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Added version of 3D ball to use environment parameters

Can spawn a variable number of environments, change episode length, and reward type using environment parameters.
/develop/parameterizedenvs
Scott 3 年前
当前提交
aab3a80e
共有 14 个文件被更改,包括 2126 次插入0 次删除
  1. 83
      Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallAgentArea.prefab
  2. 7
      Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallAgentArea.prefab.meta
  3. 839
      Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallMulti.prefab
  4. 7
      Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallMulti.prefab.meta
  5. 540
      Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBallMulti.unity
  6. 7
      Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBallMulti.unity.meta
  7. 110
      Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgentArea.cs
  8. 11
      Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgentArea.cs.meta
  9. 142
      Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DMultiAgent.cs
  10. 11
      Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DMultiAgent.cs.meta
  11. 9
      Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DRewardTypes.cs
  12. 11
      Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DRewardTypes.cs.meta
  13. 335
      Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBallMultiPower.onnx
  14. 14
      Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBallMultiPower.onnx.meta

83
Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallAgentArea.prefab


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Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBallMulti.unity.meta


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110
Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgentArea.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.MLAgents;
using UnityEngine.Serialization;
public class Ball3DAgentArea : MonoBehaviour
{
[HideInInspector]
public List<GameObject> actorObjs;
public GameObject prefab;
[Tooltip("Number of Parallel Environments. ")]
public int numberOfParallel = 1;
[Tooltip("Number of maximum steps the agent can take in the environment. ")]
public int maxStep = 100;
[Tooltip("Specifies which reward function to use. For all environments")]
public Ball3DRewardType rewardType;
public float agentSpacing = 7.5f;
public int numPerRow = 6;
EnvironmentParameters m_ResetParams;
public void Start()
{
m_ResetParams = Academy.Instance.EnvironmentParameters;
actorObjs = new List<GameObject>();
AreaReset();
}
public void MakeNewAgent(int idx)
{
float xpos = (idx % numPerRow) * agentSpacing;
float ypos = (idx / numPerRow) * agentSpacing;
var pos = new Vector3(xpos, ypos, 5f);
actorObjs.Add(Instantiate(prefab, pos, Quaternion.identity));
}
public void update_agents()
{
foreach (var actor in actorObjs)
{
Ball3DMultiAgent agent = actor.GetComponent<Ball3DMultiAgent>();
agent.m_RewardType = rewardType;
agent.MaxStep = maxStep;
}
}
public void AreaReset()
{
int currentN = actorObjs.Count;
if (numberOfParallel < currentN){
for (int i=currentN-1; i >= numberOfParallel; i--)
{
DestroyImmediate(actorObjs[i]);
}
actorObjs.RemoveRange(numberOfParallel, currentN-numberOfParallel);
}
else if (numberOfParallel > currentN)
{
for (int i=currentN; i < numberOfParallel; i++)
{
MakeNewAgent(i);
}
}
}
public void FixedUpdate()
{
int N = (int)m_ResetParams.GetWithDefault("numParallel", numberOfParallel);
int newStep = (int)m_ResetParams.GetWithDefault("maxStep", maxStep);
int rtype = (int)m_ResetParams.GetWithDefault("rewardType", -1);
Ball3DRewardType rt = rewardType;
bool changed = false;
if (N != numberOfParallel)
{
changed = true;
numberOfParallel = N;
}
if (newStep != maxStep)
{
changed = true;
maxStep = newStep;
}
if (rtype == 0)
{
rt = Ball3DRewardType.Time;
}
else if (rtype == 1)
{
rt = Ball3DRewardType.Distance;
}
else if (rtype == 2)
{
rt = Ball3DRewardType.Power;
}
if (rt != rewardType)
{
changed = true;
rewardType = rt;
}
if (changed)
{
AreaReset();
}
}
}

11
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142
Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DMultiAgent.cs


using System;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
using Random = UnityEngine.Random;
public class Ball3DMultiAgent : Agent
{
[Header("Specific to Ball3D")]
public GameObject ball;
[Tooltip("Whether to use vector observation. This option should be checked " +
"in 3DBall scene, and unchecked in Visual3DBall scene. ")]
public bool useVecObs;
Rigidbody m_BallRb;
EnvironmentParameters m_ResetParams;
[Tooltip("Specifies which reward function to use. ")]
public Ball3DRewardType m_RewardType;
public GameObject goal;
[Tooltip("Specifies the radius of the goal region")]
public float epsilon=0.25f;
public override void Initialize()
{
m_BallRb = ball.GetComponent<Rigidbody>();
m_ResetParams = Academy.Instance.EnvironmentParameters;
SetResetParameters();
}
public override void CollectObservations(VectorSensor sensor)
{
if (useVecObs)
{
sensor.AddObservation(gameObject.transform.rotation.z);
sensor.AddObservation(gameObject.transform.rotation.x);
sensor.AddObservation(ball.transform.position - goal.transform.position);
sensor.AddObservation(m_BallRb.velocity);
}
}
public override void OnActionReceived(ActionBuffers actionBuffers)
{
var actionZ = 2f * Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f);
var actionX = 2f * Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f);
if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
(gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
{
gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ);
}
if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) ||
(gameObject.transform.rotation.x > -0.25f && actionX < 0f))
{
gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX);
}
float reward = 0.0f;
if (m_RewardType == Ball3DRewardType.Time)
{
reward = TimeReward(ball.transform.position, goal.transform.position);
}
else if(m_RewardType == Ball3DRewardType.Distance)
{
reward = DistanceReward(ball.transform.position, goal.transform.position);
}
else if(m_RewardType == Ball3DRewardType.Power)
{
reward = PowerReward(ball.transform.position, goal.transform.position);
}
SetReward(reward);
if ((ball.transform.position.y - gameObject.transform.position.y) < -2f ||
Mathf.Abs(ball.transform.position.x - gameObject.transform.position.x) > 3f ||
Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
{
EndEpisode();
}
}
public override void OnEpisodeBegin()
{
gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
goal.transform.position = new Vector3(Random.Range(-2.25f, 2.25f), 3.0f, Random.Range(-2.25f, 2.25f)) + gameObject.transform.position;
gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));
gameObject.transform.Rotate(new Vector3(0, 0, 1), Random.Range(-10f, 10f));
m_BallRb.velocity = new Vector3(0f, 0f, 0f);
// goal.transform.position = new Vector3(2.25f, 3.0f, 0.0f) + gameObject.transform.position;
ball.transform.position = new Vector3(Random.Range(-1.5f, 1.5f), 4f, Random.Range(-1.5f, 1.5f))
+ gameObject.transform.position;
//Reset the parameters when the Agent is reset.
SetResetParameters();
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var continuousActionsOut = actionsOut.ContinuousActions;
continuousActionsOut[0] = -Input.GetAxis("Horizontal");
continuousActionsOut[1] = Input.GetAxis("Vertical");
}
public void SetBall()
{
//Set the attributes of the ball by fetching the information from the academy
m_BallRb.mass = m_ResetParams.GetWithDefault("mass", 1.0f);
var scale = m_ResetParams.GetWithDefault("scale", 1.0f);
ball.transform.localScale = new Vector3(scale, scale, scale);
}
public void SetResetParameters()
{
SetBall();
}
float TimeReward(Vector3 ball, Vector3 goal)
{
float dist = Vector3.Distance(ball, goal);
if (dist <= epsilon)
{
return 1.0f;
}
return 0.0f;
}
float DistanceReward(Vector3 ball, Vector3 goal)
{
float dist = Vector3.Distance(ball, goal);
return -dist;
}
float PowerReward(Vector3 ball, Vector3 goal)
{
float maxdist = 3.54f; // assumes max distance is 2.5 - -2.5 in each dim. This is an upper bound.
float dist = Vector3.Distance(ball, goal);
//distance between our actual velocity and goal velocity
dist = Mathf.Clamp(epsilon - dist, 0, maxdist);
//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(dist / maxdist, 2), 2);
}
}

11
Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DMultiAgent.cs.meta


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9
Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DRewardTypes.cs


using UnityEngine;
[System.Serializable]
public enum Ball3DRewardType
{
Time,
Distance,
Power
}

11
Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DRewardTypes.cs.meta


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Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBallMultiPower.onnx


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