* Revamps agent code for walker and crawler environments to use shared JointDriveController system.
* Crawler has been reworked to be very cute.
* Crawler & Walker environments have been reworked to be visually consistent.
* Added Dynamic Crawler scene.
* All scenes re-trained and new models added.
* Documentation changes.
* [WIP] Side Channel initial layout
* Working prototype for raw bytes
* fixing format mistake
* Added some errors and some unit tests in C#
* Added the side channel for the Engine Configuration. (#2958)
* Added the side channel for the Engine Configuration.
Note that this change does not require modifying a lot of files :
- Adding a sender in Python
- Adding a receiver in C#
- subscribe the receiver to the communicator (here is a one liner in the Academy)
- Add the side channel to the Python UnityEnvironment (not represented here)
Adding the side channel to the environment would look like such :
```python
from mlagents.envs.environment import UnityEnvironment
from mlagents.envs.side_channel.raw_bytes_channel import RawBytesChannel
from mlagents.envs.side_channel.engine_configuration_channel import EngineConfigurationChannel
channel0 = RawBytesChannel()
channel1 = EngineConfigurationChanne...
* Add the VectorSensor to the CollectObservation call
* Example of API change for BalanceBall
* Modified the Examples
* Changes to the migrating doc
* Editing the docs
* Update docs/Learning-Environment-Design-Agents.md
Co-Authored-By: Chris Elion <chris.elion@unity3d.com>
* Update docs/Migrating.md
Co-Authored-By: Chris Elion <chris.elion@unity3d.com>
* Update docs/Migrating.md
Co-Authored-By: Chris Elion <chris.elion@unity3d.com>
* Update docs/Getting-Started-with-Balance-Ball.md
Co-Authored-By: Chris Elion <chris.elion@unity3d.com>
* addressing comments
* Removed the MLAgents.Sensor namespace
* Removing the MLAgents.Sensor namespace from the tests
* Editing the migrating docs
Co-authored-by: Chris Elion <celion@gmail.com>
* Added the MLAgents.Demonstrations namespace
* Added the MLAgents.Editor namespace
* Overrided the .demo.meta files due to the change in namespace
* More namespace changes
* Added the sidechannels namespace
* Modified changelog and migrating docs
* [skip ci] Renamed methods in the Agent class
WARNING, the user when implementing obsolete methods will see the message :Member `old method` overrides obsolete member `old method`. Add the Obsolete attribute to `old method`. It will not suggest the new method to override.
* [skip ci] Updated the example environment
* [skip ci] Updated migrating and changelog
* [skip ci] Editing the docs
* [skip ci] Missing docs
* :+1
* Update docs/Getting-Started-with-Balance-Ball.md
Co-Authored-By: Chris Elion <chris.elion@unity3d.com>
* Update docs/Learning-Environment-Create-New.md
Co-Authored-By: Chris Elion <chris.elion@unity3d.com>
* Update docs/Learning-Environment-Create-New.md
Co-Authored-By: Chris Elion <chris.elion@unity3d.com>
* [skip ci] documentation changes
* [skip ci] Update docs/Getting-Started-with-Balance-Ball.md
* [skip ci] Update docs/Getting-Started-with-Balance-Ball.md
* [skip ci] Update docs/Gett...
* Deprecating Academy.Instance.FloatProperties
* Made the registered side channels a static property and created the sideChannelUtils class to handle side channel stuff
* Clearing the sending message queue in the Academy when the communicaor is not on
* addressing comments
* Make EnvironmentParameters a first-class citizen in the API
Missing: Python conterparts and testing.
* Minor comment fix to Engine Parameters
* A second minor fix.
* Make EngineConfigChannel Internal and add a singleton/sealed accessor
* Make StatsSideChannel Internal and add a singleton/sealed accessor
* Changes to SideChannelUtils
- Disallow two sidechannels of the same type to be added
- Remove GetSideChannels that return a list as that is now unnecessary
- Make most methods except (register/unregister) internal to limit users impacting the “system-level” side channels
- Add an improved comment to SideChannel.cs
* Added Dispose methods to system-level sidechannel wrappers
- Specifically to StatsRecorder, EnvironmentParameters and EngineParameters.
- Updated Academy.Dispose to take advantage of these.
- Updated Editor tests to cover all three “system-level” side channels.
Kudos to Unit Tests (TestAcade...
* about to implement orientation cube
* oCube spawining works. ready to train
* working. about to try com
* ready for training
* add random rot on episode start
* feet now alternate but runs backwards
* still running with right leg in front
* increased joint strength to 40k
* removed texture example
* reduced maxAngVel, enabled enhanced determinism, cont spec
* rebuilt walker ragdoll to scale 1
* rebuilt ragdoll ready
* update walker pair prefab
* fixed bp heirarchy
* added trained model, renamed scene, usecollisioncallbacks
* updated dynamic platforms
* added dynamic walker tf file. max speed 5
* DynamicWalker working. has working nn file
* collect local rotations
* added new dynamic nn file
* hip facing reward
* Create WalkerDynamic.yaml
* fix hip rotation
* about to clean up code
* added dirIndicator and orentCubeGizmo
* clean up
* clea...
* about to implement orientation cube
* oCube spawining works. ready to train
* working. about to try com
* ready for training
* add random rot on episode start
* feet now alternate but runs backwards
* still running with right leg in front
* increased joint strength to 40k
* removed texture example
* reduced maxAngVel, enabled enhanced determinism, cont spec
* rebuilt walker ragdoll to scale 1
* rebuilt ragdoll ready
* update walker pair prefab
* fixed bp heirarchy
* added trained model, renamed scene, usecollisioncallbacks
* updated dynamic platforms
* added dynamic walker tf file. max speed 5
* DynamicWalker working. has working nn file
* collect local rotations
* added new dynamic nn file
* hip facing reward
* Create WalkerDynamic.yaml
* fix hip rotation
* about to clean up code
* added dirIndicator and orentCubeGizmo
* clean up
* cleanup
* up...
* Update Dockerfile
* Separate send environment data from reset (#4128)
* Fixed a typo on ML-Agents-Overview.md (#4130)
Fixed redundant "to" word from the sentence since it is probably a typo in document.
* Updated the badge’s link to point to the newest doc version
* Replaced all of the doc to release_3_doc
* Fix 3DBall and 3DBallHard SAC regressions (#4132)
* Move memory validation to settings
* Update docs
* Add settings test
* Update to release_3 in installation.md (#4144)
* rename to SideChannelManager +backcompat (#4137)
* Remove comment about logo with --help (#4148)
* [bugfix] Make FoodCollector heuristic playable (#4147)
* Make FoodCollector heuristic playable
* Update changelog
* script to check for old release links and references (#4153)
* Remove package validation suite from Project (#4146)
* RayPerceptionSensor: handle empty and invalid tags (#4155...
* added Target and OCube controllers. updated crawler envs
* update walker prefab
* add refs to prefab
* Update Crawler.prefab
* update platform, ragdoll, ocube prefabs
* reformat file
* reformat files
* fix behavior name
* add final retrained crawler and walker nn files
* collect hip ocube rot in world space
* update crawler observations and update prefabs
* change to 20M steps
* update crwl prefab to 142 observ
* update obsvs to 241. add expvel reward
* change walkspeed to 3
* add new crawler and walker nn files
* adjust rewards
* enable other pairs
* add RewardManager
* cleanup about to do final training
* cleanup add nn files for increased facing rew reduced height rew
* try no facing rew
* add vel only policy, try dy target
* inc torq on cube
* added dynamic cube nn. gonna try 40M steps
* add 40M step test, more cleanup
* ch...
* init
* Add reward manager and hurryUpReward
* fix hurry reward/ add awful first training
* Turn off head height and hurry rew
* changed max speed to 15. added small hh rew
* add NaN check for reward manager. start vel penalty
* add bpVel pen
* add new BPVelPen nn file
* remove outdated nn file
* add randomize speed bool
* try rewad product
* change coeff to 1
* try avg vel of all bp for reward
* move outside loop
* try linear inverselerp for vel
* add avg rew matchspeed15 nn file. looks much better
* save scene
* no hand penalty, random walk speed
* fix inverse lerp
* try new reward falloff
* cleanup
* added new nn file. don't allow hand contact
* update obsv
* remove hh rew. add trained no-hh model
* add new nn file
* new curve
* add new models. try no reset
* add hh rew
* clamp hh
* zero rewards if ground contact
* switch to approved with movi...
Initial commit
second commit. The no-extrinsic was trained without the log reward (reward = prob) while the new one is (reward = log_prob - log_prior)
A few results, it looks like Walker-diverse-r05-bigger.onnx is doing something
Modified pushblock
using next state and action. Did not help
Fixing bug that had 9 diversity settings instead of 8
removing results
GitHub
Arthur Juliani
Ervin T
Anupam Bhatnagar
Chris Elion
Jonathan Harper
Ervin Teng
Andrew Cohen
Hunter-Unity
vincentpierre
HH
Ruo-Ping Dong
Christopher Goy
Scott Jordan
Miguel Alonso Jr