[environment] Push Block Collaborative (#5090)

* Add pushblock collab * Make SimpleMultiAgentGroup public * Remove GoalDetectTrigger * Remove GDT meta file * Remove some comments * Add training configuration * Rename behavior * Add to docs * Change the reward structure in docs * Add back GoalDetectTrigger Co-authored-by: HH <brandonh@unity3d.com>
4 年前 · d015ef17
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
      - Recommended Minimum: 1
      - Recommended Maximum: 20
  - Benchmark Mean Reward: Depends on the number of tiles.
+
+## Cooperative Push Block
+![CoopPushBlock](images/cooperative_pushblock.png)
+
+- Set-up: Similar to Push Block, the agents are in an area with blocks that need
+to be pushed into a goal. Small blocks can be pushed by one agents and are worth
+1 value, medium blocks require two agents to push in and are worth +2, and large
+blocks require all 3 agents to push and are worth +3.
+- Goal: Push all blocks into the goal.
+- Agents: The environment contains three Agents in a Multi Agent Group.
+- Agent Reward Function:
+  - -0.0001 Existential penalty, as a group reward.
+  - +1, +2, or +3 for pushing in a block, added as a group reward.
+- Behavior Parameters:
+  - Observation space: A single Grid Sensor with separate tags for each block size,
+    the goal, the walls, and other agents.
+  - Actions: 1 discrete action branch with 7 actions, corresponding to turn clockwise
+    and counterclockwise, move along four different face directions, or do nothing.
+- Float Properties: None
+- Benchmark Mean Reward: 11 (Group Reward)
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity.meta
+fileFormatVersion: 2
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetectTrigger.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetectTrigger.cs
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+
+public class GoalDetectTrigger : MonoBehaviour
+{
+
+    [Header("Trigger Collider Tag To Detect")]
+    public string tagToDetect = "goal"; //collider tag to detect
+
+    [Header("Goal Value")]
+    public float GoalValue = 1;
+
+    private Collider m_col;
+    [System.Serializable]
+    public class TriggerEvent : UnityEvent<Collider, float>
+    {
+    }
+
+    [Header("Trigger Callbacks")]
+    public TriggerEvent onTriggerEnterEvent = new TriggerEvent();
+    public TriggerEvent onTriggerStayEvent = new TriggerEvent();
+    public TriggerEvent onTriggerExitEvent = new TriggerEvent();
+
+    private void OnTriggerEnter(Collider col)
+    {
+        if (col.CompareTag(tagToDetect))
+        {
+            onTriggerEnterEvent.Invoke(m_col, GoalValue);
+        }
+    }
+
+    private void OnTriggerStay(Collider col)
+    {
+        if (col.CompareTag(tagToDetect))
+        {
+            onTriggerStayEvent.Invoke(m_col, GoalValue);
+        }
+    }
+
+    private void OnTriggerExit(Collider col)
+    {
+        if (col.CompareTag(tagToDetect))
+        {
+            onTriggerExitEvent.Invoke(m_col, GoalValue);
+        }
+    }
+    // Start is called before the first frame update
+    void Awake()
+    {
+        m_col = GetComponent<Collider>();
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+    }
+}
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetectTrigger.cs.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetectTrigger.cs.meta
+fileFormatVersion: 2
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs
+//Put this script on your blue cube.
+
+using System.Collections;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
+
+public class PushAgentCollab : Agent
+{
+
+    private PushBlockSettings m_PushBlockSettings;
+    private Rigidbody m_AgentRb;  //cached on initialization
+
+    void Awake()
+    {
+        m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
+    }
+
+    public override void Initialize()
+    {
+        // Cache the agent rb
+        m_AgentRb = GetComponent<Rigidbody>();
+    }
+
+    /// <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);
+    }
+
+    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;
+        }
+    }
+}
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs.meta
+fileFormatVersion: 2
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+timeCreated: 1506829537
+licenseType: Pro
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+  assetBundleVariant: 
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents;
+using UnityEngine;
+
+public class PushBlockEnvController : MonoBehaviour
+{
+    [System.Serializable]
+    public class PlayerInfo
+    {
+        public PushAgentCollab Agent;
+        [HideInInspector]
+        public Vector3 StartingPos;
+        [HideInInspector]
+        public Quaternion StartingRot;
+        [HideInInspector]
+        public Rigidbody Rb;
+    }
+
+    [System.Serializable]
+    public class BlockInfo
+    {
+        public Transform T;
+        [HideInInspector]
+        public Vector3 StartingPos;
+        [HideInInspector]
+        public Quaternion StartingRot;
+        [HideInInspector]
+        public Rigidbody Rb;
+    }
+
+    /// <summary>
+    /// Max Academy steps before this platform resets
+    /// </summary>
+    /// <returns></returns>
+    [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
+
+    /// <summary>
+    /// The area bounds.
+    /// </summary>
+    [HideInInspector]
+    public Bounds areaBounds;
+    /// <summary>
+    /// The ground. The bounds are used to spawn the elements.
+    /// </summary>
+    public GameObject ground;
+
+    public GameObject area;
+
+    Material m_GroundMaterial; //cached on Awake()
+
+    /// <summary>
+    /// We will be changing the ground material based on success/failue
+    /// </summary>
+    Renderer m_GroundRenderer;
+
+    //List of Agents On Platform
+    public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
+    //List of Blocks On Platform
+    public List<BlockInfo> BlocksList = new List<BlockInfo>();
+
+    public bool UseRandomAgentRotation = true;
+    public bool UseRandomAgentPosition = true;
+    public bool UseRandomBlockRotation = true;
+    public bool UseRandomBlockPosition = true;
+    private PushBlockSettings m_PushBlockSettings;
+
+    private int m_NumberOfRemainingBlocks;
+
+    private SimpleMultiAgentGroup m_AgentGroup;
+
+    private int m_ResetTimer;
+
+    void Start()
+    {
+
+        // 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_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
+        // Initialize Blocks
+        foreach (var item in BlocksList)
+        {
+            item.StartingPos = item.T.transform.position;
+            item.StartingRot = item.T.transform.rotation;
+            item.Rb = item.T.GetComponent<Rigidbody>();
+        }
+        // Initialize TeamManager
+        m_AgentGroup = new SimpleMultiAgentGroup();
+        foreach (var item in AgentsList)
+        {
+            item.StartingPos = item.Agent.transform.position;
+            item.StartingRot = item.Agent.transform.rotation;
+            item.Rb = item.Agent.GetComponent<Rigidbody>();
+            m_AgentGroup.RegisterAgent(item.Agent);
+        }
+        ResetScene();
+    }
+
+    void FixedUpdate()
+    {
+        m_ResetTimer += 1;
+        if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
+        {
+            m_AgentGroup.GroupEpisodeInterrupted();
+            ResetScene();
+        }
+
+        //Hurry Up Penalty
+        m_AgentGroup.AddGroupReward(-0.5f / MaxEnvironmentSteps);
+    }
+
+    /// <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(1.5f, 0.01f, 1.5f)) == false)
+            {
+                foundNewSpawnLocation = true;
+            }
+        }
+        return randomSpawnPos;
+    }
+
+    /// <summary>
+    /// Resets the block position and velocities.
+    /// </summary>
+    void ResetBlock(BlockInfo block)
+    {
+        // Get a random position for the block.
+        block.T.position = GetRandomSpawnPos();
+
+        // Reset block velocity back to zero.
+        block.Rb.velocity = Vector3.zero;
+
+        // Reset block angularVelocity back to zero.
+        block.Rb.angularVelocity = Vector3.zero;
+    }
+
+    /// <summary>
+    /// Swap ground material, wait time seconds, then swap back to the regular material.
+    /// </summary>
+    IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    {
+        m_GroundRenderer.material = mat;
+        yield return new WaitForSeconds(time); // Wait for 2 sec
+        m_GroundRenderer.material = m_GroundMaterial;
+    }
+
+    /// <summary>
+    /// Called when the agent moves the block into the goal.
+    /// </summary>
+    public void ScoredAGoal(Collider col, float score)
+    {
+        print($"Scored {score} on {gameObject.name}");
+
+        //Decrement the counter
+        m_NumberOfRemainingBlocks--;
+
+        //Are we done?
+        bool done = m_NumberOfRemainingBlocks == 0;
+
+        //Disable the block
+        col.gameObject.SetActive(false);
+
+        //Give Agent Rewards
+        m_AgentGroup.AddGroupReward(score);
+
+        // Swap ground material for a bit to indicate we scored.
+        StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
+
+        if (done)
+        {
+            //Reset assets
+            m_AgentGroup.EndGroupEpisode();
+            ResetScene();
+        }
+    }
+
+    Quaternion GetRandomRot()
+    {
+        return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+    }
+
+    public void ResetScene()
+    {
+        m_ResetTimer = 0;
+
+        //Random platform rotation
+        var rotation = Random.Range(0, 4);
+        var rotationAngle = rotation * 90f;
+        area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
+
+        //Reset Agents
+        foreach (var item in AgentsList)
+        {
+            var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
+            var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
+
+            item.Agent.transform.SetPositionAndRotation(pos, rot);
+            item.Rb.velocity = Vector3.zero;
+            item.Rb.angularVelocity = Vector3.zero;
+        }
+
+        //Reset Blocks
+        foreach (var item in BlocksList)
+        {
+            var pos = UseRandomBlockPosition ? GetRandomSpawnPos() : item.StartingPos;
+            var rot = UseRandomBlockRotation ? GetRandomRot() : item.StartingRot;
+
+            item.T.transform.SetPositionAndRotation(pos, rot);
+            item.Rb.velocity = Vector3.zero;
+            item.Rb.angularVelocity = Vector3.zero;
+            item.T.gameObject.SetActive(true);
+        }
+
+        //Reset counter
+        m_NumberOfRemainingBlocks = BlocksList.Count;
+    }
+}
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs.meta
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx.meta
+fileFormatVersion: 2
+guid: e35859736a42e4342b3272438be93ea9
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
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+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
--- a/config/ppo/PushBlockCollab.yaml
+++ b/config/ppo/PushBlockCollab.yaml
+behaviors:
+  PushBlockCollab:
+    trainer_type: poca
+    hyperparameters:
+      batch_size: 1024
+      buffer_size: 10240
+      learning_rate: 0.0003
+      beta: 0.01
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: constant
+    network_settings:
+      normalize: false
+      hidden_units: 256
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 20000000
+    time_horizon: 64
+    summary_freq: 60000
+    threaded: true