Add GoalNav environment

Project/Assets/ML-Agents/Examples/GoalNav/Scripts/PushBlockSettings.cs.meta

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config/ppo/GoalNav.yaml

+behaviors:
+  GoalNav:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 128
+      buffer_size: 2048
+      learning_rate: 0.0003
+      beta: 0.01
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: false
+      hidden_units: 100
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 2000000
+    time_horizon: 64
+    summary_freq: 60000
+    threaded: true

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Project/Assets/ML-Agents/Examples/GoalNav/Scripts/GoalDetect.cs.meta

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Project/Assets/ML-Agents/Examples/GoalNav/Scripts/GoalNavAgent.cs

+//Put this script on your blue cube.
+
+using System.Collections;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Actuators;
+
+public class GoalNavAgent : Agent
+{
+    /// <summary>
+    /// The ground. The bounds are used to spawn the elements.
+    /// </summary>
+    public GameObject ground;
+
+    public GameObject area;
+
+    /// <summary>
+    /// The area bounds.
+    /// </summary>
+    [HideInInspector]
+    public Bounds areaBounds;
+
+    PushBlockSettings m_PushBlockSettings;
+
+    GoalSensorComponent goalSensor;
+
+    public GameObject goalObject;
+    public GameObject obstacleObject;
+
+    Vector3 goalLoc;
+    Vector3 obstacleLoc;
+
+    public bool useVectorObs;
+
+    Rigidbody m_AgentRb;  //cached on initialization
+    Material m_GroundMaterial; //cached on Awake()
+
+    /// <summary>
+    /// We will be changing the ground material based on success/failue
+    /// </summary>
+    Renderer m_GroundRenderer;
+
+    EnvironmentParameters m_ResetParams;
+
+    void Awake()
+    {
+        m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
+    }
+
+    public override void Initialize()
+    {
+
+        // Cache the agent rigidbody
+        m_AgentRb = GetComponent<Rigidbody>();
+        // Get the ground's bounds
+        areaBounds = ground.GetComponent<Collider>().bounds;
+        // Get the ground renderer so we can change the material when a goal is scored
+        m_GroundRenderer = ground.GetComponent<Renderer>();
+        // Starting material
+        m_GroundMaterial = m_GroundRenderer.material;
+
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+
+        SetResetParameters();
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        goalSensor = this.GetComponent<GoalSensorComponent>();
+        goalSensor.AddGoal(goalLoc / 10f);
+        goalSensor.AddGoal(obstacleLoc/ 10f);
+    }
+
+
+    /// <summary>
+    /// Use the ground's bounds to pick a random spawn position.
+    /// </summary>
+    public Vector3 GetRandomSpawnPos()
+    {
+        var foundNewSpawnLocation = false;
+        var randomSpawnPos = Vector3.zero;
+        while (foundNewSpawnLocation == false)
+        {
+            var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
+                areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
+
+            var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
+                areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
+            randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
+            if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
+            {
+                foundNewSpawnLocation = true;
+            }
+        }
+        return randomSpawnPos;
+    }
+
+    /// <summary>
+    /// Moves the agent according to the selected action.
+    /// </summary>
+    public void MoveAgent(ActionSegment<int> act)
+    {
+        var dirToGo = Vector3.zero;
+        var rotateDir = Vector3.zero;
+
+        var action = act[0];
+
+        switch (action)
+        {
+            case 1:
+                dirToGo = transform.forward * 1f;
+                break;
+            case 2:
+                dirToGo = transform.forward * -1f;
+                break;
+            case 3:
+                rotateDir = transform.up * 1f;
+                break;
+            case 4:
+                rotateDir = transform.up * -1f;
+                break;
+            case 5:
+                dirToGo = transform.right * -0.75f;
+                break;
+            case 6:
+                dirToGo = transform.right * 0.75f;
+                break;
+        }
+        transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
+        m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
+            ForceMode.VelocityChange);
+    }
+
+    /// <summary>
+    /// Called every step of the engine. Here the agent takes an action.
+    /// </summary>
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
+    {
+        // Move the agent using the action.
+        MoveAgent(actionBuffers.DiscreteActions);
+
+        // Penalty given each step to encourage agent to finish task quickly.
+        AddReward(-1f / MaxStep);
+
+        CheckGoal();
+    }
+
+    public void CheckGoal()
+    {
+        var distanceGoal = Vector3.Distance(transform.localPosition, goalLoc);
+        if (distanceGoal < 1.5f)
+        {
+            Debug.Log("Found goal");
+            SetReward(1f);
+            EndEpisode();
+        }
+
+        var distanceObstacle = Vector3.Distance(transform.localPosition, obstacleLoc);
+        if (distanceObstacle < 1.5f)
+        {
+            Debug.Log("Found obstacle");
+            SetReward(-1f);
+            EndEpisode();
+        }
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut[0] = 0;
+        if (Input.GetKey(KeyCode.D))
+        {
+            discreteActionsOut[0] = 3;
+        }
+        else if (Input.GetKey(KeyCode.W))
+        {
+            discreteActionsOut[0] = 1;
+        }
+        else if (Input.GetKey(KeyCode.A))
+        {
+            discreteActionsOut[0] = 4;
+        }
+        else if (Input.GetKey(KeyCode.S))
+        {
+            discreteActionsOut[0] = 2;
+        }
+    }
+
+    /// <summary>
+    /// In the editor, if "Reset On Done" is checked then AgentReset() will be
+    /// called automatically anytime we mark done = true in an agent script.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        var rotation = Random.Range(0, 4);
+        var rotationAngle = rotation * 90f;
+        area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
+
+        transform.position = GetRandomSpawnPos();
+        m_AgentRb.velocity = Vector3.zero;
+        m_AgentRb.angularVelocity = Vector3.zero;
+
+        goalLoc = new Vector3(Random.Range(-10f, 10f), 1f, Random.Range(-10f, 10f));
+        goalObject.transform.localPosition = goalLoc;
+
+        obstacleLoc = new Vector3(Random.Range(-10f, 10f), 1f, Random.Range(-10f, 10f));
+        obstacleObject.transform.localPosition = obstacleLoc;
+
+        SetResetParameters();
+    }
+
+
+    void SetResetParameters()
+    {
+
+    }
+}

Project/Assets/ML-Agents/Examples/GoalNav/Scripts/GoalNavAgent.cs.meta

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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetect.cs.meta

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