Aded the Goal conditioned GridWorld to replace regular gridworld

4 年前 · b9ddc8a6
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
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--- a/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
 using UnityEngine;
 using System.Linq;
 using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Actuators;
 using UnityEngine.Rendering;
 using UnityEngine.Serialization;
        "RenderTexture as observations.")]
    public Camera renderCamera;

+    VectorSensorComponent m_GoalSensor;
+
+    public enum GridGoal
+    {
+        Plus,
+        Ex,
+    }
+
+    public GameObject GreenBottom;
+    public GameObject RedBottom;
+
+    GridGoal m_CurrentGoal;
+
+    public GridGoal CurrentGoal
+    {
+        get { return m_CurrentGoal; }
+        set
+        {
+            switch (value)
+            {
+                case GridGoal.Plus:
+                    GreenBottom.SetActive(true);
+                    RedBottom.SetActive(false);
+                    break;
+                case GridGoal.Ex:
+                    GreenBottom.SetActive(false);
+                    RedBottom.SetActive(true);
+                    break;
+            }
+            m_CurrentGoal = value;
+        }
+    }
+
    [Tooltip("Selecting will turn on action masking. Note that a model trained with action " +
        "masking turned on may not behave optimally when action masking is turned off.")]
    public bool maskActions = true;

    public override void Initialize()
    {
+        m_GoalSensor = this.GetComponent<VectorSensorComponent>();
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        Array values = Enum.GetValues(typeof(GridGoal));
+        int goalNum = (int)CurrentGoal;
+        m_GoalSensor.GetSensor().AddOneHotObservation(goalNum, values.Length);
    }

    public override void WriteDiscreteActionMask(IDiscreteActionMask actionMask)

            if (hit.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
            {
-                SetReward(1f);
+                ProvideReward(GridGoal.Plus);
-                SetReward(-1f);
+                ProvideReward(GridGoal.Ex);
+        }
+    }
+
+    private void ProvideReward(GridGoal hitObject)
+    {
+        if (CurrentGoal == hitObject)
+        {
+            SetReward(1f);
+        }
+        else
+        {
+            SetReward(-1f);
        }
    }

    public override void OnEpisodeBegin()
    {
        area.AreaReset();
+        Array values = Enum.GetValues(typeof(GridGoal));
+        CurrentGoal = (GridGoal)values.GetValue(UnityEngine.Random.Range(0, values.Length));
    }

    public void FixedUpdate()
--- a//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-plus.prefab.meta
+++ b//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-plus.prefab.meta
--- a//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab.meta
+++ b//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab.meta
--- a//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab
+++ b//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab
--- a//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-plus.prefab
+++ b//Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-plus.prefab