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Revamped Push Block (#404)

* Adds new revamped Push Block environment.
* Adds "Shared Assets" folder to Examples sub-directory.
/develop-generalizationTraining-TrainerController
GitHub 6 年前
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共有 91 个文件被更改,包括 4899 次插入730 次删除
  1. 13
      docs/Learning-Environment-Examples.md
  2. 999
      docs/images/push.png
  3. 12
      python/trainer_config.yaml
  4. 37
      unity-environment/Assets/ML-Agents/Examples/Banana/BananaRL.unity
  5. 4
      unity-environment/Assets/ML-Agents/Examples/Hallway/Material/FailGround.mat.meta
  6. 4
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  7. 19
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  8. 4
      unity-environment/Assets/ML-Agents/Examples/Hallway/Material/SuccessGround.mat.meta
  9. 17
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  10. 430
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  11. 33
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  12. 55
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  15. 14
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/goal.mat
  16. 2
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  17. 2
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  18. 10
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  19. 10
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  20. 10
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  21. 76
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  22. 9
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  23. 10
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  26. 10
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scenes.meta
  27. 1001
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlock.unity
  28. 9
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlock.unity.meta
  29. 10
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts.meta
  30. 26
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetect.cs
  31. 13
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetect.cs.meta
  32. 288
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
  33. 53
      unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockAcademy.cs
  34. 10
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  36. 7
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  37. 10
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials.meta
  38. 76
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/CheckerRectangle.mat
  39. 8
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/CheckerRectangle.mat.meta
  40. 76
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/CheckerSquare.mat
  41. 8
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  42. 8
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/Ground.mat.meta
  43. 9
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  44. 84
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  45. 10
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  46. 76
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  47. 8
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  48. 8
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  49. 76
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  51. 76
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  52. 8
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  53. 10
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  54. 46
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/RandomDecision.cs
  55. 13
      unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/RandomDecision.cs.meta
  56. 9
      unity-environment/Assets/ML-Agents/Examples/Area.meta
  57. 9
      unity-environment/Assets/ML-Agents/Materials.meta
  58. 0
      /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/CameraFollow.cs
  59. 0
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  60. 0
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  61. 0
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  62. 0
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  63. 0
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  68. 0
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  69. 0
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  70. 0
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  72. 0
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  76. 0
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  77. 0
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  78. 0
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  80. 0
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13
docs/Learning-Environment-Examples.md


* Visual Observations: None
* Reset Parameters: One, corresponding to size of ball.
## Area
### Push Area
## Push Block
![Push](images/push.png)

* Agent Reward Function:
* -0.01 for every step.
* -0.0025 for every step.
* -1.0 if the agent falls off the platform.
* Vector Action space: (Discrete) Size of 6, corresponding to movement in cardinal directions, jumping, and no movement.
* Vector Action space: (Continuous) Size of 2, corresponding to movement in X and Z directions.
* Reset Parameters: One, corresponding to number of steps in training. Used to adjust size of elements for Curriculum Learning.
* Reset Parameters: None.
### Wall Area
## Wall Jump
![Wall](images/wall.png)

999
docs/images/push.png
文件差异内容过多而无法显示
查看文件

12
python/trainer_config.yaml


max_steps: 5.0e4
memory_size: 256
normalize: false
num_epoch: 5
num_epoch: 3
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max_steps: 2.0e5
batch_size: 1048
buffer_size: 10240
beta: 1.0e-2
hidden_units: 128
summary_freq: 2000
time_horizon: 64
num_layers: 2
Ball3DBrain:
normalize: true

37
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unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetect.cs


//Detect when the orange block has touched the goal.
//Detect when the orange block has touched an obstacle.
//Put this script onto the orange block. There's nothing you need to set in the editor.
//Make sure the goal is tagged with "goal" in the editor.
using UnityEngine;
public class GoalDetect : MonoBehaviour
{
[HideInInspector]
/// <summary>
/// The associated agent.
/// This will be set by the agent script on Initialization.
/// Don't need to manually set.
/// </summary>
public PushAgentBasic agent; //
void OnCollisionEnter(Collision col)
{
// Touched goal.
if (col.gameObject.CompareTag("goal"))
{
agent.IScoredAGoal();
}
}
}

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unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs


//Put this script on your blue cube.
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class PushAgentBasic : 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;
PushBlockAcademy academy;
/// <summary>
/// The goal to push the block to.
/// </summary>
public GameObject goal;
/// <summary>
/// The block to be pushed to the goal.
/// </summary>
public GameObject block;
/// <summary>
/// Detects when the block touches the goal.
/// </summary>
[HideInInspector]
public GoalDetect goalDetect;
Rigidbody blockRB; //cached on initialization
Rigidbody agentRB; //cached on initialization
Material groundMaterial; //cached on Awake()
/// <summary>
/// We will be changing the ground material based on success/failue
/// </summary>
Renderer groundRenderer;
void Awake()
{
// There is one brain in the scene so this should find our brain.
brain = FindObjectOfType<Brain>();
academy = FindObjectOfType<PushBlockAcademy>(); //cache the academy
}
public override void InitializeAgent()
{
base.InitializeAgent();
goalDetect = block.GetComponent<GoalDetect>();
goalDetect.agent = this;
// Cache the agent rigidbody
agentRB = GetComponent<Rigidbody>();
// Cache the block rigidbody
blockRB = block.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
groundRenderer = ground.GetComponent<Renderer>();
// Starting material
groundMaterial = groundRenderer.material;
}
public override void CollectObservations()
{
// Block position relative to goal.
Vector3 blockPosRelToGoal = blockRB.position - goal.transform.position;
// Block position relative to agent.
Vector3 blockPosRelToAgent = blockRB.position - agentRB.position;
// Obstacle position relative to agent.
// Agent position relative to ground.
Vector3 agentPos = agentRB.position - area.transform.position;
// Goal position relative to ground.
Vector3 goalPos = goal.transform.position - ground.transform.position;
AddVectorObs(agentPos);
AddVectorObs(goalPos);
AddVectorObs(blockPosRelToGoal);
AddVectorObs(blockPosRelToAgent);
// Add velocity of block and agent to observations.
AddVectorObs(blockRB.velocity);
AddVectorObs(agentRB.velocity);
}
/// <summary>
/// Use the ground's bounds to pick a random spawn position.
/// </summary>
public Vector3 GetRandomSpawnPos(float spawnHeight)
{
bool foundNewSpawnLocation = false;
Vector3 randomSpawnPos = Vector3.zero;
while (foundNewSpawnLocation == false)
{
float randomPosX = Random.Range(-areaBounds.extents.x * academy.spawnAreaMarginMultiplier,
areaBounds.extents.x * academy.spawnAreaMarginMultiplier);
float randomPosZ = Random.Range(-areaBounds.extents.z * academy.spawnAreaMarginMultiplier,
areaBounds.extents.z * academy.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>
/// Called when the agent moves the block into the goal.
/// </summary>
public void IScoredAGoal()
{
// We use a reward of 5.
AddReward(5f);
// By marking an agent as done AgentReset() will be called automatically.
Done();
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(academy.goalScoredMaterial, 1));
}
/// <summary>
/// Swap ground material, wait time seconds, then swap back to the regular material.
/// </summary>
IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
groundRenderer.material = mat;
yield return new WaitForSeconds(time); // Wait for 2 sec
groundRenderer.material = groundMaterial;
}
/// <summary>
/// Moves the agent according to the selected action.
/// </summary>
public void MoveAgent(float[] act)
{
// AGENT ACTIONS
// Here we define the actions our agent can use, such as
// "go left", "go forward", "turn", etc.
// In the brain we define the number of axes we want to use here.
// In this example we need 2 axes to define:
// Right/left movement (act[0])
// Forward/back movement (act[1])
// Example: Right/Left Movement. It is defined in this line:
// Vector3 directionX = Vector3.right * Mathf.Clamp(act[0], -1f, 1f);
// The neural network is setting the act[0] value.
// If it chooses 1 then the agent will go right.
// If it chooses -1 the agent will go left.
// If it chooses .42 then it will go a little bit right
// If it chooses -.8 then it will go left (well...80% left)
// Energy Conservation Penalties
// Give penalties based on how fast the agent chooses to go.
// The agent should only exert as much energy as necessary.
// This is how animals work as well.
// i.e. You're probably not running in place at all times.
// Larger the value, the less the penalty is.
float energyConservPenaltyModifier = 10000;
// The larger the movement, the greater the penalty given.
AddReward(-Mathf.Abs(act[0]) / energyConservPenaltyModifier);
AddReward(-Mathf.Abs(act[1]) / energyConservPenaltyModifier);
Vector3 directionX = Vector3.zero;
Vector3 directionZ = Vector3.zero;
// Move left or right in world space.
directionX = Vector3.right * Mathf.Clamp(act[0], -1f, 1f);
// Move forward or back in world space.
directionZ = Vector3.forward * Mathf.Clamp(act[1], -1f, 1f);
// Add directions together. This is the direction we want the agent
// to move in.
Vector3 dirToGo = directionX + directionZ;
// Apply movement force!
agentRB.AddForce(dirToGo * academy.agentRunSpeed, ForceMode.VelocityChange);
if (dirToGo != Vector3.zero)
{
// Rotate the agent appropriately.
agentRB.rotation = Quaternion.Lerp(agentRB.rotation,
Quaternion.LookRotation(dirToGo),
Time.deltaTime * academy.agentRotationSpeed);
}
}
/// <summary>
/// Called every step of the engine. Here the agent takes an action.
/// </summary>
public override void AgentAction(float[] vectorAction, string textAction)
{
// Move the agent using the action.
MoveAgent(vectorAction);
// Penalty given each step to encourage agent to finish task quickly.
AddReward(-.00005f);
// Did the agent or block get pushed off the edge?
bool fail = false;
// If the agent has gone over the edge, end the episode.
if (!Physics.Raycast(agentRB.position, Vector3.down, 3))
{
// Fell off bro
fail = true;
// BAD AGENT
SetReward(-1f);
// If we mark an agent as done it will be reset automatically.
// AgentReset() will be called.
Done();
}
// If the block has gone over the edge, end the episode.
if (!Physics.Raycast(blockRB.position, Vector3.down, 3))
{
// Fell off bro
fail = true;
// BAD AGENT
SetReward(-1f);
// If we mark an agent as done it will be reset automatically.
// AgentReset() will be called.
Done();
}
if (fail)
{
// Swap ground material to indicate failure of the episode.
StartCoroutine(GoalScoredSwapGroundMaterial(academy.failMaterial, 1f));
}
}
/// <summary>
/// Resets the block position and velocities.
/// </summary>
void ResetBlock()
{
// Get a random position for the block.
block.transform.position = GetRandomSpawnPos(1.5f);
// Reset block velocity back to zero.
blockRB.velocity = Vector3.zero;
// Reset block angularVelocity back to zero.
blockRB.angularVelocity = Vector3.zero;
}
/// <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 AgentReset()
{
int rotation = Random.Range(0, 4);
float rotationAngle = rotation * 90f;
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
ResetBlock();
transform.position = GetRandomSpawnPos(1.5f);
agentRB.velocity = Vector3.zero;
agentRB.angularVelocity = Vector3.zero;
}
}

53
unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockAcademy.cs


//Every scene needs an academy script.
//Create an empty gameObject and attach this script.
//The brain needs to be a child of the Academy gameObject.
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class PushBlockAcademy : Academy
{
/// <summary>
/// The "walking speed" of the agents in the scene.
/// </summary>
public float agentRunSpeed;
/// <summary>
/// The agent rotation speed.
/// Every agent will use this setting.
/// </summary>
public float agentRotationSpeed;
/// <summary>
/// The spawn area margin multiplier.
/// ex: .9 means 90% of spawn area will be used.
/// .1 margin will be left (so players don't spawn off of the edge).
/// The higher this value, the longer training time required.
/// </summary>
public float spawnAreaMarginMultiplier;
/// <summary>
/// When a goal is scored the ground will switch to this
/// material for a few seconds.
/// </summary>
public Material goalScoredMaterial;
/// <summary>
/// When an agent fails, the ground will turn this material for a few seconds.
/// </summary>
public Material failMaterial;
/// <summary>
/// The gravity multiplier.
/// Use ~3 to make things less floaty
/// </summary>
public float gravityMultiplier;
void State()
{
Physics.gravity *= gravityMultiplier;
}
}

10
unity-environment/Assets/ML-Agents/Examples/PushBlock/TFModels.meta


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dense/Tanhdense_1/kernel/read*
transpose_a(*
transpose_b(*
T0
]
dense_2/BiasAddBiasAdddense_2/MatMuldense_1/bias/read*
T0*
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unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/RandomDecision.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class RandomDecision : MonoBehaviour, Decision
{
BrainParameters brainParameters;
SpaceType actionSpaceType;
int actionSpaceSize;
public void Awake()
{
brainParameters =
gameObject.GetComponent<Brain>().brainParameters;
actionSpaceType = brainParameters.vectorActionSpaceType;
actionSpaceSize = brainParameters.vectorActionSize;
}
public float[] Decide(List<float> state, List<Texture2D> observation,
float reward, bool done, List<float> memory)
{
if (actionSpaceType == SpaceType.continuous)
{
List<float> act = new List<float>();
for (int i = 0; i < actionSpaceSize; i++)
{
act.Add(2*Random.value-1);
}
return act.ToArray();
}
else
{
return new float[1] { Random.Range(0,actionSpaceSize) };
}
}
public List<float> MakeMemory(List<float> state,
List<Texture2D> observation, float reward,
bool done, List<float> memory)
{
return new List<float>();
}
}

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unity-environment/Assets/ML-Agents/Examples/Area.meta


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/unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CameraFollow.cs → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/CameraFollow.cs

/unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CameraFollow.cs.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/CameraFollow.cs.meta

/unity-environment/Assets/ML-Agents/Examples/Reacher/Scripts/FlyCamera.cs → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/FlyCamera.cs

/unity-environment/Assets/ML-Agents/Examples/Reacher/Scripts/FlyCamera.cs.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/FlyCamera.cs.meta

/unity-environment/Assets/ML-Agents/Template.meta → /unity-environment/Assets/ML-Agents/Examples/Template.meta

/unity-environment/Assets/ML-Agents/Template → /unity-environment/Assets/ML-Agents/Examples/Template

/unity-environment/Assets/ML-Agents/Examples/Area/Materials/agent.mat → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/Ground.mat

/unity-environment/Assets/ML-Agents/Examples/Area/Materials/block.mat → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/block.mat

/unity-environment/Assets/ML-Agents/Examples/Area/Materials/goal.mat → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/goal.mat

/unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Area.cs.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/Area.cs.meta

/unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Area.cs → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Scripts/Area.cs

/unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAcademy.cs.meta → /unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockAcademy.cs.meta

/unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAgent.cs.meta → /unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs.meta

/unity-environment/Assets/ML-Agents/Materials/MaterialsBall.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/MaterialsBall.meta

/unity-environment/Assets/ML-Agents/Materials/MaterialsBall → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/MaterialsBall

/unity-environment/Assets/ML-Agents/Materials/MaterialsGrid.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/MaterialsGrid.meta

/unity-environment/Assets/ML-Agents/Materials/MaterialsTennis.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/MaterialsTennis.meta

/unity-environment/Assets/ML-Agents/Materials/MaterialsTennis → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/MaterialsTennis

/unity-environment/Assets/ML-Agents/Materials/UIDefault.mat → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/UIDefault.mat

/unity-environment/Assets/ML-Agents/Materials/UIDefault.mat.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/UIDefault.mat.meta

/unity-environment/Assets/ML-Agents/Materials/ball.mat → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/ball.mat

/unity-environment/Assets/ML-Agents/Materials/ball.mat.meta → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/ball.mat.meta

/unity-environment/Assets/ML-Agents/Materials/MaterialsGrid → /unity-environment/Assets/ML-Agents/Examples/Shared Assets/Materials/MaterialsGrid

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