wall" };
+            AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
+            AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 1.5f, 0f));
+        }
    }

    /// <summary>
--- a/unity-environment/Assets/ML-Agents/Examples/Tennis/Racket/Racket.obj.meta
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--- a/unity-environment/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
+++ b/unity-environment/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs

    public override void CollectObservations()
    {
-        float rayDistance = 20f;
-        float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
-        AddVectorObs(rayPer.Perceive(
-            rayDistance, rayAngles, detectableObjects, 0f, 0f));
-        AddVectorObs(rayPer.Perceive(
-            rayDistance, rayAngles, detectableObjects, 2.5f, 2.5f));
-        Vector3 agentPos = agentRB.position - ground.transform.position;
-
-        AddVectorObs(agentPos / 20f);
-        AddVectorObs(DoGroundCheck(0.4f) ? 1 : 0);
-
+            float rayDistance = 20f;
+            float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
+            AddVectorObs(rayPer.Perceive(
+                rayDistance, rayAngles, detectableObjects, 0f, 0f));
+            AddVectorObs(rayPer.Perceive(
+                rayDistance, rayAngles, detectableObjects, 2.5f, 2.5f));
+            Vector3 agentPos = agentRB.position - ground.transform.position;
+            AddVectorObs(agentPos / 20f);
+            AddVectorObs(DoGroundCheck(0.4f) ? 1 : 0);
    }

    /// <summary>
                GoalScoredSwapGroundMaterial(academy.goalScoredMaterial, 2));
        }
    }
-

    //Reset the orange block position
    void ResetBlock(Rigidbody blockRB)
--- a/unity-environment/Assets/ML-Agents/Scripts/BCTeacherHelper.cs
+++ b/unity-environment/Assets/ML-Agents/Scripts/BCTeacherHelper.cs
        {
            resetBuffer = false;
        }
-        Monitor.Log("Recording experiences " + recordKey.ToString(), recordExperiences.ToString());
+        Monitor.Log("Recording experiences " + recordKey, recordExperiences.ToString());
-        Monitor.Log("Seconds since buffer reset " + resetKey.ToString(), Mathf.FloorToInt(timeSinceBufferReset));
+        Monitor.Log("Seconds since buffer reset " + resetKey, Mathf.FloorToInt(timeSinceBufferReset).ToString());
    }

    void FixedUpdate()
-        myAgent.SetTextObs(recordExperiences.ToString() + "," + resetBuffer.ToString());
+        myAgent.SetTextObs(recordExperiences + "," + resetBuffer);
    }
 }
--- a/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Scenes/BananaIL.unity
+++ b/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Scenes/BananaIL.unity
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--- a/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Scenes/Banana.unity
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--- a/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Prefabs/VisualRLArea.prefab
+++ b/unity-environment/Assets/ML-Agents/Examples/BananaCollectors/Prefabs/VisualRLArea.prefab
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--- a/unity-environment/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualHallwayArea.prefab
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--- a/unity-environment/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayIL.unity
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--- a/unity-environment/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayIL.unity.meta
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--- a/unity-environment/Assets/ML-Agents/Examples/Hallway/Scenes/VisualHallway.unity
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--- a/unity-environment/Assets/ML-Agents/Examples/Hallway/Scenes/VisualHallway.unity.meta
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--- a/unity-environment/Assets/ML-Agents/Examples/PushBlock/Prefabs/VisualArea.prefab
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--- a/unity-environment/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockIL.unity
+++ b/unity-environment/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockIL.unity
--- a/unity-environment/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockIL.unity.meta
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--- a/unity-environment/Assets/ML-Agents/Examples/PushBlock/Scenes/VisualPushBlock.unity
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