Still not working

4 年前 · b09dfd0a
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--- a/Project/Assets/ML-Agents/Examples/Bullet/Scripts/Bullet.cs
+++ b/Project/Assets/ML-Agents/Examples/Bullet/Scripts/Bullet.cs
    /// <summary>
    /// The ground. The bounds are used to spawn the elements.
    /// </summary>
-    Rigidbody m_BulletRb;
+    public Rigidbody BulletRb;
-        m_BulletRb = GetComponent<Rigidbody>();
-        //m_BulletRb.AddForce(20f*transform.forward, ForceMode.VelocityChange);
+        BulletRb = GetComponent<Rigidbody>();
+        //BulletRb.AddForce(20f*transform.forward, ForceMode.VelocityChange);
-       transform.position += transform.forward * speed; 
+       transform.position += transform.forward * speed;
-            //gameObject.SetActive(false); 
+            //gameObject.SetActive(false);
-} 
+}
--- a/Project/Assets/ML-Agents/Examples/Bullet/Scripts/BulletAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Bullet/Scripts/BulletAgent.cs
    public void FixedUpdate()
    {
        if (Time.time > m_BulletTime + 0.03f)
-        {            
+        {
            //var x = Random.Range(-1f * m_x, m_x) + area.transform.position.x;
            //var z = Random.Range(-1f * m_z, m_z) + area.transform.position.z;
            var r = Random.Range(0f, 360f);

            Quaternion rotation = Quaternion.Euler(0, r, 0);
            //Quaternion rotation = Quaternion.LookRotation(m_center - pos);
-            var ob = Instantiate(m_BulletRb, pos, rotation); 
+            var ob = Instantiate(m_BulletRb, pos, rotation, area.transform);
            m_currX = x;
            m_currZ = z;
    //        ob.GetComponent<Rigidbody>().AddForce(20f*ob.transform.forward, ForceMode.VelocityChange);
    }
-} 
+}
--- a/Project/Assets/ML-Agents/Examples/Bullet/Scripts/DodgeAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Bullet/Scripts/DodgeAgent.cs
    BulletSettings m_BulletSettings;


-    public bool useVectorObs;
-
    Rigidbody m_AgentRb;  //cached on initialization
    Material m_GroundMaterial; //cached on Awake()


    public override void CollectObservations(VectorSensor sensor)
    {
-        
+
        sensor.AddObservation(transform.position.x - area.transform.position.x);
        sensor.AddObservation(transform.position.z - area.transform.position.z);

--- a/Project/Assets/ML-Agents/Examples/Bullet/TFModels.meta
+++ b/Project/Assets/ML-Agents/Examples/Bullet/TFModels.meta
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  externalObjects: {}
--- a/Project/Assets/ML-Agents/Examples/Bullet/TFModels/PushBlock.nn.meta
+++ b/Project/Assets/ML-Agents/Examples/Bullet/TFModels/PushBlock.nn.meta
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--- a/ml-agents/mlagents/trainers/torch/networks.py
+++ b/ml-agents/mlagents/trainers/torch/networks.py
            network_settings.vis_encode_type,
            normalize=self.normalize,
        )
+
+
-        self.linear_encoder = LinearEncoder(
-            total_enc_size, network_settings.num_layers, self.h_size
-        )
-        self.obs_embeding = LinearEncoder(4, 1, 64)
+        self.obs_embeding = LinearEncoder(4 + 64, 1, 64)
+        self.dense_after_attention = LinearEncoder(64, 1, 64)
+
+        self.linear_encoder = LinearEncoder(
+            total_enc_size, network_settings.num_layers, self.h_size
+        )

        if self.use_lstm:
            self.lstm = LSTM(self.h_size, self.m_size)

        # TODO : This is a Hack
        var_len_input = vis_inputs[0].reshape(-1, 20, 4)
-        key_mask = (
+        key_mask = 0 * (
-        self_encoding = processed_vec.reshape(-1, 1, processed_vec.shape[1])
-        self_encoding = self.self_embedding(self_encoding)  # (b, 64)
+        x_self = processed_vec.reshape(-1, processed_vec.shape[1])
+        x_self = self.self_embedding(x_self)  # (b, 1,64)
+        expanded_x_self = x_self.reshape(-1, 1, 64).repeat(1, 20, 1)
+        objects = torch.cat([expanded_x_self, var_len_input], dim=2)  #(b,20,68)
-        obs_encoding = self.obs_embeding(var_len_input)
-
-        expanded_self_encoding = self_encoding.reshape(-1, 1, 64).repeat(1, 20, 1)
-        self_and_key_emb = self.self_and_obs_embedding(
-            torch.cat([obs_encoding, expanded_self_encoding], dim=2)
-        )
+        obj_encoding = self.obs_embeding(objects)#(b,20,64)
-        self_and_key_emb = torch.cat([self_encoding, self_and_key_emb], dim=1)
+        self_and_key_emb = torch.cat([x_self.reshape(-1,1,64), obj_encoding], dim=1) #(b,21,64)
-        )
+        ) # first one is never masked
-        )
+        )  # (b, 21, 64)
+        output = self.dense_after_attention(output) + self_and_key_emb
+
-        ) / torch.sum(1 - key_mask, dim=1, keepdim=True)
+        ) / torch.sum(1 - key_mask, dim=1, keepdim=True) # average pooling
+
+
-        # output = torch.cat([inputs, output], dim=1)
+        encoding = self.linear_encoder(output + x_self)
-        encoding = self.linear_encoder(output)

        if self.use_lstm:
            # Resize to (batch, sequence length, encoding size)
--- a/Project/Assets/ML-Agents/Examples/Bullet/Prefabs/DodgeAgentRaycast.prefab
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--- a/Project/Assets/ML-Agents/Examples/Bullet/Prefabs/DodgeAgentRaycast.prefab.meta
+++ b/Project/Assets/ML-Agents/Examples/Bullet/Prefabs/DodgeAgentRaycast.prefab.meta
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--- a/Project/Assets/ML-Agents/Examples/Bullet/Scripts/AttentionSensorComponent.cs
+++ b/Project/Assets/ML-Agents/Examples/Bullet/Scripts/AttentionSensorComponent.cs
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.MLAgents.Sensors;
+using System;
+using System.Linq;
+
+
+/// <summary>
+/// A simple example of a SensorComponent.
+/// This should be added to the same GameObject as the BasicController
+/// </summary>
+public class AttentionSensorComponent : SensorComponent
+{
+
+    public int ObservableSize;
+    public int MaxNumObservables;
+
+    /// <summary>
+    /// Creates a BasicSensor.
+    /// </summary>
+    /// <returns></returns>
+    public override ISensor CreateSensor()
+    {
+        return new AttentionSensor(transform, ObservableSize, MaxNumObservables);
+    }
+
+    /// <inheritdoc/>
+    public override int[] GetObservationShape()
+    {
+        return new[] { MaxNumObservables, ObservableSize,1};
+    }
+}
+
+/// <summary>
+/// Simple Sensor implementation that uses a one-hot encoding of the Agent's
+/// position as the observation.
+/// </summary>
+public class AttentionSensor : ISensor
+{
+    int m_ObservableSize;
+    int m_MaxNumObservables;
+    float[] m_ObservationBuffer;
+    int m_CurrentNumObservables;
+    Transform m_AgentTransform;
+
+    public AttentionSensor(Transform AgentTransform, int ObservableSize, int MaxNumObservables)
+    {
+        m_ObservableSize = ObservableSize;
+        m_MaxNumObservables = MaxNumObservables;
+        m_AgentTransform = AgentTransform;
+        m_ObservationBuffer = new float[m_ObservableSize * m_MaxNumObservables];
+        m_CurrentNumObservables = 0;
+    }
+
+    /// <summary>
+    /// Generate the observations for the sensor.
+    /// In this case, the observations are all 0 except for a 1 at the position of the agent.
+    /// </summary>
+    /// <param name="output"></param>
+    public int Write(ObservationWriter writer)
+    {
+        for (int i = 0; i < m_ObservableSize * m_MaxNumObservables; i++){
+            writer[i] = m_ObservationBuffer[i];
+        }
+        return m_ObservableSize * m_MaxNumObservables;
+    }
+
+    public byte[] GetCompressedObservation()
+    {
+        return new byte[0];
+    }
+
+    public int[] GetObservationShape()
+    {
+        return new[] { m_MaxNumObservables, m_ObservableSize,1 };
+    }
+
+    /// <inheritdoc/>
+    public void Update() {
+        var bullets = m_AgentTransform.parent.GetComponentsInChildren<Bullet>();
+        // Sort by closest :
+        Array.Sort(bullets , (a, b) => Vector3.Distance(a.transform.position, m_AgentTransform.position) - Vector3.Distance(b.transform.position, m_AgentTransform.position) > 0 ? 1 : -1);
+        foreach (Bullet b in bullets)
+        {
+            if (m_CurrentNumObservables >= m_MaxNumObservables){
+                break;
+            }
+            m_ObservationBuffer[m_CurrentNumObservables * m_ObservableSize + 0] = b.transform.position.x - m_AgentTransform.position.x;
+            m_ObservationBuffer[m_CurrentNumObservables * m_ObservableSize + 1] = b.transform.position.z - m_AgentTransform.position.z;
+            m_ObservationBuffer[m_CurrentNumObservables * m_ObservableSize + 2] = b.transform.forward.x;
+            m_ObservationBuffer[m_CurrentNumObservables * m_ObservableSize + 3] = b.transform.forward.z;
+            m_CurrentNumObservables += 1;
+        }
+
+    }
+
+    /// <inheritdoc/>
+    public void Reset() {
+        m_CurrentNumObservables = 0;
+        Array.Clear(m_ObservationBuffer, 0, m_ObservationBuffer.Length);
+    }
+
+    public SensorCompressionType GetCompressionType()
+        {
+            return SensorCompressionType.None;
+        }
+
+    /// <summary>
+    /// Accessor for the name of the sensor.
+    /// </summary>
+    /// <returns>Sensor name.</returns>
+    public string GetName()
+    {
+        return "AttentionSensor";
+    }
+
+}
--- a/Project/Assets/ML-Agents/Examples/Bullet/Scripts/AttentionSensorComponent.cs.meta
+++ b/Project/Assets/ML-Agents/Examples/Bullet/Scripts/AttentionSensorComponent.cs.meta
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