added more variants

4 年前 · d02c90f6
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockHard.prefab
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockHard.prefab
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockGridSensor.unity
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockGridSensor.unity
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--- a/Project/ProjectSettings/TagManager.asset
+++ b/Project/ProjectSettings/TagManager.asset
  - purpleAgent
  - purpleGoal
  - hazard
+  - direction
  layers:
  - Default
  - TransparentFX
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
            m_perceptionTexture2D.SetPixels(m_PerceptionColors);
        }

+        public float overlapBoxScale = .5f;
        /// <summary>
        /// Perceive - Clears the buffers, calls overlap box on the actual cell (the actual perception part)
        /// for all found colliders, LoadObjectData is called
                Collider[] foundColliders = null;
                Vector3 cellCenter = Vector3.zero;

-                Vector3 halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
+                Vector3 halfCellScale = Vector3.one * overlapBoxScale;
+                //                Vector3 halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);

                for (int cellIndex = 0; cellIndex < NumCells; cellIndex++)
                {
--- a/config/ppo/PushBlock.yaml
+++ b/config/ppo/PushBlock.yaml
      extrinsic:
        gamma: 0.99
        strength: 1.0
+      curiosity:
+        strength: 0.02
+        gamma: 0.99
+        encoding_size: 256
    keep_checkpoints: 5
    max_steps: 2000000
    time_horizon: 64
--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock2Grids.nn
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock2Grids.nn
--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock2Grids.nn.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock2Grids.nn.meta
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboStaticGrid.nn
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboStaticGrid.nn
--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboStaticGrid.nn.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockComboStaticGrid.nn.meta
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockGridOnlyLatest.nn
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockGridOnlyLatest.nn
--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockGridOnlyLatest.nn.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockGridOnlyLatest.nn.meta
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--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs
+//Standardized movement controller for the Agent Cube
+using UnityEngine;
+
+namespace MLAgents
+{
+    public class AgentCubeMovement : MonoBehaviour
+    {
+        [Header("RUNNING")] public ForceMode runningForceMode = ForceMode.Impulse;
+        //speed agent can run if grounded
+        public float agentRunSpeed = 20;
+        //speed agent can run if not grounded
+        public float agentRunInAirSpeed = 10f;
+
+        [Header("IDLE")]
+        //coefficient used to dampen velocity when idle
+        //the purpose of this is to fine tune agent drag
+        //...and prevent the agent sliding around while grounded
+        //0 means it will instantly stop when grounded
+        //1 means no drag will be applied
+        public float agentIdleDragVelCoeff = .85f;
+
+        [Header("BODY ROTATION")]
+        //body rotation speed
+        public float agentRotationSpeed = 7f;
+
+        [Header("JUMPING")]
+        //upward jump velocity magnitude 
+        public float agentJumpVelocity = 15f;
+
+        [Header("FALLING FORCE")]
+        //force applied to agent while falling
+        public float agentFallingSpeed = 50f;
+
+        public void Jump(Rigidbody rb)
+        {
+            Vector3 velToUse = rb.velocity;
+            velToUse.y = agentJumpVelocity;
+            rb.velocity = velToUse;
+        }
+
+        public void RotateBody(Rigidbody rb, Vector3 rotationAxis)
+        {
+            rb.MoveRotation(rb.rotation * Quaternion.AngleAxis(agentRotationSpeed, rotationAxis));
+        }
+
+        public void RunOnGround(Rigidbody rb, Vector3 dir)
+        {
+            var vel = rb.velocity.magnitude;
+            float adjustedSpeed = Mathf.Clamp(agentRunSpeed - vel, 0, agentRunSpeed);
+            rb.AddForce(dir.normalized * adjustedSpeed,
+                runningForceMode);
+        }
+
+        public void RunInAir(Rigidbody rb, Vector3 dir)
+        {
+            var vel = rb.velocity.magnitude;
+            float adjustedSpeed = Mathf.Clamp(agentRunInAirSpeed - vel, 0, agentRunInAirSpeed);
+            rb.AddForce(dir.normalized * adjustedSpeed,
+                runningForceMode);
+        }
+
+        public void AddIdleDrag(Rigidbody rb)
+        {
+            rb.velocity *= agentIdleDragVelCoeff;
+        }
+
+        public void AddFallingForce(Rigidbody rb)
+        {
+            rb.AddForce(
+                Vector3.down * agentFallingSpeed, ForceMode.Acceleration);
+        }
+    }
+
+}
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs.meta
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