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Added version of 3D ball to use environment parameters
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
4 年前
当前提交
aab3a80e
共有 14 个文件被更改,包括 2126 次插入 和 0 次删除
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540Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBallMulti.unity
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110Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgentArea.cs
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142Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DMultiAgent.cs
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11Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DMultiAgent.cs.meta
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9Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DRewardTypes.cs
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11Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DRewardTypes.cs.meta
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335Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBallMultiPower.onnx
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|
|||
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(); |
|||
} |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 3562b98ac771b4757b27379b333b9007 |
|||
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serializedVersion: 2 |
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defaultReferences: [] |
|||
executionOrder: 0 |
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icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
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); |
|||
} |
|||
|
|||
} |
|
|||
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|||
assetBundleName: |
|||
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|
|||
using UnityEngine; |
|||
|
|||
[System.Serializable] |
|||
public enum Ball3DRewardType |
|||
{ |
|||
Time, |
|||
Distance, |
|||
Power |
|||
} |
|
|||
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pytorch1.8:�� |
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^ |
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Enetwork_body.observation_encoder.processors.0.normalizer.running_mean19Sub_0"Sub |
|||
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|||
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|||
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|||
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|||
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|||
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|||
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|||
3536Exp_14"Exp |
|||
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|||
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|||
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|||
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|||
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|||
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��W����&�s;��{�0��=�m�>���??��`>���Zc��.�>j�������>�1?�>�w5>���>�&(�ܫ��Ū? 3��5~,?�i��&V��H/?F%3=Ś��3G�DA>�����^�V���*�8�U�r���`�(���T�>;x���p��e?!o����;���==�}��>n�<L�?>>�/���������>�Y�>�Y;��>8(>�&� =��V�>�h=��$= �g>����u�>�� |
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�y~���a��.���H����=��>4k�<�;�� |
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