update soccer scene

Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab

   m_RayLength: 20
   m_RayLayerMask:
     serializedVersion: 2
-    m_Bits: 1536
+    m_Bits: 1024
   m_ObservationStacks: 3
   rayHitColor: {r: 1, g: 0, b: 0, a: 1}
   rayMissColor: {r: 1, g: 1, b: 1, a: 1}
   m_RayLength: 20
   m_RayLayerMask:
     serializedVersion: 2
-    m_Bits: 1536
+    m_Bits: 1024
   m_ObservationStacks: 3
   rayHitColor: {r: 1, g: 0, b: 0, a: 1}
   rayMissColor: {r: 1, g: 1, b: 1, a: 1}
   m_RayLength: 20
   m_RayLayerMask:
     serializedVersion: 2
-    m_Bits: 1536
+    m_Bits: 1024
   m_ObservationStacks: 3
   rayHitColor: {r: 1, g: 0, b: 0, a: 1}
   rayMissColor: {r: 1, g: 1, b: 1, a: 1}
   m_RayLength: 20
   m_RayLayerMask:
     serializedVersion: 2
-    m_Bits: 1536
+    m_Bits: 1024
   m_ObservationStacks: 3
   rayHitColor: {r: 1, g: 0, b: 0, a: 1}
   rayMissColor: {r: 1, g: 1, b: 1, a: 1}

Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity

       objectReference: {fileID: 0}
     - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       objectReference: {fileID: 0}
     - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       objectReference: {fileID: 0}
     - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       propertyPath: m_RootOrder
       value: 4
       objectReference: {fileID: 0}
+    - target: {fileID: 114387866097048300, guid: 54f3340298537426e96a6cc530e2d5d8,
+        type: 3}
+      propertyPath: m_BehaviorType
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 4540201673231058, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       value: 0
       propertyPath: m_Name
       value: SoccerFieldTwos (8)
       objectReference: {fileID: 0}
+    - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
+      propertyPath: m_IsActive
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       objectReference: {fileID: 0}
     - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       objectReference: {fileID: 0}
     - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x
       objectReference: {fileID: 0}
     - target: {fileID: 114387866097048300, guid: 54f3340298537426e96a6cc530e2d5d8,
         type: 3}
-      propertyPath: m_BehaviorType
-      value: 0
-      objectReference: {fileID: 0}
-    - target: {fileID: 114387866097048300, guid: 54f3340298537426e96a6cc530e2d5d8,
-        type: 3}
       propertyPath: GroupId
       value: 2
       objectReference: {fileID: 0}
       objectReference: {fileID: 0}
     - target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3}
       propertyPath: m_LocalPosition.x

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

         }
         if (c.gameObject.CompareTag("ball"))
         {
-            AddReward(.2f * m_BallTouch);
+            AddReward(.4f * m_BallTouch * m_KickPower);
             var dir = c.contacts[0].point - transform.position;
             dir = dir.normalized;
             c.gameObject.GetComponent<Rigidbody>().AddForce(dir * force);

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccerCollab.cs

     public void tellAgent(int message)
     {
         m_Message[m_Previous] = 0f;
-        //if (team == Team.Purple)
-        //{
-        //    message = Random.Range(0, 2);
-        //}
+        if (team == Team.Purple)
+        {
+            message = 0;//Random.Range(0, 2);
+        }
         m_Message[message] = 1f;
         m_Previous = message;
     }

config/ppo/SoccerTwos.yaml

   SoccerTwos:
     trainer_type: ppo
     hyperparameters:
-      batch_size: 4096
-      buffer_size: 40960
+      batch_size: 2048
+      buffer_size: 20480
       learning_rate: 0.0003
       beta: 0.005
       epsilon: 0.2
           behavior: SoccerTwos
           signal_smoothing: true
           min_lesson_length: 100
-          threshold: 0.001
+          threshold: 0.005
         value: 1.0
       - name: Lesson1
         completion_criteria:
           min_lesson_length: 100
-          threshold: 0.00175
-        value: 0.5
+          threshold: 0.01
+        value: 0.75
       - name: Lesson2
         completion_criteria:
           measure: progress
-          threshold: 0.00225
-        value: 0.1
+          threshold: 0.015
+        value: 0.5
       - name: Lesson3
         completion_criteria:
           measure: progress
-          threshold: 0.003
+          threshold: 0.02
+        value: 0.25
+      - name: Lesson4
+        completion_criteria:
+          measure: progress
+          behavior: SoccerTwos
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.025
-env_settings:
-  num_envs: 1
+#env_settings:
+#  num_envs: 1