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unity-tech-cn:/develop-generalizationTraining-TrainerController
unity-tech-cn:/tag-0.2.0
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拉取从: unity-tech-cn:develop/cubewars/splashdamage
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unity-tech-cn:/develop/memorydump
unity-tech-cn:/develop/permutepytorch
unity-tech-cn:/develop/sac-targetq
unity-tech-cn:/develop/actions-out
unity-tech-cn:/develop/reshapeonnxmemories
unity-tech-cn:/develop/crawlergail
unity-tech-cn:/develop/debugtorchfood
unity-tech-cn:/develop/hybrid-actions
unity-tech-cn:/develop/bullet-hell
unity-tech-cn:/develop/action-spec-gym
unity-tech-cn:/develop/battlefoodcollector
unity-tech-cn:/develop/use-action-buffers
unity-tech-cn:/develop/hardswish
unity-tech-cn:/develop/leakyrelu
unity-tech-cn:/develop/torch-clip-scale
unity-tech-cn:/develop/contentropy
unity-tech-cn:/develop/manch
unity-tech-cn:/develop/torchcrawlerdebug
unity-tech-cn:/develop/fix-nan
unity-tech-cn:/develop/multitype-buffer
unity-tech-cn:/develop/windows-delay
unity-tech-cn:/develop/torch-tanh
unity-tech-cn:/develop/gail-norm
unity-tech-cn:/develop/multiprocess
unity-tech-cn:/develop/unified-obs
unity-tech-cn:/develop/rm-rf-new-models
unity-tech-cn:/develop/skipcritic
unity-tech-cn:/develop/centralizedcritic
unity-tech-cn:/develop/dodgeball-tests
unity-tech-cn:/develop/cc-teammanager
unity-tech-cn:/develop/weight-decay
unity-tech-cn:/develop/singular-embeddings
unity-tech-cn:/develop/zombieteammanager
unity-tech-cn:/develop/superpush
unity-tech-cn:/develop/teammanager
unity-tech-cn:/develop/zombie-exp
unity-tech-cn:/develop/update-readme
unity-tech-cn:/develop/readme-fix
unity-tech-cn:/develop/coma-noact
unity-tech-cn:/develop/coma-withq
unity-tech-cn:/develop/coma2
unity-tech-cn:/develop/action-slice
unity-tech-cn:/develop/gru
unity-tech-cn:/develop/critic-op-lstm-currentmem
unity-tech-cn:/develop/decaygail
unity-tech-cn:/develop/gail-srl-hack
unity-tech-cn:/develop/rear-pad
unity-tech-cn:/develop/mm-copyright-dates
unity-tech-cn:/develop/dodgeball-raycasts
unity-tech-cn:/develop/collab-envs-exp-ervin
unity-tech-cn:/develop/pushcollabonly
unity-tech-cn:/develop/sample-curation
unity-tech-cn:/develop/soccer-groupman
unity-tech-cn:/develop/input-actuator-tanks
unity-tech-cn:/develop/validate-release-fix
unity-tech-cn:/develop/new-console-log
unity-tech-cn:/develop/lex-walker-model
unity-tech-cn:/develop/lstm-burnin
unity-tech-cn:/develop/grid-vaiable-names
unity-tech-cn:/develop/fix-attn-embedding
unity-tech-cn:/develop/api-documentation-update-some-fixes
unity-tech-cn:/develop/update-grpc
unity-tech-cn:/develop/grid-rootref-debug
unity-tech-cn:/develop/pbcollab-rays
unity-tech-cn:/develop/2.0-verified-pre
unity-tech-cn:/develop/parameterizedenvs
unity-tech-cn:/develop/custom-ray-sensor
unity-tech-cn:/develop/mm-add-v2blog
unity-tech-cn:/develop/custom-raycast
unity-tech-cn:/develop/area-manager
unity-tech-cn:/develop/remove-unecessary-lr
unity-tech-cn:/develop/use-base-env-in-learn
unity-tech-cn:/soccer-fives/multiagent
unity-tech-cn:/develop/cubewars/splashdamage
unity-tech-cn:/develop/add-fire/exp
unity-tech-cn:/develop/add-fire/jit
unity-tech-cn:/develop/add-fire/speedtest
unity-tech-cn:/develop/add-fire/bc
unity-tech-cn:/develop/add-fire/ckpt-2
unity-tech-cn:/develop/add-fire/normalize-context
unity-tech-cn:/develop/add-fire/components-dir
unity-tech-cn:/develop/add-fire/halfentropy
unity-tech-cn:/develop/add-fire/memoryclass
unity-tech-cn:/develop/add-fire/categoricaldist
unity-tech-cn:/develop/add-fire/mm
unity-tech-cn:/develop/add-fire/sac-lst
unity-tech-cn:/develop/add-fire/mm3
unity-tech-cn:/develop/add-fire/continuous
unity-tech-cn:/develop/add-fire/ghost
unity-tech-cn:/develop/add-fire/policy-tests
unity-tech-cn:/develop/add-fire/export-discrete
unity-tech-cn:/develop/add-fire/test-simple-rl-fix-resnet
unity-tech-cn:/develop/add-fire/remove-currdoc
unity-tech-cn:/develop/add-fire/clean2
unity-tech-cn:/develop/add-fire/doc-cleanups
unity-tech-cn:/develop/add-fire/changelog
unity-tech-cn:/develop/add-fire/mm2
unity-tech-cn:/develop/model-transfer/add-physics
unity-tech-cn:/develop/model-transfer/train
unity-tech-cn:/develop/jit/experiments
unity-tech-cn:/exp-vince/sep30-2020
unity-tech-cn:/hh-develop-gridsensor-tests/static
unity-tech-cn:/develop/hybrid-actions/distlist
unity-tech-cn:/develop/bullet-hell/buffer
unity-tech-cn:/goal-conditioning/new
unity-tech-cn:/goal-conditioning/sensors-2
unity-tech-cn:/goal-conditioning/sensors-3-pytest-fix
unity-tech-cn:/goal-conditioning/grid-world
unity-tech-cn:/soccer-comms/disc
unity-tech-cn:/develop/centralizedcritic/counterfact
unity-tech-cn:/develop/centralizedcritic/mm
unity-tech-cn:/develop/centralizedcritic/nonego
unity-tech-cn:/develop/zombieteammanager/disableagent
unity-tech-cn:/develop/zombieteammanager/killfirst
unity-tech-cn:/develop/superpush/int
unity-tech-cn:/develop/superpush/branch-cleanup
unity-tech-cn:/develop/teammanager/int
unity-tech-cn:/develop/teammanager/cubewar-nocycle
unity-tech-cn:/develop/teammanager/cubewars
unity-tech-cn:/develop/superpush/int/hunter
unity-tech-cn:/goal-conditioning/new/allo-crawler
unity-tech-cn:/develop/coma2/clip
unity-tech-cn:/develop/coma2/singlenetwork
unity-tech-cn:/develop/coma2/samenet
unity-tech-cn:/develop/coma2/fixgroup
unity-tech-cn:/develop/coma2/samenet/sum
unity-tech-cn:/hh-develop-dodgeball/goy-input
unity-tech-cn:/develop/soccer-groupman/mod
unity-tech-cn:/develop/soccer-groupman/mod/hunter
unity-tech-cn:/develop/soccer-groupman/mod/hunter/cine
unity-tech-cn:/ai-hw-2021/tensor-applier
此合并请求有变更与目标分支冲突。
/protobuf-definitions/proto/mlagents_envs/communicator_objects/agent_info.proto
/config/ppo/PushBlock.yaml
/Project/Packages/manifest.json
/Project/ProjectSettings/TagManager.asset
/Project/ProjectSettings/GraphicsSettings.asset
/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
/Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
/Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity
/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs
/com.unity.ml-agents/Runtime/Agent.cs
/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/AgentInfo.cs
/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
/ml-agents-envs/mlagents_envs/rpc_utils.py
/ml-agents-envs/mlagents_envs/communicator_objects/agent_info_pb2.py
/ml-agents-envs/mlagents_envs/communicator_objects/agent_info_pb2.pyi
/ml-agents-envs/mlagents_envs/base_env.py
/ml-agents/mlagents/trainers/ghost/trainer.py
/ml-agents/mlagents/trainers/optimizer/torch_optimizer.py
/ml-agents/mlagents/trainers/agent_processor.py
/ml-agents/mlagents/trainers/behavior_id_utils.py
/ml-agents/mlagents/trainers/policy/torch_policy.py
/ml-agents/mlagents/trainers/ppo/optimizer_torch.py
/ml-agents/mlagents/trainers/ppo/trainer.py
/ml-agents/mlagents/trainers/tests/test_buffer.py
/ml-agents/mlagents/trainers/buffer.py
/ml-agents/mlagents/trainers/torch/layers.py
/ml-agents/mlagents/trainers/torch/attention.py
/ml-agents/mlagents/trainers/torch/components/bc/module.py
/ml-agents/mlagents/trainers/torch/utils.py
/ml-agents/mlagents/trainers/torch/networks.py
/ml-agents/mlagents/trainers/torch/encoders.py
/ml-agents/mlagents/trainers/trajectory.py
/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetectTrigger.cs
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs.meta
/Project/Assets/ML-Agents/Examples/CubeWars/Meshes/ArenaWalls.fbx
/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs.meta
/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs
/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx.meta
60 次代码提交
共有 171 个文件被更改,包括 16362 次插入 和 171 次删除
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42com.unity.ml-agents/Runtime/Agent.cs
-
5com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs
-
39com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/AgentInfo.cs
-
1com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
-
18ml-agents-envs/mlagents_envs/base_env.py
-
11ml-agents-envs/mlagents_envs/communicator_objects/agent_info_pb2.py
-
7ml-agents-envs/mlagents_envs/communicator_objects/agent_info_pb2.pyi
-
29ml-agents-envs/mlagents_envs/rpc_utils.py
-
35ml-agents/mlagents/trainers/behavior_id_utils.py
-
5ml-agents/mlagents/trainers/policy/torch_policy.py
-
29ml-agents/mlagents/trainers/tests/test_buffer.py
-
71ml-agents/mlagents/trainers/buffer.py
-
30ml-agents/mlagents/trainers/optimizer/torch_optimizer.py
-
7ml-agents/mlagents/trainers/ppo/trainer.py
-
9ml-agents/mlagents/trainers/ppo/optimizer_torch.py
-
14ml-agents/mlagents/trainers/ghost/trainer.py
-
69ml-agents/mlagents/trainers/agent_processor.py
-
12ml-agents/mlagents/trainers/torch/utils.py
-
2ml-agents/mlagents/trainers/torch/components/bc/module.py
-
25ml-agents/mlagents/trainers/torch/encoders.py
-
17ml-agents/mlagents/trainers/torch/layers.py
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8ml-agents/mlagents/trainers/torch/attention.py
-
177ml-agents/mlagents/trainers/torch/networks.py
-
75ml-agents/mlagents/trainers/trajectory.py
-
1protobuf-definitions/proto/mlagents_envs/communicator_objects/agent_info.proto
-
2config/ppo/PushBlock.yaml
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1Project/ProjectSettings/GraphicsSettings.asset
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2Project/ProjectSettings/UnityConnectSettings.asset
-
11Project/ProjectSettings/TagManager.asset
-
1Project/Packages/manifest.json
-
13Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
-
8Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
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146Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity
-
22Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
-
2Project/Assets/ML-Agents/Examples/Hallway/Scenes/Hallway.unity.meta
-
932Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
-
22Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
-
3com.unity.ml-agents.extensions/Runtime/Teams.meta
-
14com.unity.ml-agents/Runtime/ITeamManager.cs
-
3com.unity.ml-agents/Runtime/ITeamManager.cs.meta
-
63config/ppo/WallJumpCollab.yaml
-
26config/ppo/HallwayCollab.yaml
-
28config/ppo/PushBlockZombie.yaml
-
65config/ppo/CubeWars.yaml
-
50Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallAreaScoring.cs
-
11Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallAreaScoring.cs.meta
-
11Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpCollabAgent.cs.meta
-
67Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpCollabAgent.cs
-
7Project/Assets/ML-Agents/Examples/WallJump/Scenes/WallJumpCollab.unity.meta
-
1001Project/Assets/ML-Agents/Examples/WallJump/Scenes/WallJumpCollab.unity
-
7Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpCollabArea.prefab.meta
-
1001Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpCollabArea.prefab
-
11Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs.meta
-
143Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
-
7Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabArea.prefab.meta
-
1001Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabArea.prefab
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7Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockCollabArea.prefab.meta
-
1001Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockCollabArea.prefab
-
1001Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
-
14Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx.meta
-
1001Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCC.onnx
-
14Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCC.onnx.meta
-
1001Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockMaster.onnx
-
14Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockMaster.onnx.meta
-
9Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity.meta
-
969Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity
-
997Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity
-
9Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity.meta
-
1001Project/Assets/ML-Agents/Examples/PushBlock/Scenes/1ZombieVs2AgentsPushBlock.unity
-
1001Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlock.unity
-
9Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlock.unity.meta
-
9Project/Assets/ML-Agents/Examples/PushBlock/Scenes/1ZombieVs2AgentsPushBlock.unity.meta
-
12Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs.meta
-
11Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs.meta
-
60Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetectTrigger.cs
-
11Project/Assets/ML-Agents/Examples/PushBlock/Scripts/GoalDetectTrigger.cs.meta
-
241Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs
-
116Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs
-
289Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs
-
11Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs.meta
-
45Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs
-
11Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs.meta
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11Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs.meta
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15Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockTeamManager.cs
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11Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockTeamManager.cs.meta
-
321Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs
-
7Project/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayCollab.unity.meta
-
1001Project/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayCollab.unity
-
566Project/Assets/ML-Agents/Examples/Hallway/TFModels/HallwayCollab.onnx
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15Project/Assets/ML-Agents/Examples/Hallway/TFModels/HallwayCollab.onnx.meta
-
11Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs.meta
-
11Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayTeamManager.cs.meta
-
204Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs
-
24Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayTeamManager.cs
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8Project/Assets/ML-Agents/Examples/CubeWars.meta
-
3com.unity.ml-agents.extensions/Runtime/Teams/BaseTeamManager.cs.meta
-
34com.unity.ml-agents.extensions/Runtime/Teams/BaseTeamManager.cs
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8Project/Assets/ML-Agents/Examples/CubeWars/Materials.meta
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fileFormatVersion: 2 |
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guid: 71d1487c63f604ff6985cc2f23c7afbf |
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externalObjects: {} |
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userData: |
932
Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
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fileFormatVersion: 2 |
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guid: 77124df6c18c4f669052016b3116147e |
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timeCreated: 1610064454 |
|
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using System.Collections.Generic; |
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using Unity.MLAgents.Sensors; |
|||
|
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namespace Unity.MLAgents |
|||
{ |
|||
public interface ITeamManager |
|||
{ |
|||
string GetId(); |
|||
|
|||
void RegisterAgent(Agent agent); |
|||
// TODO not sure this is all the info we need, maybe pass a class/struct instead.
|
|||
void OnAgentDone(Agent agent, Agent.DoneReason doneReason, List<ISensor> sensors); |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 75810d91665e4477977eb78c9b15aeb3 |
|||
timeCreated: 1610057818 |
|
|||
behaviors: |
|||
SmallWallJump: |
|||
trainer_type: ppo |
|||
hyperparameters: |
|||
batch_size: 128 |
|||
buffer_size: 2048 |
|||
learning_rate: 0.0003 |
|||
beta: 0.005 |
|||
epsilon: 0.2 |
|||
lambd: 0.95 |
|||
num_epoch: 3 |
|||
learning_rate_schedule: linear |
|||
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: 15000000 |
|||
time_horizon: 128 |
|||
summary_freq: 20000 |
|||
threaded: true |
|||
environment_parameters: |
|||
big_wall_height: |
|||
curriculum: |
|||
- name: Lesson0 |
|||
completion_criteria: |
|||
measure: progress |
|||
behavior: SmallWallJump |
|||
signal_smoothing: true |
|||
min_lesson_length: 100 |
|||
threshold: 0.1 |
|||
value: 3 |
|||
- name: Lesson1 |
|||
completion_criteria: |
|||
measure: progress |
|||
behavior: SmallWallJump |
|||
signal_smoothing: true |
|||
min_lesson_length: 100 |
|||
threshold: 0.3 |
|||
value: 5 |
|||
- name: Lesson2 |
|||
completion_criteria: |
|||
measure: progress |
|||
behavior: SmallWallJump |
|||
signal_smoothing: true |
|||
min_lesson_length: 100 |
|||
threshold: 0.5 |
|||
value: 8 |
|||
- name: Lesson3 |
|||
completion_criteria: |
|||
measure: progress |
|||
behavior: SmallWallJump |
|||
signal_smoothing: true |
|||
min_lesson_length: 100 |
|||
threshold: 0.7 |
|||
value: 9 |
|||
- name: Lesson4 |
|||
value: 9 |
|
|||
behaviors: |
|||
HallwayCollab: |
|||
trainer_type: ppo |
|||
hyperparameters: |
|||
batch_size: 128 |
|||
buffer_size: 1024 |
|||
learning_rate: 0.0003 |
|||
beta: 0.01 |
|||
epsilon: 0.2 |
|||
lambd: 0.95 |
|||
num_epoch: 3 |
|||
learning_rate_schedule: linear |
|||
network_settings: |
|||
normalize: false |
|||
hidden_units: 128 |
|||
num_layers: 2 |
|||
vis_encode_type: simple |
|||
reward_signals: |
|||
extrinsic: |
|||
gamma: 0.99 |
|||
strength: 1.0 |
|||
keep_checkpoints: 5 |
|||
max_steps: 10000000 |
|||
time_horizon: 64 |
|||
summary_freq: 10000 |
|||
threaded: true |
|
|||
behaviors: |
|||
PushBlock: |
|||
trainer_type: ppo |
|||
hyperparameters: |
|||
batch_size: 128 |
|||
buffer_size: 2048 |
|||
learning_rate: 0.0003 |
|||
beta: 0.01 |
|||
epsilon: 0.2 |
|||
lambd: 0.95 |
|||
num_epoch: 3 |
|||
learning_rate_schedule: linear |
|||
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: 6000000 #2000000 |
|||
time_horizon: 64 |
|||
summary_freq: 60000 |
|||
threaded: true |
|||
env_settings: |
|||
num_envs: 3 |
|
|||
behaviors: |
|||
Adventurer: |
|||
trainer_type: ppo |
|||
hyperparameters: |
|||
batch_size: 2048 |
|||
buffer_size: 20480 |
|||
learning_rate: 0.0003 |
|||
beta: 0.005 |
|||
epsilon: 0.2 |
|||
lambd: 0.95 |
|||
num_epoch: 3 |
|||
learning_rate_schedule: constant |
|||
network_settings: |
|||
normalize: false |
|||
hidden_units: 512 |
|||
num_layers: 2 |
|||
vis_encode_type: simple |
|||
reward_signals: |
|||
extrinsic: |
|||
gamma: 0.99 |
|||
strength: 1.0 |
|||
keep_checkpoints: 5 |
|||
max_steps: 50000000 |
|||
time_horizon: 1000 |
|||
summary_freq: 10000 |
|||
threaded: false |
|||
self_play: |
|||
save_steps: 50000 |
|||
team_change: 200000 |
|||
swap_steps: 3000 |
|||
window: 10 |
|||
play_against_latest_model_ratio: 0.5 |
|||
initial_elo: 1200.0 |
|||
Dragon: |
|||
trainer_type: ppo |
|||
hyperparameters: |
|||
batch_size: 2048 |
|||
buffer_size: 20480 |
|||
learning_rate: 0.0003 |
|||
beta: 0.005 |
|||
epsilon: 0.2 |
|||
lambd: 0.95 |
|||
num_epoch: 3 |
|||
learning_rate_schedule: constant |
|||
network_settings: |
|||
normalize: false |
|||
hidden_units: 512 |
|||
num_layers: 2 |
|||
vis_encode_type: simple |
|||
reward_signals: |
|||
extrinsic: |
|||
gamma: 0.99 |
|||
strength: 1.0 |
|||
keep_checkpoints: 5 |
|||
max_steps: 50000000 |
|||
time_horizon: 1000 |
|||
summary_freq: 10000 |
|||
threaded: false |
|||
self_play: |
|||
save_steps: 50000 |
|||
team_change: 200000 |
|||
swap_steps: 1000 |
|||
window: 10 |
|||
play_against_latest_model_ratio: 0.5 |
|||
initial_elo: 1200.0 |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class WallAreaScoring : MonoBehaviour |
|||
{ |
|||
public GameObject[] agents; |
|||
WallJumpSettings m_WallJumpSettings; |
|||
Renderer m_GroundRenderer; |
|||
Material m_GroundMaterial; |
|||
|
|||
protected IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time) |
|||
{ |
|||
m_GroundRenderer.material = mat; |
|||
yield return new WaitForSeconds(time); //wait for 2 sec
|
|||
m_GroundRenderer.material = m_GroundMaterial; |
|||
} |
|||
|
|||
public void Start() |
|||
{ |
|||
m_WallJumpSettings = FindObjectOfType<WallJumpSettings>(); |
|||
m_GroundRenderer = GetComponent<Renderer>(); |
|||
m_GroundMaterial = m_GroundRenderer.material; |
|||
} |
|||
|
|||
public void WinCondition() |
|||
{ |
|||
foreach (var agent in agents) |
|||
{ |
|||
WallJumpCollabAgent agentScript = agent.GetComponent<WallJumpCollabAgent>(); |
|||
agentScript.SetReward(1f); |
|||
agentScript.EndEpisode(); |
|||
} |
|||
StartCoroutine( |
|||
GoalScoredSwapGroundMaterial(m_WallJumpSettings.goalScoredMaterial, 1f)); |
|||
} |
|||
|
|||
public void LoseCondition() |
|||
{ |
|||
foreach (var agent in agents) |
|||
{ |
|||
WallJumpCollabAgent agentScript = agent.GetComponent<WallJumpCollabAgent>(); |
|||
agentScript.SetReward(-1f); |
|||
agentScript.EndEpisode(); |
|||
|
|||
} |
|||
StartCoroutine( |
|||
GoalScoredSwapGroundMaterial(m_WallJumpSettings.failMaterial, .2f)); |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: ad7213222795741f5b6ca2b332f16da9 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
fileFormatVersion: 2 |
|||
guid: 2cdbc0d9a64fe4b12a3ed4b81a151117 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
//Put this script on your blue cube.
|
|||
|
|||
using System.Collections; |
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.Barracuda; |
|||
using Unity.MLAgents.Actuators; |
|||
using Unity.MLAgents.Sensors; |
|||
using Unity.MLAgentsExamples; |
|||
|
|||
public class WallJumpCollabAgent : WallJumpAgent |
|||
{ |
|||
Vector3 m_InitialPosition; |
|||
|
|||
WallAreaScoring m_Scoring; |
|||
public override void Initialize() |
|||
{ |
|||
m_WallJumpSettings = FindObjectOfType<WallJumpSettings>(); |
|||
m_Scoring = ground.GetComponent<WallAreaScoring>(); |
|||
m_Configuration = 5; |
|||
|
|||
m_AgentRb = GetComponent<Rigidbody>(); |
|||
// m_ShortBlockRb = shortBlock.GetComponent<Rigidbody>();
|
|||
m_SpawnAreaBounds = spawnArea.GetComponent<Collider>().bounds; |
|||
m_GroundRenderer = ground.GetComponent<Renderer>(); |
|||
m_GroundMaterial = m_GroundRenderer.material; |
|||
m_InitialPosition = transform.localPosition; |
|||
spawnArea.SetActive(false); |
|||
|
|||
m_ResetParams = Academy.Instance.EnvironmentParameters; |
|||
} |
|||
public override void OnEpisodeBegin() |
|||
{ |
|||
transform.localPosition = m_InitialPosition; |
|||
m_Configuration = 5; |
|||
m_AgentRb.velocity = default(Vector3); |
|||
} |
|||
|
|||
public override void OnActionReceived(ActionBuffers actionBuffers) |
|||
{ |
|||
MoveAgent(actionBuffers.DiscreteActions); |
|||
if (!Physics.Raycast(m_AgentRb.position, Vector3.down, 20)) |
|||
{ |
|||
m_Scoring.LoseCondition(); |
|||
} |
|||
} |
|||
|
|||
protected override void ConfigureAgent(int config) |
|||
{ |
|||
var localScale = wall.transform.localScale; |
|||
var height = m_ResetParams.GetWithDefault("big_wall_height", 9); |
|||
localScale = new Vector3( |
|||
localScale.x, |
|||
height, |
|||
localScale.z); |
|||
wall.transform.localScale = localScale; |
|||
} |
|||
|
|||
// Detect when the agent hits the goal
|
|||
protected override void OnTriggerStay(Collider col) |
|||
{ |
|||
if (col.gameObject.CompareTag("goal") && DoGroundCheck(true)) |
|||
{ |
|||
m_Scoring.WinCondition(); |
|||
} |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 136090e065a8f48bfb97ea3083893d8a |
|||
DefaultImporter: |
|||
externalObjects: {} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
1001
Project/Assets/ML-Agents/Examples/WallJump/Scenes/WallJumpCollab.unity
文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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|
|||
fileFormatVersion: 2 |
|||
guid: ff1a5743be49d43f08378dcd76451821 |
|||
PrefabImporter: |
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externalObjects: {} |
|||
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assetBundleVariant: |
1001
Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpCollabArea.prefab
文件差异内容过多而无法显示
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文件差异内容过多而无法显示
查看文件
|
|||
fileFormatVersion: 2 |
|||
guid: 506de7b261f374159a5cdfdb0ff48c0c |
|||
MonoImporter: |
|||
externalObjects: {} |
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serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using UnityEngine; |
|||
using Random = UnityEngine.Random; |
|||
using Unity.MLAgents; |
|||
using UnityEngine.Events; |
|||
|
|||
namespace Unity.MLAgentsExamples |
|||
{ |
|||
/// <summary>
|
|||
/// Utility class to allow target placement and collision detection with an agent
|
|||
/// Add this script to the target you want the agent to touch.
|
|||
/// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
|
|||
/// </summary>
|
|||
public class CollisionCallbacks : MonoBehaviour |
|||
{ |
|||
// [System.Serializable] public class BoolEvent : UnityEvent<bool> { }
|
|||
// [SerializeField] BoolEvent boolEvent = new BoolEvent();
|
|||
// public void OnBoolEvent(bool value)
|
|||
// {
|
|||
// Debug.Log($"OnBoolEvent {value}");
|
|||
// }
|
|||
|
|||
|
|||
[Header("Collider Tag To Detect")] |
|||
public string tagToDetect = "agent"; //collider tag to detect
|
|||
|
|||
// [Header("Target Placement")]
|
|||
// public float spawnRadius; //The radius in which a target can be randomly spawned.
|
|||
// public bool respawnIfTouched; //Should the target respawn to a different position when touched
|
|||
//
|
|||
// [Header("Target Fell Protection")]
|
|||
// public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
|
|||
// public float fallDistance = 5; //distance below the starting height that will trigger a respawn
|
|||
//
|
|||
//
|
|||
// private Vector3 m_startingPos; //the starting position of the target
|
|||
// private Agent m_agentTouching; //the agent currently touching the target
|
|||
|
|||
[System.Serializable] |
|||
// public class TriggerEvent : UnityEvent<string>
|
|||
public class TriggerEvent : UnityEvent<Collider> |
|||
{ |
|||
} |
|||
|
|||
[Header("Trigger Callbacks")] |
|||
public TriggerEvent onTriggerEnterEvent = new TriggerEvent(); |
|||
public TriggerEvent onTriggerStayEvent = new TriggerEvent(); |
|||
public TriggerEvent onTriggerExitEvent = new TriggerEvent(); |
|||
|
|||
[System.Serializable] |
|||
public class CollisionEvent : UnityEvent<Collision, Transform> |
|||
{ |
|||
} |
|||
|
|||
[Header("Collision Callbacks")] |
|||
public CollisionEvent onCollisionEnterEvent = new CollisionEvent(); |
|||
public CollisionEvent onCollisionStayEvent = new CollisionEvent(); |
|||
public CollisionEvent onCollisionExitEvent = new CollisionEvent(); |
|||
|
|||
// // Start is called before the first frame update
|
|||
// void OnEnable()
|
|||
// {
|
|||
// m_startingPos = transform.position;
|
|||
// if (respawnIfTouched)
|
|||
// {
|
|||
// MoveTargetToRandomPosition();
|
|||
// }
|
|||
// }
|
|||
|
|||
// void Update()
|
|||
// {
|
|||
// if (respawnIfFallsOffPlatform)
|
|||
// {
|
|||
// if (transform.position.y < m_startingPos.y - fallDistance)
|
|||
// {
|
|||
// Debug.Log($"{transform.name} Fell Off Platform");
|
|||
// MoveTargetToRandomPosition();
|
|||
// }
|
|||
// }
|
|||
// }
|
|||
|
|||
// /// <summary>
|
|||
// /// Moves target to a random position within specified radius.
|
|||
// /// </summary>
|
|||
// public void MoveTargetToRandomPosition()
|
|||
// {
|
|||
// var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius);
|
|||
// newTargetPos.y = m_startingPos.y;
|
|||
// transform.position = newTargetPos;
|
|||
// }
|
|||
|
|||
private void OnCollisionEnter(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionEnterEvent.Invoke(col, transform); |
|||
// if (respawnIfTouched)
|
|||
// {
|
|||
// MoveTargetToRandomPosition();
|
|||
// }
|
|||
} |
|||
} |
|||
|
|||
private void OnCollisionStay(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionStayEvent.Invoke(col, transform); |
|||
} |
|||
} |
|||
|
|||
private void OnCollisionExit(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionExitEvent.Invoke(col, transform); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerEnter(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerEnterEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerStay(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerStayEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerExit(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerExitEvent.Invoke(col); |
|||
} |
|||
} |
|||
} |
|||
} |
|
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fileFormatVersion: 2 |
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Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabArea.prefab
文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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1001
Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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treatErrorsAsWarnings: 0 |
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文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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1001
Project/Assets/ML-Agents/Examples/PushBlock/Scenes/1ZombieVs2AgentsPushBlock.unity
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1001
Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlock.unity
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|
|||
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() |
|||
{ |
|||
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
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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: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using Unity.MLAgents; |
|||
using UnityEngine; |
|||
|
|||
public class PushBlockEnvController : MonoBehaviour |
|||
{ |
|||
[System.Serializable] |
|||
public class AgentInfo |
|||
{ |
|||
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; |
|||
private int m_ResetTimer; |
|||
|
|||
/// <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; |
|||
|
|||
public List<AgentInfo> AgentsList = new List<AgentInfo>(); |
|||
public List<BlockInfo> BlocksList = new List<BlockInfo>(); |
|||
|
|||
public bool UseRandomAgentRotation = true; |
|||
public bool UseRandomAgentPosition = true; |
|||
public bool UseRandomBlockRotation = true; |
|||
public bool UseRandomBlockPosition = true; |
|||
PushBlockSettings m_PushBlockSettings; |
|||
|
|||
private int m_NumberOfRemainingBlocks; |
|||
|
|||
private PushBlockTeamManager m_TeamManager; |
|||
|
|||
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>(); |
|||
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_TeamManager = new PushBlockTeamManager(); |
|||
foreach (var item in AgentsList) |
|||
{ |
|||
item.StartingPos = item.Agent.transform.position; |
|||
item.StartingRot = item.Agent.transform.rotation; |
|||
item.Rb = item.Agent.GetComponent<Rigidbody>(); |
|||
item.Agent.SetTeamManager(m_TeamManager); |
|||
} |
|||
|
|||
ResetScene(); |
|||
|
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void FixedUpdate() |
|||
{ |
|||
m_ResetTimer += 1; |
|||
if (m_ResetTimer > MaxEnvironmentSteps) |
|||
{ |
|||
ResetScene(); |
|||
} |
|||
} |
|||
|
|||
/// <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(2.5f, 0.01f, 2.5f)) == 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) |
|||
{ |
|||
//Decrement the counter
|
|||
m_NumberOfRemainingBlocks--; |
|||
|
|||
//Are we done?
|
|||
bool done = m_NumberOfRemainingBlocks == 0; |
|||
|
|||
//Disable the block
|
|||
col.gameObject.SetActive(false); |
|||
|
|||
//Give Agent Rewards
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
item.Agent.AddReward(score); |
|||
} |
|||
|
|||
// Swap ground material for a bit to indicate we scored.
|
|||
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f)); |
|||
|
|||
if (done) |
|||
{ |
|||
//Reset assets
|
|||
ResetScene(); |
|||
} |
|||
} |
|||
|
|||
Quaternion GetRandomRot() |
|||
{ |
|||
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0); |
|||
} |
|||
|
|||
void ResetScene() |
|||
{ |
|||
m_ResetTimer = 0; |
|||
|
|||
//Random platform rot
|
|||
var rotation = Random.Range(0, 4); |
|||
var rotationAngle = rotation * 90f; |
|||
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f)); |
|||
|
|||
//End Episode
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
if (!item.Agent) |
|||
{ |
|||
return; |
|||
} |
|||
item.Agent.EndEpisode(); |
|||
} |
|||
//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; |
|||
// m_NumberOfRemainingBlocks = 2;
|
|||
} |
|||
} |
|
|||
//Put this script on your blue cube.
|
|||
|
|||
using System.Collections; |
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgents.Actuators; |
|||
using Unity.MLAgents.Sensors; |
|||
|
|||
public class PushAgentCollab : Agent |
|||
{ |
|||
|
|||
PushBlockSettings m_PushBlockSettings; |
|||
|
|||
// Rigidbody m_BlockRb; //cached on initialization
|
|||
Rigidbody m_AgentRb; //cached on initialization
|
|||
|
|||
public bool useVectorObs = true; |
|||
void Awake() |
|||
{ |
|||
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>(); |
|||
} |
|||
|
|||
public override void Initialize() |
|||
{ |
|||
// Cache the agent rigidbody
|
|||
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); |
|||
} |
|||
|
|||
public override void CollectObservations(VectorSensor sensor) |
|||
{ |
|||
if (useVectorObs) |
|||
{ |
|||
sensor.AddObservation(StepCount / (float)MaxStep); |
|||
} |
|||
} |
|||
|
|||
/// <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); |
|||
|
|||
// Penalty given each step to encourage agent to finish task quickly.
|
|||
AddReward(-1f / MaxStep); |
|||
} |
|||
|
|||
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; |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// In the editor, if "Reset On Done" is checked then AgentReset() will be
|
|||
/// called automatically anytime we mark done = true in an agent script.
|
|||
/// </summary>
|
|||
public override void OnEpisodeBegin() |
|||
{ |
|||
} |
|||
|
|||
} |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using Unity.MLAgents; |
|||
using UnityEngine; |
|||
|
|||
public class ZombiePushBlockEnvController : MonoBehaviour |
|||
{ |
|||
[System.Serializable] |
|||
public class AgentInfo |
|||
{ |
|||
public PushAgentCollab Agent; |
|||
[HideInInspector] |
|||
public Vector3 StartingPos; |
|||
[HideInInspector] |
|||
public Quaternion StartingRot; |
|||
[HideInInspector] |
|||
public Rigidbody Rb; |
|||
public Collider Col; |
|||
} |
|||
|
|||
[System.Serializable] |
|||
public class ZombieInfo |
|||
{ |
|||
public SimpleNPC Agent; |
|||
[HideInInspector] |
|||
public Vector3 StartingPos; |
|||
[HideInInspector] |
|||
public Quaternion StartingRot; |
|||
[HideInInspector] |
|||
public Rigidbody Rb; |
|||
public Collider Col; |
|||
} |
|||
|
|||
[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; |
|||
private int m_ResetTimer; |
|||
|
|||
/// <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; |
|||
|
|||
public List<AgentInfo> AgentsList = new List<AgentInfo>(); |
|||
public List<ZombieInfo> ZombiesList = new List<ZombieInfo>(); |
|||
public List<BlockInfo> BlocksList = new List<BlockInfo>(); |
|||
|
|||
public bool UseRandomAgentRotation = true; |
|||
public bool UseRandomAgentPosition = true; |
|||
public bool UseRandomBlockRotation = true; |
|||
public bool UseRandomBlockPosition = true; |
|||
PushBlockSettings m_PushBlockSettings; |
|||
|
|||
private int m_NumberOfRemainingBlocks; |
|||
|
|||
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>(); |
|||
foreach (var item in BlocksList) |
|||
{ |
|||
item.StartingPos = item.T.transform.position; |
|||
item.StartingRot = item.T.transform.rotation; |
|||
item.Rb = item.T.GetComponent<Rigidbody>(); |
|||
} |
|||
foreach (var item in AgentsList) |
|||
{ |
|||
item.StartingPos = item.Agent.transform.position; |
|||
item.StartingRot = item.Agent.transform.rotation; |
|||
item.Rb = item.Agent.GetComponent<Rigidbody>(); |
|||
item.Col = item.Agent.GetComponent<Collider>(); |
|||
} |
|||
foreach (var item in ZombiesList) |
|||
{ |
|||
item.StartingPos = item.Agent.transform.position; |
|||
item.StartingRot = item.Agent.transform.rotation; |
|||
item.Col = item.Agent.GetComponent<Collider>(); |
|||
} |
|||
|
|||
ResetScene(); |
|||
|
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void FixedUpdate() |
|||
{ |
|||
m_ResetTimer += 1; |
|||
if (m_ResetTimer > MaxEnvironmentSteps) |
|||
{ |
|||
ResetScene(); |
|||
} |
|||
} |
|||
|
|||
//Kill/disable an agent
|
|||
public void KillAgent(Collider col) |
|||
{ |
|||
|
|||
|
|||
} |
|||
|
|||
|
|||
/// <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(2.5f, 0.01f, 2.5f)) == 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) |
|||
{ |
|||
// //Decrement the counter
|
|||
// m_NumberOfRemainingBlocks--;
|
|||
//
|
|||
// //Are we done?
|
|||
// bool done = m_NumberOfRemainingBlocks == 0;
|
|||
//
|
|||
// //Disable the block
|
|||
// col.gameObject.SetActive(false);
|
|||
|
|||
//Give Agent Rewards
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
item.Agent.AddReward(score); |
|||
} |
|||
|
|||
// Swap ground material for a bit to indicate we scored.
|
|||
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f)); |
|||
|
|||
// if (done)
|
|||
// {
|
|||
//Reset assets
|
|||
ResetScene(); |
|||
// }
|
|||
} |
|||
|
|||
public void ZombieTouchedBlock() |
|||
{ |
|||
//Give Agent Rewards
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
item.Agent.AddReward(-1); |
|||
} |
|||
// Swap ground material for a bit to indicate we scored.
|
|||
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f)); |
|||
ResetScene(); |
|||
|
|||
} |
|||
|
|||
Quaternion GetRandomRot() |
|||
{ |
|||
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0); |
|||
} |
|||
|
|||
void ResetScene() |
|||
{ |
|||
m_ResetTimer = 0; |
|||
|
|||
//Random platform rot
|
|||
var rotation = Random.Range(0, 4); |
|||
var rotationAngle = rotation * 90f; |
|||
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f)); |
|||
|
|||
//End Episode
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
if (!item.Agent) |
|||
{ |
|||
return; |
|||
} |
|||
item.Agent.EndEpisode(); |
|||
} |
|||
//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); |
|||
} |
|||
//End Episode
|
|||
foreach (var item in ZombiesList) |
|||
{ |
|||
if (!item.Agent) |
|||
{ |
|||
return; |
|||
} |
|||
// item.Agent.EndEpisode();
|
|||
item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot); |
|||
item.Agent.SetRandomWalkSpeed(); |
|||
} |
|||
|
|||
//Reset counter
|
|||
m_NumberOfRemainingBlocks = BlocksList.Count; |
|||
// m_NumberOfRemainingBlocks = 2;
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 5e113b4a4dbb24eea8d143f2b168e161 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
// using System;
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class SimpleNPC : MonoBehaviour |
|||
{ |
|||
|
|||
public Transform target; |
|||
|
|||
private Rigidbody rb; |
|||
|
|||
public float walkSpeed = 1; |
|||
// public ForceMode walkForceMode;
|
|||
private Vector3 dirToGo; |
|||
|
|||
// private Vector3 m_StartingPos;
|
|||
// Start is called before the first frame update
|
|||
void Awake() |
|||
{ |
|||
rb = GetComponent<Rigidbody>(); |
|||
// m_StartingPos = transform.position;
|
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void Update() |
|||
{ |
|||
} |
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
dirToGo = target.position - transform.position; |
|||
dirToGo.y = 0; |
|||
rb.rotation = Quaternion.LookRotation(dirToGo); |
|||
// rb.AddForce(dirToGo.normalized * walkSpeed * Time.fixedDeltaTime, walkForceMode);
|
|||
// rb.MovePosition(rb.transform.TransformDirection(Vector3.forward * walkSpeed * Time.deltaTime));
|
|||
// rb.MovePosition(rb.transform.TransformVector() (Vector3.forward * walkSpeed * Time.deltaTime));
|
|||
rb.MovePosition(transform.position + transform.forward * walkSpeed * Time.deltaTime); |
|||
} |
|||
|
|||
public void SetRandomWalkSpeed() |
|||
{ |
|||
walkSpeed = Random.Range(1f, 7f); |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: 9685bac759362440ea71765cdece3305 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
fileFormatVersion: 2 |
|||
guid: 7df9fa4d08b7d4d198d5165b07ddd47e |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections.Generic; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgents.Extensions.Teams; |
|||
using Unity.MLAgents.Sensors; |
|||
|
|||
public class PushBlockTeamManager : BaseTeamManager |
|||
{ |
|||
List<Agent> m_AgentList = new List<Agent> { }; |
|||
|
|||
|
|||
public override void RegisterAgent(Agent agent) |
|||
{ |
|||
m_AgentList.Add(agent); |
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: f6ff089e647ef48ffbb569d14d170662 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using Unity.MLAgents; |
|||
using UnityEngine; |
|||
|
|||
public class ZombiePushBlockDeathEnvController : MonoBehaviour |
|||
{ |
|||
[System.Serializable] |
|||
public class AgentInfo |
|||
{ |
|||
public PushAgentCollab Agent; |
|||
[HideInInspector] |
|||
public Vector3 StartingPos; |
|||
[HideInInspector] |
|||
public Quaternion StartingRot; |
|||
[HideInInspector] |
|||
public Rigidbody Rb; |
|||
[HideInInspector] |
|||
public Collider Col; |
|||
} |
|||
|
|||
[System.Serializable] |
|||
public class ZombieInfo |
|||
{ |
|||
public SimpleNPC Agent; |
|||
[HideInInspector] |
|||
public Vector3 StartingPos; |
|||
[HideInInspector] |
|||
public Quaternion StartingRot; |
|||
[HideInInspector] |
|||
public Rigidbody Rb; |
|||
[HideInInspector] |
|||
public Collider Col; |
|||
} |
|||
|
|||
[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; |
|||
private int m_ResetTimer; |
|||
|
|||
/// <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; |
|||
|
|||
public List<AgentInfo> AgentsList = new List<AgentInfo>(); |
|||
public List<ZombieInfo> ZombiesList = new List<ZombieInfo>(); |
|||
public List<BlockInfo> BlocksList = new List<BlockInfo>(); |
|||
|
|||
public bool UseRandomAgentRotation = true; |
|||
public bool UseRandomAgentPosition = true; |
|||
public bool UseRandomBlockRotation = true; |
|||
public bool UseRandomBlockPosition = true; |
|||
PushBlockSettings m_PushBlockSettings; |
|||
|
|||
private int m_NumberOfRemainingBlocks; |
|||
private PushBlockTeamManager m_TeamManager; |
|||
|
|||
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>(); |
|||
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_TeamManager = new PushBlockTeamManager(); |
|||
foreach (var item in AgentsList) |
|||
{ |
|||
item.StartingPos = item.Agent.transform.position; |
|||
item.StartingRot = item.Agent.transform.rotation; |
|||
item.Rb = item.Agent.GetComponent<Rigidbody>(); |
|||
item.Col = item.Agent.GetComponent<Collider>(); |
|||
// Add to team manager
|
|||
item.Agent.SetTeamManager(m_TeamManager); |
|||
} |
|||
foreach (var item in ZombiesList) |
|||
{ |
|||
item.StartingPos = item.Agent.transform.position; |
|||
item.StartingRot = item.Agent.transform.rotation; |
|||
item.Col = item.Agent.GetComponent<Collider>(); |
|||
} |
|||
|
|||
ResetScene(); |
|||
|
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void FixedUpdate() |
|||
{ |
|||
m_ResetTimer += 1; |
|||
if (m_ResetTimer > MaxEnvironmentSteps) |
|||
{ |
|||
ResetScene(); |
|||
} |
|||
} |
|||
|
|||
//Kill/disable an agent
|
|||
public void KillAgent(Collision col, Transform t) |
|||
{ |
|||
print($"zombie {t.name} ate {col.collider.name}"); |
|||
//Disable killed Agent
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
if (item.Col == col.collider) |
|||
{ |
|||
item.Agent.EndEpisode(); |
|||
item.Col.gameObject.SetActive(false); |
|||
break; |
|||
} |
|||
} |
|||
|
|||
//End Episode
|
|||
foreach (var item in ZombiesList) |
|||
{ |
|||
if (item.Agent.transform == t) |
|||
{ |
|||
item.Agent.gameObject.SetActive(false); |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
|
|||
|
|||
/// <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(2.5f, 0.01f, 2.5f)) == 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) |
|||
{ |
|||
// //Decrement the counter
|
|||
// m_NumberOfRemainingBlocks--;
|
|||
//
|
|||
// //Are we done?
|
|||
// bool done = m_NumberOfRemainingBlocks == 0;
|
|||
//
|
|||
// //Disable the block
|
|||
// col.gameObject.SetActive(false);
|
|||
|
|||
//Give Agent Rewards
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
if (item.Agent.gameObject.activeInHierarchy) |
|||
{ |
|||
print($"{item.Agent.name} scored"); |
|||
item.Agent.AddReward(score); |
|||
} |
|||
} |
|||
|
|||
// Swap ground material for a bit to indicate we scored.
|
|||
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f)); |
|||
|
|||
// if (done)
|
|||
// {
|
|||
//Reset assets
|
|||
ResetScene(); |
|||
// }
|
|||
} |
|||
|
|||
public void ZombieTouchedBlock() |
|||
{ |
|||
//Give Agent Rewards
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
item.Agent.AddReward(-1); |
|||
} |
|||
// Swap ground material for a bit to indicate we scored.
|
|||
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f)); |
|||
ResetScene(); |
|||
|
|||
} |
|||
|
|||
Quaternion GetRandomRot() |
|||
{ |
|||
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0); |
|||
} |
|||
|
|||
void ResetScene() |
|||
{ |
|||
m_ResetTimer = 0; |
|||
|
|||
//Random platform rot
|
|||
var rotation = Random.Range(0, 4); |
|||
var rotationAngle = rotation * 90f; |
|||
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f)); |
|||
|
|||
//End Episode
|
|||
foreach (var item in AgentsList) |
|||
{ |
|||
if (!item.Agent) |
|||
{ |
|||
return; |
|||
} |
|||
item.Agent.EndEpisode(); |
|||
} |
|||
//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; |
|||
item.Agent.gameObject.SetActive(true); |
|||
} |
|||
|
|||
//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); |
|||
} |
|||
//End Episode
|
|||
foreach (var item in ZombiesList) |
|||
{ |
|||
if (!item.Agent) |
|||
{ |
|||
return; |
|||
} |
|||
// item.Agent.EndEpisode();
|
|||
item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot); |
|||
item.Agent.SetRandomWalkSpeed(); |
|||
item.Agent.gameObject.SetActive(true); |
|||
} |
|||
|
|||
//Reset counter
|
|||
m_NumberOfRemainingBlocks = BlocksList.Count; |
|||
// m_NumberOfRemainingBlocks = 2;
|
|||
} |
|||
} |
|
|||
fileFormatVersion: 2 |
|||
guid: d6d6a33ed0e18459a8d61817d600978a |
|||
DefaultImporter: |
|||
externalObjects: {} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
1001
Project/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayCollab.unity
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查看文件
文件差异内容过多而无法显示
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