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5 年前
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e7ec5007
共有 10 个文件被更改，包括 312 次插入 和 117 次删除
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53Project/Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
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2com.unity.ml-agents/CHANGELOG.md
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13com.unity.ml-agents/Runtime/Agent.cs
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110Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicController.cs
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69Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicSensorComponent.cs
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3Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicSensorComponent.cs.meta
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56Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs
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11Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs.meta
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112Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs
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0/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicController.cs.meta
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using UnityEngine; |
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using MLAgents; |
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/// <summary>
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/// An example of how to use ML-Agents without inheriting from the Agent class.
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/// Observations are generated by the attached SensorComponent, and the actions
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/// are retrieved from the Agent.
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/// </summary>
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public class BasicController : MonoBehaviour |
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{ |
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public float timeBetweenDecisionsAtInference; |
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float m_TimeSinceDecision; |
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[HideInInspector] |
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public int m_Position; |
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const int k_SmallGoalPosition = 7; |
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const int k_LargeGoalPosition = 17; |
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public GameObject largeGoal; |
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public GameObject smallGoal; |
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const int k_MinPosition = 0; |
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const int k_MaxPosition = 20; |
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public const int k_Extents = k_MaxPosition - k_MinPosition; |
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Agent m_Agent; |
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public void OnEnable() |
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{ |
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m_Agent = GetComponent<Agent>(); |
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ResetAgent(); |
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} |
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/// <summary>
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/// Controls the movement of the GameObject based on the actions received.
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/// </summary>
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/// <param name="vectorAction"></param>
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public void ApplyAction(float[] vectorAction) |
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{ |
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var movement = (int)vectorAction[0]; |
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var direction = 0; |
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switch (movement) |
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{ |
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case 1: |
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direction = -1; |
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break; |
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case 2: |
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direction = 1; |
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break; |
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} |
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m_Position += direction; |
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if (m_Position < k_MinPosition) { m_Position = k_MinPosition; } |
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if (m_Position > k_MaxPosition) { m_Position = k_MaxPosition; } |
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gameObject.transform.position = new Vector3(m_Position - 10f, 0f, 0f); |
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m_Agent.AddReward(-0.01f); |
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if (m_Position == k_SmallGoalPosition) |
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{ |
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m_Agent.AddReward(0.1f); |
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m_Agent.Done(); |
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ResetAgent(); |
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} |
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if (m_Position == k_LargeGoalPosition) |
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{ |
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m_Agent.AddReward(1f); |
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m_Agent.Done(); |
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ResetAgent(); |
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} |
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} |
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public void ResetAgent() |
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{ |
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m_Position = 10; |
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smallGoal.transform.position = new Vector3(k_SmallGoalPosition - 10f, 0f, 0f); |
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largeGoal.transform.position = new Vector3(k_LargeGoalPosition - 10f, 0f, 0f); |
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} |
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public void FixedUpdate() |
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{ |
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WaitTimeInference(); |
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} |
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void WaitTimeInference() |
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{ |
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if (Academy.Instance.IsCommunicatorOn) |
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{ |
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// Apply the previous step's actions
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ApplyAction(m_Agent.GetAction()); |
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m_Agent.RequestDecision(); |
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} |
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else |
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{ |
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if (m_TimeSinceDecision >= timeBetweenDecisionsAtInference) |
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{ |
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// Apply the previous step's actions
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ApplyAction(m_Agent.GetAction()); |
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m_TimeSinceDecision = 0f; |
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m_Agent.RequestDecision(); |
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} |
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else |
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{ |
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m_TimeSinceDecision += Time.fixedDeltaTime; |
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} |
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} |
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} |
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} |
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using System; |
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using MLAgents.Sensors; |
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using UnityEngine.Serialization; |
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namespace MLAgentsExamples |
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{ |
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/// <summary>
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/// A simple example of a SensorComponent.
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/// This should be added to the same GameObject as the BasicController
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/// </summary>
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public class BasicSensorComponent : SensorComponent |
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{ |
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public BasicController basicController; |
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/// <summary>
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/// Creates a BasicSensor.
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/// </summary>
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/// <returns></returns>
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public override ISensor CreateSensor() |
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{ |
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return new BasicSensor(basicController); |
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} |
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/// <inheritdoc/>
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public override int[] GetObservationShape() |
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{ |
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return new[] { BasicController.k_Extents }; |
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} |
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} |
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/// <summary>
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/// Simple Sensor implementation that uses a one-hot encoding of the Agent's
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/// position as the observation.
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/// </summary>
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public class BasicSensor : SensorBase |
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{ |
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public BasicController basicController; |
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public BasicSensor(BasicController controller) |
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{ |
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basicController = controller; |
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} |
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/// <summary>
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/// Generate the observations for the sensor.
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/// In this case, the observations are all 0 except for a 1 at the position of the agent.
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/// </summary>
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/// <param name="output"></param>
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public override void WriteObservation(float[] output) |
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{ |
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// One-hot encoding of the position
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Array.Clear(output, 0, output.Length); |
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output[basicController.m_Position] = 1; |
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} |
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/// <inheritdoc/>
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public override int[] GetObservationShape() |
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{ |
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return new[] { BasicController.k_Extents }; |
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} |
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/// <inheritdoc/>
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public override string GetName() |
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{ |
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return "Basic"; |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 6ee410d6d45349218d5e69bb2a347c63 |
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timeCreated: 1582857786 |
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using MLAgents.Sensors; |
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namespace MLAgentsExamples |
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{ |
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/// <summary>
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/// A simple sensor that provides a number default implementations.
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/// </summary>
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public abstract class SensorBase : ISensor |
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{ |
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/// <summary>
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/// Write the observations to the output buffer. This size of the buffer will be product
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/// of the sizes returned by <see cref="GetObservationShape"/>.
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/// </summary>
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/// <param name="output"></param>
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public abstract void WriteObservation(float[] output); |
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/// <inheritdoc/>
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public abstract int[] GetObservationShape(); |
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/// <inheritdoc/>
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public abstract string GetName(); |
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/// <summary>
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/// Default implementation of Write interface. This creates a temporary array,
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/// calls WriteObservation, and then writes the results to the WriteAdapter.
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/// </summary>
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/// <param name="adapter"></param>
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/// <returns>The number of elements written.</returns>
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public virtual int Write(WriteAdapter adapter) |
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{ |
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// TODO reuse buffer for similar agents, don't call GetObservationShape()
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var numFloats = this.ObservationSize(); |
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float[] buffer = new float[numFloats]; |
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WriteObservation(buffer); |
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adapter.AddRange(buffer); |
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return numFloats; |
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} |
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/// <inheritdoc/>
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public void Update() {} |
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/// <inheritdoc/>
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public virtual byte[] GetCompressedObservation() |
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{ |
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return null; |
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} |
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/// <inheritdoc/>
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public virtual SensorCompressionType GetCompressionType() |
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{ |
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return SensorCompressionType.None; |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 553b05a1b59a94260b3e545f13190389 |
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MonoImporter: |
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externalObjects: {} |
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serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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using UnityEngine; |
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using MLAgents; |
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using MLAgents.Sensors; |
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public class BasicAgent : Agent |
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{ |
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[Header("Specific to Basic")] |
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public float timeBetweenDecisionsAtInference; |
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float m_TimeSinceDecision; |
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int m_Position; |
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int m_SmallGoalPosition; |
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int m_LargeGoalPosition; |
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public GameObject largeGoal; |
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public GameObject smallGoal; |
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int m_MinPosition; |
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int m_MaxPosition; |
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public override void InitializeAgent() |
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{ |
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} |
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public override void CollectObservations(VectorSensor sensor) |
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{ |
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sensor.AddOneHotObservation(m_Position, 20); |
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} |
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public override void AgentAction(float[] vectorAction) |
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{ |
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var movement = (int)vectorAction[0]; |
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var direction = 0; |
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switch (movement) |
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{ |
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case 1: |
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direction = -1; |
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break; |
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case 2: |
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direction = 1; |
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break; |
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} |
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m_Position += direction; |
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if (m_Position < m_MinPosition) { m_Position = m_MinPosition; } |
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if (m_Position > m_MaxPosition) { m_Position = m_MaxPosition; } |
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gameObject.transform.position = new Vector3(m_Position - 10f, 0f, 0f); |
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AddReward(-0.01f); |
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if (m_Position == m_SmallGoalPosition) |
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{ |
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AddReward(0.1f); |
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Done(); |
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} |
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if (m_Position == m_LargeGoalPosition) |
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{ |
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AddReward(1f); |
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Done(); |
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} |
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} |
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public override void AgentReset() |
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{ |
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m_Position = 10; |
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m_MinPosition = 0; |
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m_MaxPosition = 20; |
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m_SmallGoalPosition = 7; |
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m_LargeGoalPosition = 17; |
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smallGoal.transform.position = new Vector3(m_SmallGoalPosition - 10f, 0f, 0f); |
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largeGoal.transform.position = new Vector3(m_LargeGoalPosition - 10f, 0f, 0f); |
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} |
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public override float[] Heuristic() |
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{ |
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if (Input.GetKey(KeyCode.D)) |
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{ |
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return new float[] { 2 }; |
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} |
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if (Input.GetKey(KeyCode.A)) |
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{ |
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return new float[] { 1 }; |
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} |
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return new float[] { 0 }; |
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} |
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public void FixedUpdate() |
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{ |
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WaitTimeInference(); |
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} |
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void WaitTimeInference() |
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{ |
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if (!Academy.Instance.IsCommunicatorOn) |
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{ |
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RequestDecision(); |
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} |
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else |
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{ |
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if (m_TimeSinceDecision >= timeBetweenDecisionsAtInference) |
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{ |
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m_TimeSinceDecision = 0f; |
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RequestDecision(); |
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} |
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else |
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{ |
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m_TimeSinceDecision += Time.fixedDeltaTime; |
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} |
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} |
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} |
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} |
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