Collaborative Hallway

Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab

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Project/Assets/ML-Agents/Examples/Hallway/Scenes/Hallway.unity.meta

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Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs

     public GameObject symbolO;
     public GameObject symbolX;
     public bool useVectorObs;
-    Rigidbody m_AgentRb;
-    Material m_GroundMaterial;
-    Renderer m_GroundRenderer;
-    HallwaySettings m_HallwaySettings;
-    int m_Selection;
+    protected Rigidbody m_AgentRb;
+    protected Material m_GroundMaterial;
+    protected Renderer m_GroundRenderer;
+    protected HallwaySettings m_HallwaySettings;
+    protected int m_Selection;
 
     public override void Initialize()
     {
         }
     }
 
-    IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    protected IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
     {
         m_GroundRenderer.material = mat;
         yield return new WaitForSeconds(time);

Project/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayCollab.unity.meta

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Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs

+using System.Collections;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Sensors;
+
+public class HallwayCollabAgent : HallwayAgent
+{
+    public HallwayCollabAgent teammate;
+    public bool isSpotter = true;
+    int m_Message = 0;
+    public override void OnEpisodeBegin()
+    {
+        // Set initial message to random to avoid initialization issues
+        m_Message = Random.Range(0, 2);
+
+        var agentOffset = 15f;
+        if (isSpotter)
+        {
+            agentOffset = -15f;
+        }
+
+        transform.position = new Vector3(0f + Random.Range(-3f, 3f),
+            1f, agentOffset + Random.Range(-5f, 5f))
+            + ground.transform.position;
+        transform.rotation = Quaternion.Euler(0f, Random.Range(0f, 360f), 0f);
+        m_AgentRb.velocity *= 0f;
+        if (isSpotter)
+        {
+            var blockOffset = 0f;
+            m_Selection = Random.Range(0, 2);
+            if (m_Selection == 0)
+            {
+                symbolO.transform.position =
+                    new Vector3(0f + Random.Range(-3f, 3f), 2f, blockOffset + Random.Range(-5f, 5f))
+                    + ground.transform.position;
+                symbolX.transform.position =
+                    new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+                    + ground.transform.position;
+            }
+            else
+            {
+                symbolO.transform.position =
+                    new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+                    + ground.transform.position;
+                symbolX.transform.position =
+                    new Vector3(0f, 2f, blockOffset + Random.Range(-5f, 5f))
+                    + ground.transform.position;
+            }
+
+            var goalPos = Random.Range(0, 2);
+            if (goalPos == 0)
+            {
+                symbolOGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
+                symbolXGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
+            }
+            else
+            {
+                symbolXGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
+                symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
+            }
+        }
+    }
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        if (useVectorObs)
+        {
+            sensor.AddObservation(StepCount / (float)MaxStep);
+        }
+        sensor.AddObservation(m_Message);
+    }
+
+    public void tellAgent(int message)
+    {
+        m_Message = message;
+    }
+
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+    {
+        AddReward(-1f / MaxStep);
+        MoveAgent(actionBuffers.DiscreteActions);
+        int comm_act = actionBuffers.DiscreteActions[1];
+        teammate.tellAgent(comm_act);
+    }
+
+    void OnCollisionEnter(Collision col)
+    {
+        if (col.gameObject.CompareTag("symbol_O_Goal") || col.gameObject.CompareTag("symbol_X_Goal"))
+        {
+            if ((m_Selection == 0 && col.gameObject.CompareTag("symbol_O_Goal")) ||
+                (m_Selection == 1 && col.gameObject.CompareTag("symbol_X_Goal")))
+            {
+                SetReward(1f);
+                teammate.SetReward(1f);
+                StartCoroutine(GoalScoredSwapGroundMaterial(m_HallwaySettings.goalScoredMaterial, 0.5f));
+            }
+            else
+            {
+                SetReward(-0.1f);
+                teammate.SetReward(-0.1f);
+                StartCoroutine(GoalScoredSwapGroundMaterial(m_HallwaySettings.failMaterial, 0.5f));
+            }
+            EndEpisode();
+            teammate.EndEpisode();
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs.meta

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