比较提交

...
此合并请求有变更与目标分支冲突。
/config/ppo/PushBlock.yaml
/Project/Packages/manifest.json
/Project/ProjectSettings/GraphicsSettings.asset
/Project/ProjectSettings/ProjectSettings.asset
/Project/ProjectSettings/ProjectVersion.txt
/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
/Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo.meta
/Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
/Project/Assets/ML-Agents/Examples/Sorter/Prefabs/Area.prefab
/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
/com.unity.ml-agents/Runtime/Agent.cs
/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
/config/ppo/SoccerTwos.yaml
/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs.meta
/Project/Packages/packages-lock.json
/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs.meta
/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs
/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs
/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx.meta
/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockAgentGridCollab.prefab
/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaGrid.prefab
/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity

3 次代码提交

作者 SHA1 备注 提交日期
HH 290ae153 cp working well 4 年前
HH b5234673 update cam 4 年前
HH e194f659 change center pitch color. update camera 4 年前
共有 176 个文件被更改,包括 21839 次插入1609 次删除
  1. 2
      config/ppo/PushBlock.yaml
  2. 29
      config/ppo/SoccerTwos.yaml
  3. 2
      com.unity.ml-agents/Runtime/MultiAgentGroupIdCounter.cs.meta
  4. 3
      com.unity.ml-agents/Runtime/Agent.cs
  5. 1
      com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
  6. 7
      Project/ProjectSettings/DynamicsManager.asset
  7. 1
      Project/ProjectSettings/GraphicsSettings.asset
  8. 3
      Project/ProjectSettings/ProjectVersion.txt
  9. 14
      Project/ProjectSettings/TagManager.asset
  10. 114
      Project/ProjectSettings/ProjectSettings.asset
  11. 26
      Project/Packages/manifest.json
  12. 7
      Project/Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGridWorld.demo.meta
  13. 7
      Project/Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo.meta
  14. 7
      Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo.meta
  15. 7
      Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta
  16. 7
      Project/Assets/ML-Agents/Examples/Basic/Demos/ExpertBasic.demo.meta
  17. 7
      Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo.meta
  18. 7
      Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo.meta
  19. 22
      Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
  20. 540
      Project/Assets/ML-Agents/Examples/Sorter/Prefabs/Area.prefab
  21. 22
      Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
  22. 2
      Project/Assets/ML-Agents/Examples/Hallway/Scenes/Hallway.unity.meta
  23. 7
      Project/Assets/ML-Agents/Examples/Hallway/Demos/ExpertHallway.demo.meta
  24. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPushBlock.demo.meta
  25. 5
      Project/Assets/ML-Agents/Examples/Soccer/Materials/Physic_Materials/Bouncy.physicMaterial
  26. 12
      Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
  27. 165
      Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
  28. 929
      Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
  29. 352
      Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity
  30. 63
      config/ppo/WallJumpCollab.yaml
  31. 26
      config/ppo/HallwayCollab.yaml
  32. 28
      config/ppo/PushBlockZombie.yaml
  33. 56
      config/poca/Soccer.yaml
  34. 11
      com.unity.ml-agents/Runtime/IMultiAgentGroup.cs.meta
  35. 38
      Project/ProjectSettings/PackageManagerSettings.asset
  36. 10
      Project/ProjectSettings/XRSettings.asset
  37. 448
      Project/Packages/packages-lock.json
  38. 50
      Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallAreaScoring.cs
  39. 11
      Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallAreaScoring.cs.meta
  40. 11
      Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpCollabAgent.cs.meta
  41. 67
      Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpCollabAgent.cs
  42. 7
      Project/Assets/ML-Agents/Examples/WallJump/Scenes/WallJumpCollab.unity.meta
  43. 1001
      Project/Assets/ML-Agents/Examples/WallJump/Scenes/WallJumpCollab.unity
  44. 7
      Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpCollabArea.prefab.meta
  45. 1001
      Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpCollabArea.prefab
  46. 77
      Project/Assets/ML-Agents/Examples/SharedAssets/Materials/OrangePink.mat
  47. 10
      Project/Assets/ML-Agents/Examples/SharedAssets/Materials/OrangePink.mat.meta
  48. 11
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs.meta
  49. 143
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
  50. 358
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/Key.prefab
  51. 7
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/Key.prefab.meta
  52. 202
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/Lock.prefab
  53. 7
      Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/Lock.prefab.meta
  54. 455
      Project/Assets/ML-Agents/Examples/Sorter/Prefabs/NumberBlock (1).prefab
  55. 7
      Project/Assets/ML-Agents/Examples/Sorter/Prefabs/NumberBlock (1).prefab.meta
  56. 566
      Project/Assets/ML-Agents/Examples/Hallway/TFModels/HallwayCollab.onnx
  57. 14
      Project/Assets/ML-Agents/Examples/Hallway/TFModels/HallwayCollab.onnx.meta
  58. 11
      Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs.meta
  59. 204
      Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs
  60. 7
      Project/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayCollab.unity.meta
  61. 1001
      Project/Assets/ML-Agents/Examples/Hallway/Scenes/HallwayCollab.unity
  62. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockZombie.onnx
  63. 14
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockZombie.onnx.meta
  64. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
  65. 14
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx.meta
  66. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockCollabArea.prefab.meta
  67. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockCollabArea.prefab
  68. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaGrid.prefab
  69. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaRays.prefab
  70. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaRays.prefab.meta
  71. 720
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockAgentGridZombie.prefab
  72. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockAgentGridZombie.prefab.meta
  73. 634
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockAgentWithGrid.prefab
  74. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockAgentWithGrid.prefab.meta
  75. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockWithLocksPlatform.prefab
  76. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockWithLocksPlatform.prefab.meta
  77. 634
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockAgentGridCollab.prefab
  78. 880
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity
  79. 934
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity
  80. 9
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity.meta
  81. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/1ZombieVs2AgentsPushBlock.unity
  82. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlock.unity
  83. 9
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlock.unity.meta
  84. 9
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/1ZombieVs2AgentsPushBlock.unity.meta
  85. 289
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs
  86. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs.meta
  87. 45
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs
  88. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs.meta
  89. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs.meta
  90. 391
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs
  91. 234
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs
  92. 60
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs
  93. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs.meta
  94. 142
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs
  95. 12
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs.meta
  96. 92
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs
  97. 8
      Project/Assets/ML-Agents/Examples/Arena-Sequence.meta
  98. 1001
      Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos-10499984.onnx
  99. 1001
      Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos-10999791.onnx

2
config/ppo/PushBlock.yaml


gamma: 0.99
strength: 1.0
keep_checkpoints: 5
max_steps: 2000000
max_steps: 6000000 #2000000
time_horizon: 64
summary_freq: 60000
threaded: true

29
config/ppo/SoccerTwos.yaml


behaviors:
SoccerTwos:
trainer_type: ppo
trainer_type: poca
beta: 0.005
beta: 0.01
epsilon: 0.2
lambd: 0.95
num_epoch: 3

gamma: 0.99
strength: 1.0
keep_checkpoints: 5
max_steps: 50000000
max_steps: 100000000
time_horizon: 1000
summary_freq: 10000
threaded: false

window: 10
play_against_latest_model_ratio: 0.5
initial_elo: 1200.0
environment_parameters:
ball_touch:
curriculum:
- name: Lesson0 # The '-' is important as this is a list
completion_criteria:
measure: progress
behavior: SoccerTwos
signal_smoothing: true
min_lesson_length: 100
threshold: 0.01
value: 1.0
- name: Lesson1 # The '-' is important as this is a list
completion_criteria:
measure: progress
behavior: SoccerTwos
signal_smoothing: true
min_lesson_length: 100
threshold: 0.02
value: 0.5
- name: Lesson2 # The '-' is important as this is a list
value: 0.0
env_settings:
num_envs: 3

2
com.unity.ml-agents/Runtime/MultiAgentGroupIdCounter.cs.meta


fileFormatVersion: 2
guid: 3744ac27d956e43e1a39c7ba2550ab82
guid: 5661ffdb6c7704e84bc785572dcd5bd1
MonoImporter:
externalObjects: {}
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3
com.unity.ml-agents/Runtime/Agent.cs


/// <summary>
/// The reason that the Agent has been set to "done".
/// </summary>
enum DoneReason
public enum DoneReason
{
/// <summary>
/// The episode was ended manually by calling <see cref="EndEpisode"/>.

m_RequestDecision = false;
m_Info.storedActions.Clear();
}
/// <summary>
/// Updates the Model assigned to this Agent instance.

1
com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs


/// </summary>
[HideInInspector, SerializeField, FormerlySerializedAs("m_TeamID")]
public int TeamId;
// TODO properties here instead of Agent
[FormerlySerializedAs("m_useChildSensors")]

7
Project/ProjectSettings/DynamicsManager.asset


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m_BroadphaseType: 0
m_WorldBounds:

m_FrictionType: 0
m_EnableEnhancedDeterminism: 1
m_EnableUnifiedHeightmaps: 1
m_SolverType: 0
m_DefaultMaxAngularSpeed: 7

1
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m_PreloadedShaders: []
m_SpritesDefaultMaterial: {fileID: 10754, guid: 0000000000000000f000000000000000,

3
Project/ProjectSettings/ProjectVersion.txt


m_EditorVersion: 2018.4.32f1
m_EditorVersion: 2019.4.20f1
m_EditorVersionWithRevision: 2019.4.20f1 (6dd1c08eedfa)

14
Project/ProjectSettings/TagManager.asset


- purpleAgent
- purpleGoal
- tile
- zombie
- blockLarge
- blockVeryLarge
- blockSmall
- door
- switch
- key
- lock
layers:
- Default
- TransparentFX

-
-
- invisible
-
-
-
- soccerBall
- blueSoccerAgent
- purpleSoccerAgent
-
-
-

114
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public class WallJumpAgent : Agent
{
// Depending on this value, the wall will have different height
int m_Configuration;
protected int m_Configuration;
// Brain to use when no wall is present
public NNModel noWallBrain;
// Brain to use when a jumpable wall is present

public GameObject ground;
public GameObject spawnArea;
Bounds m_SpawnAreaBounds;
protected Bounds m_SpawnAreaBounds;
Rigidbody m_ShortBlockRb;
Rigidbody m_AgentRb;
Material m_GroundMaterial;
Renderer m_GroundRenderer;
WallJumpSettings m_WallJumpSettings;
protected Rigidbody m_ShortBlockRb;
protected Rigidbody m_AgentRb;
protected Material m_GroundMaterial;
protected Renderer m_GroundRenderer;
protected WallJumpSettings m_WallJumpSettings;
public float jumpingTime;
public float jumpTime;

string m_SmallWallBehaviorName = "SmallWallJump";
string m_BigWallBehaviorName = "BigWallJump";
EnvironmentParameters m_ResetParams;
protected EnvironmentParameters m_ResetParams;
public override void Initialize()
{

/// <returns>The Enumerator to be used in a Coroutine.</returns>
/// <param name="mat">The material to be swapped.</param>
/// <param name="time">The time the material will remain.</param>
IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
protected IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
m_GroundRenderer.material = mat;
yield return new WaitForSeconds(time); //wait for 2 sec

}
// Detect when the agent hits the goal
void OnTriggerStay(Collider col)
protected virtual void OnTriggerStay(Collider col)
{
if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
{

/// If 1: Small wall and smallWallBrain.
/// Other : Tall wall and BigWallBrain.
/// </param>
void ConfigureAgent(int config)
protected virtual void ConfigureAgent(int config)
{
var localScale = wall.transform.localScale;
if (config == 0)

540
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22
Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs


public GameObject symbolO;
public GameObject symbolX;
public bool useVectorObs;
Rigidbody m_AgentRb;
Material m_GroundMaterial;
Renderer m_GroundRenderer;
HallwaySettings m_HallwaySettings;
int m_Selection;
protected Rigidbody m_AgentRb;
protected Material m_GroundMaterial;
protected Renderer m_GroundRenderer;
protected HallwaySettings m_HallwaySettings;
protected int m_Selection;
StatsRecorder m_statsRecorder;
public override void Initialize()

m_GroundRenderer = ground.GetComponent<Renderer>();
m_GroundMaterial = m_GroundRenderer.material;
m_statsRecorder = Academy.Instance.StatsRecorder;
// m_statsRecorder = Academy.Instance.StatsRecorder;
}
public override void CollectObservations(VectorSensor sensor)

}
}
IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
protected IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
m_GroundRenderer.material = mat;
yield return new WaitForSeconds(time);

{
SetReward(1f);
StartCoroutine(GoalScoredSwapGroundMaterial(m_HallwaySettings.goalScoredMaterial, 0.5f));
m_statsRecorder.Add("Goal/Correct", 1, StatAggregationMethod.Sum);
// m_statsRecorder.Add("Goal/Correct", 1, StatAggregationMethod.Sum);
m_statsRecorder.Add("Goal/Wrong", 1, StatAggregationMethod.Sum);
// m_statsRecorder.Add("Goal/Wrong", 1, StatAggregationMethod.Sum);
}
EndEpisode();
}

symbolXGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
}
m_statsRecorder.Add("Goal/Correct", 0, StatAggregationMethod.Sum);
m_statsRecorder.Add("Goal/Wrong", 0, StatAggregationMethod.Sum);
// m_statsRecorder.Add("Goal/Correct", 0, StatAggregationMethod.Sum);
// m_statsRecorder.Add("Goal/Wrong", 0, StatAggregationMethod.Sum);
}
}

2
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12
Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs


public class SoccerBallController : MonoBehaviour
{
public GameObject area;
public SoccerFieldArea area;
public SoccerEnvController envController;
void Start()
{
envController = area.GetComponent<SoccerEnvController>();
}
area.GoalTouched(AgentSoccer.Team.Blue);
envController.GoalTouched(Team.Blue);
area.GoalTouched(AgentSoccer.Team.Purple);
envController.GoalTouched(Team.Purple);
}
}
}

165
Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs


using UnityEngine;
using System.Collections.Generic;
using Unity.MLAgents.Sensors;
public enum Team
{
Blue = 0,
Purple = 1
}
public class AgentSoccer : Agent
{
// Note that that the detectable tags are different for the blue and purple teams. The order is

// * wall
// * own teammate
// * opposing player
public enum Team
{
Blue = 0,
Purple = 1
}
public SoccerEnvController GameController;
public enum Position
{
Striker,

[HideInInspector]
public Team team;
float m_KickPower;
int m_PlayerIndex;
public SoccerFieldArea area;
const float k_Power = 2000f;
const float k_Power = 3000f;
float m_RotateSpeed = 1.5f;
[HideInInspector]
public float timePenalty;
Vector3 m_Transform;
public Vector3 initialPos;
public float rotSign;
[Header("ACTUATED RAY SENSOR")]
//Actuated RayS
public bool UseVectorObs = true;
public bool UseActuatedRaycastSensor = false;
// public List<RayPerceptionSensorComponent3D> RaySensorsList = new List<RayPerceptionSensorComponent3D>();
public RayPerceptionSensorComponent3D RaySensor;
public Vector2 MinMaxRayAngles = new Vector2(25, 120);
public Vector2 MinMaxSpherecastRadius = new Vector2(.25f, 1);
public float CurrentRayAngleLerp = .5f;
public float CurrentSpherecastRadiusLerp = .5f;
public override void Initialize()
{
m_Existential = 1f / MaxStep;

team = Team.Blue;
m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
initialPos = new Vector3(transform.position.x - 5f, .5f, transform.position.z);
rotSign = 1f;
m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
initialPos = new Vector3(transform.position.x + 5f, .5f, transform.position.z);
rotSign = -1f;
}
if (position == Position.Goalie)
{

}
else
{
m_LateralSpeed = 0.3f;
m_ForwardSpeed = 1.0f;
m_LateralSpeed = 1.0f;
m_ForwardSpeed = 1.5f;
var playerState = new PlayerState
m_ResetParams = Academy.Instance.EnvironmentParameters;
}
public override void CollectObservations(VectorSensor sensor)
{
if (UseVectorObs)
agentRb = agentRb,
startingPos = transform.position,
agentScript = this,
};
area.playerStates.Add(playerState);
m_PlayerIndex = area.playerStates.IndexOf(playerState);
playerState.playerIndex = m_PlayerIndex;
// // sensor.AddObservation((float)StepCount / (float)MaxStep); //Helps with credit assign?
// sensor.AddObservation(ThrowController.coolDownWait); //Held DBs Normalized
// sensor.AddObservation((float)currentNumberOfBalls/4); //Held DBs Normalized
// // sensor.AddObservation((float)HitPointsRemaining/(float)NumberOfTimesPlayerCanBeHit); //Remaining Hit Points Normalized
// sensor.AddObservation((float)HitPointsRemaining/(float)m_GameController.PlayerMaxHitPoints); //Remaining Hit Points Normalized
// sensor.AddObservation(Vector3.Dot(m_AgentRb.velocity, m_AgentRb.transform.forward)); //forward speed
// sensor.AddObservation(Vector3.Dot(m_AgentRb.velocity, m_AgentRb.transform.right)); //lateral speed
// sensor.AddObservation(m_AgentRb.angularVelocity);
if (UseActuatedRaycastSensor)
{
sensor.AddObservation(CurrentRayAngleLerp);
sensor.AddObservation(CurrentSpherecastRadiusLerp);
// sensor.AddObservation(GameController.LocalBallVelocity);
// sensor.AddObservation(GameController.LocalBallPositionNormalizedToFieldSize);
}
}
}
public void UpdateSensors()
{
m_ResetParams = Academy.Instance.EnvironmentParameters;
public void MoveAgent(ActionSegment<int> act)
public void MoveAgent(ActionSegment<float> act)
var forward = Mathf.Clamp(act[0], -1f, 1f);
var right = Mathf.Clamp(act[1], -1f, 1f);
var rotate = Mathf.Clamp(act[2], -1f, 1f);
var forwardAxis = act[0];
var rightAxis = act[1];
var rotateAxis = act[2];
switch (forwardAxis)
if (forward > 0)
case 1:
dirToGo = transform.forward * m_ForwardSpeed;
m_KickPower = 1f;
break;
case 2:
dirToGo = transform.forward * -m_ForwardSpeed;
break;
m_KickPower = forward;
switch (rightAxis)
{
case 1:
dirToGo = transform.right * m_LateralSpeed;
break;
case 2:
dirToGo = transform.right * -m_LateralSpeed;
break;
}
dirToGo = transform.forward * forward * m_ForwardSpeed;
dirToGo += transform.right * right * m_LateralSpeed;
rotateDir = -transform.up * rotate * m_RotateSpeed;
switch (rotateAxis)
{
case 1:
rotateDir = transform.up * -1f;
break;
case 2:
rotateDir = transform.up * 1f;
break;
}
// ACTUATED SENSOR STUFF
CurrentRayAngleLerp = (act[3] + 1)/2;
CurrentSpherecastRadiusLerp = (act[4] + 1)/2;
if (UseActuatedRaycastSensor)
{
RaySensor.MaxRayDegrees = Mathf.Lerp(MinMaxRayAngles.x, MinMaxRayAngles.y, CurrentRayAngleLerp);
RaySensor.SphereCastRadius = Mathf.Lerp(MinMaxSpherecastRadius.x, MinMaxSpherecastRadius.y, CurrentSpherecastRadiusLerp);
// foreach (var item in RaySensorsList)
// {
// item.MaxRayDegrees = Mathf.Lerp(MinMaxRayAngles.x, MinMaxRayAngles.y, CurrentRayAngleLerp);
// item.SphereCastRadius = Mathf.Lerp(MinMaxSpherecastRadius.x, MinMaxSpherecastRadius.y, CurrentSpherecastRadiusLerp);
// }
}
}
public override void OnActionReceived(ActionBuffers actionBuffers)

// Existential penalty for Strikers
AddReward(-m_Existential);
}
else
{
// Existential penalty cumulant for Generic
timePenalty -= m_Existential;
}
MoveAgent(actionBuffers.DiscreteActions);
MoveAgent(actionBuffers.ContinuousActions);
}
public override void Heuristic(in ActionBuffers actionsOut)

public override void OnEpisodeBegin()
{
timePenalty = 0;
if (team == Team.Purple)
{
transform.rotation = Quaternion.Euler(0f, -90f, 0f);
}
else
{
transform.rotation = Quaternion.Euler(0f, 90f, 0f);
}
transform.position = m_Transform;
agentRb.velocity = Vector3.zero;
agentRb.angularVelocity = Vector3.zero;
SetResetParameters();
public void SetResetParameters()
{
area.ResetBall();
}
}

929
Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
文件差异内容过多而无法显示
查看文件

352
Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity


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63
config/ppo/WallJumpCollab.yaml


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

26
config/ppo/HallwayCollab.yaml


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

28
config/ppo/PushBlockZombie.yaml


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

56
config/poca/Soccer.yaml


behaviors:
SoccerTwos:
trainer_type: poca
hyperparameters:
batch_size: 2048
buffer_size: 20480
learning_rate: 0.0003
beta: 0.01
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: 100000000
time_horizon: 1000
summary_freq: 10000
threaded: false
self_play:
save_steps: 50000
team_change: 200000
swap_steps: 2000
window: 10
play_against_latest_model_ratio: 0.5
initial_elo: 1200.0
environment_parameters:
ball_touch:
curriculum:
- name: Lesson0 # The '-' is important as this is a list
completion_criteria:
measure: progress
behavior: SoccerTwos
signal_smoothing: true
min_lesson_length: 100
threshold: 0.01
value: 1.0
- name: Lesson1 # The '-' is important as this is a list
completion_criteria:
measure: progress
behavior: SoccerTwos
signal_smoothing: true
min_lesson_length: 100
threshold: 0.02
value: 0.5
- name: Lesson2 # The '-' is important as this is a list
value: 0.0
#env_settings:
# num_envs: 3

11
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50
Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallAreaScoring.cs


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));
}
}

11
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67
Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpCollabAgent.cs


//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();
}
}
}

7
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143
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs


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);
}
}
}
}

358
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Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs


using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
public class HallwayCollabAgent : HallwayAgent
{
public GameObject symbolSGoal;
public GameObject symbolS;
public HallwayCollabAgent teammate;
public bool isSpotter = true;
int m_Message = 0;
[HideInInspector]
public int selection = 0;
public override void Initialize()
{
base.Initialize();
if (isSpotter)
{
var teamManager = new SimpleMultiAgentGroup();
teamManager.RegisterAgent(this);
teamManager.RegisterAgent(teammate);
}
}
public override void OnEpisodeBegin()
{
m_Message = -1;
var agentOffset = 10f;
if (isSpotter)
{
agentOffset = -15;
}
if (!isSpotter)
{
transform.position = new Vector3(0f + Random.Range(-3f, 3f),
1f, agentOffset + Random.Range(-5f, 5f))
+ ground.transform.position;
transform.rotation = Quaternion.Euler(0f, Random.Range(0f, 360f), 0f);
}
else
{
transform.position = new Vector3(0f,
1f, agentOffset)
+ ground.transform.position;
transform.rotation = Quaternion.Euler(0f, 0f, 0f);
}
// Remove the randomness
m_AgentRb.velocity *= 0f;
if (isSpotter)
{
var blockOffset = -9f;
// Only the Spotter has the correct selection
selection = Random.Range(0, 3);
if (selection == 0)
{
symbolO.transform.position =
new Vector3(0f, 2f, blockOffset)
+ ground.transform.position;
symbolX.transform.position =
new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+ ground.transform.position;
symbolS.transform.position =
new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+ ground.transform.position;
}
else if (selection == 1)
{
symbolO.transform.position =
new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+ ground.transform.position;
symbolX.transform.position =
new Vector3(0f, 2f, blockOffset)
+ ground.transform.position;
symbolS.transform.position =
new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+ ground.transform.position;
}
else
{
symbolO.transform.position =
new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+ ground.transform.position;
symbolX.transform.position =
new Vector3(0f, -1000f, blockOffset)
+ ground.transform.position;
symbolS.transform.position =
new Vector3(0f, 2f, blockOffset)
+ ground.transform.position;
}
var goalPos = Random.Range(0, 7);
if (goalPos == 0)
{
symbolOGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
symbolXGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
symbolSGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
}
else if (goalPos == 1)
{
symbolOGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
symbolXGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
symbolSGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
}
else if (goalPos == 2)
{
symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
symbolXGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
symbolSGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
}
else if (goalPos == 3)
{
symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
symbolXGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
symbolSGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
}
else if (goalPos == 4)
{
symbolOGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
symbolXGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
symbolSGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
}
else
{
symbolOGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
symbolXGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
symbolSGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
}
}
}
public override void CollectObservations(VectorSensor sensor)
{
if (useVectorObs)
{
sensor.AddObservation(StepCount / (float)MaxStep);
}
sensor.AddObservation(toOnehot(m_Message));
}
float[] toOnehot(int message)
{
float[] onehot = new float[3];
if (message < 0 || message >= 3)
{
return onehot;
}
onehot[message] = 1f;
return onehot;
}
public void tellAgent(int message)
{
m_Message = message;
}
public override void OnActionReceived(ActionBuffers actionBuffers)
{
AddReward(-1f / MaxStep);
if (!isSpotter)
{
MoveAgent(actionBuffers.DiscreteActions);
}
int comm_act = actionBuffers.DiscreteActions[1];
teammate.tellAgent(comm_act);
// if (isSpotter) // Test
// {
// teammate.tellAgent(selection);
// }
}
void OnCollisionEnter(Collision col)
{
if (col.gameObject.CompareTag("symbol_O_Goal") || col.gameObject.CompareTag("symbol_X_Goal") || col.gameObject.CompareTag("symbol_S_Goal"))
{
if (!isSpotter)
{
// Check the ground truth
if ((teammate.selection == 0 && col.gameObject.CompareTag("symbol_O_Goal")) ||
(teammate.selection == 1 && col.gameObject.CompareTag("symbol_X_Goal")) ||
(teammate.selection == 2 && col.gameObject.CompareTag("symbol_S_Goal")))
{
SetReward(1f);
teammate.SetReward(1f);
StartCoroutine(GoalScoredSwapGroundMaterial(m_HallwaySettings.goalScoredMaterial, 0.5f));
}
else
{
SetReward(-0.1f);
teammate.SetReward(-0.1f);
StartCoroutine(GoalScoredSwapGroundMaterial(m_HallwaySettings.failMaterial, 0.5f));
}
EndEpisode();
teammate.EndEpisode();
}
}
}
}

7
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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs


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;
}
}

11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs.meta


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45
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs


// 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);
}
}

11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs.meta


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11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs.meta


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391
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs


using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using UnityEngine;
public class ZombiePushBlockDeathEnvController : MonoBehaviour
{
[System.Serializable]
public class PlayerInfo
{
public PushAgentZombie 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;
public Transform T;
public bool IsDead;
}
// [System.Serializable]
// public class BlockInfo
// {
// public Transform T;
// [HideInInspector]
// public Vector3 StartingPos;
// [HideInInspector]
// public Quaternion StartingRot;
// [HideInInspector]
// public Rigidbody Rb;
// public Transform LockedBlock;
// }
/// <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<PlayerInfo> AgentsList = new List<PlayerInfo>();
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;
public GameObject Key;
public GameObject LockedBlock;
public Rigidbody UnlockedBlock;
public Dictionary<Transform, PlayerInfo> m_AgentsDict = new Dictionary<Transform, PlayerInfo>();
public Dictionary<Transform, ZombieInfo> m_ZombiesDict = new Dictionary<Transform, ZombieInfo>();
// public Dictionary<Transform, BlockInfo> m_BlocksDict = new Dictionary<Transform, BlockInfo>();
private SimpleMultiAgentGroup m_AgentGroup;
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>();
//Lock The Block
LockTheBlock();
//Hide The Key
Key.SetActive(false);
// foreach (var item in BlocksList)
// {
// item.StartingPos = item.T.transform.position;
// item.StartingRot = item.T.transform.rotation;
// item.Rb = item.T.GetComponent<Rigidbody>();
// m_BlocksDict.Add(item.T, item);
// }
// Initialize TeamManager
m_AgentGroup = new SimpleMultiAgentGroup();
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>();
m_AgentsDict.Add(item.Agent.transform, item);
// Add to team manager
m_AgentGroup.RegisterAgent(item.Agent);
}
foreach (var item in ZombiesList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.T = item.Agent.transform;
item.Col = item.Agent.GetComponent<Collider>();
m_ZombiesDict.Add(item.T, item);
}
ResetScene();
}
// Update is called once per frame
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
{
m_AgentGroup.GroupEpisodeInterrupted();
ResetScene();
}
}
// // public Dictionary<Agent>
// //Kill/disable an agent
// public void KillAgent(Collision col, Transform t)
// {
// print($"zombie {t.name} ate {col.collider.name}");
// //Disable killed Agent
// foreach (var item in AgentsList)
// {
// if (item.Col == col.collider)
// {
// item.Agent.EndEpisode();
// item.Col.gameObject.SetActive(false);
// break;
// }
// }
//
// //End Episode
// foreach (var item in ZombiesList)
// {
// if (item.Agent.transform == t)
// {
// KillZombie(item);
// break;
// }
// }
// }
public void UnlockBlock(Transform blockT)
{
LockedBlock.SetActive(false);
UnlockedBlock.velocity = Vector3.zero;
UnlockedBlock.angularVelocity = Vector3.zero;
UnlockedBlock.transform.SetPositionAndRotation(blockT.position, blockT.rotation);
UnlockedBlock.gameObject.SetActive(true);
}
public void LockTheBlock()
{
LockedBlock.SetActive(true);
UnlockedBlock.velocity = Vector3.zero;
UnlockedBlock.angularVelocity = Vector3.zero;
UnlockedBlock.transform.SetPositionAndRotation(LockedBlock.transform.position, LockedBlock.transform.rotation);
UnlockedBlock.gameObject.SetActive(false);
}
public void KilledByZombie(PushAgentZombie agent, Collision zombCol)
{
zombCol.gameObject.SetActive(false);
agent.EndEpisode();
agent.gameObject.SetActive(false);
print($"zombie {zombCol.gameObject.name} ate {agent.transform.name}");
//Spawn the Key Pickup
Key.transform.SetPositionAndRotation(zombCol.collider.transform.position, zombCol.collider.transform.rotation);
Key.SetActive(true);
// Instantiate(KeyPrefab, zombCol.collider.transform.position, zombCol.collider.transform.rotation, transform);
}
/// <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>
/// 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)
{
print($"Scored {score} on {gameObject.name}");
//Give Agent Rewards
m_AgentGroup.AddGroupReward(score);
// m_AgentGroup.EndGroupEpisode();
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
ResetScene();
}
public void ZombieTouchedBlock()
{
//Give Agents Penalties
m_AgentGroup.AddGroupReward(-1);
// m_AgentGroup.EndGroupEpisode();
// 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()
{
//Reset counter
m_ResetTimer = 0;
//Random platform rot
var rotation = Random.Range(0, 4);
var rotationAngle = rotation * 90f;
transform.Rotate(new Vector3(0f, rotationAngle, 0f));
//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.MyKey.SetActive(false);
item.Agent.IHaveAKey = false;
item.Agent.gameObject.SetActive(true);
}
//Reset Blocks
LockedBlock.transform.position = GetRandomSpawnPos();
LockedBlock.transform.rotation = GetRandomRot();
LockTheBlock();
//Reset Key
Key.SetActive(false);
//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);
}
m_AgentGroup.EndGroupEpisode();
}
// void ResetScene()
// {
// m_ResetTimer = 0;
//
// //Random platform rot
// var rotation = Random.Range(0, 4);
// var rotationAngle = rotation * 90f;
// 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);
// // BlockIsLocked(item, 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;
// }
}

234
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs


using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using UnityEngine;
public class PushBlockEnvController : MonoBehaviour
{
[System.Serializable]
public class PlayerInfo
{
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;
/// <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;
//List of Agents On Platform
public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
//List of Blocks On Platform
public List<BlockInfo> BlocksList = new List<BlockInfo>();
public bool UseRandomAgentRotation = true;
public bool UseRandomAgentPosition = true;
public bool UseRandomBlockRotation = true;
public bool UseRandomBlockPosition = true;
private PushBlockSettings m_PushBlockSettings;
private int m_NumberOfRemainingBlocks;
private SimpleMultiAgentGroup m_AgentGroup;
private int m_ResetTimer;
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>();
// Initialize Blocks
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_AgentGroup = new SimpleMultiAgentGroup();
foreach (var item in AgentsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Rb = item.Agent.GetComponent<Rigidbody>();
m_AgentGroup.RegisterAgent(item.Agent);
}
ResetScene();
}
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
{
m_AgentGroup.GroupEpisodeInterrupted();
ResetScene();
}
//Hurry Up Penalty
m_AgentGroup.AddGroupReward(-0.5f / MaxEnvironmentSteps);
}
/// <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(1.5f, 0.01f, 1.5f)) == 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)
{
print($"Scored {score} on {gameObject.name}");
//Decrement the counter
m_NumberOfRemainingBlocks--;
//Are we done?
bool done = m_NumberOfRemainingBlocks == 0;
//Disable the block
col.gameObject.SetActive(false);
//Give Agent Rewards
m_AgentGroup.AddGroupReward(score);
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
if (done)
{
//Reset assets
m_AgentGroup.EndGroupEpisode();
ResetScene();
}
}
Quaternion GetRandomRot()
{
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
}
public void ResetScene()
{
m_ResetTimer = 0;
//Random platform rotation
var rotation = Random.Range(0, 4);
var rotationAngle = rotation * 90f;
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
//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;
}
}

60
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Events;
public class DoorSwitchTrigger : MonoBehaviour
{
[Header("Trigger Collider Tag To Detect")]
public string tagToDetect = "agent"; //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()
{
}
}

11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs.meta


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142
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs


//Put this script on your blue cube.
using System.Collections;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
public class PushAgentZombie : Agent
{
public GameObject MyKey;
public bool IHaveAKey;
private PushBlockSettings m_PushBlockSettings;
private Rigidbody m_AgentRb; //cached on initialization
private ZombiePushBlockDeathEnvController m_GameController;
public override void Initialize()
{
m_GameController = GetComponentInParent<ZombiePushBlockDeathEnvController>();
m_AgentRb = GetComponent<Rigidbody>();
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void OnEpisodeBegin()
{
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void CollectObservations(VectorSensor sensor)
{
// if (useVectorObs)
// {
sensor.AddObservation(IHaveAKey);
// sensor.AddObservation(m_GameController.PlayerDict[this].HoldingSwitch);
// sensor.AddObservation(m_GameController.PlayerDict[this].Scored);
// }
}
/// <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);
}
/// <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);
}
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag("lock"))
{
if (IHaveAKey)
{
m_GameController.UnlockBlock(col.transform);
MyKey.SetActive(false);
IHaveAKey = false;
}
}
if (col.transform.CompareTag("zombie"))
{
m_GameController.KilledByZombie(this, col);
MyKey.SetActive(false);
IHaveAKey = false;
}
}
void OnTriggerEnter(Collider col)
{
//if we find a key and it's parent is the main platform we can pick it up
// if (col.transform.CompareTag("key"))
if (col.transform.CompareTag("key") && col.transform.parent == transform.parent && gameObject.activeInHierarchy)
{
print("picked up key");
MyKey.SetActive(true);
IHaveAKey = true;
col.gameObject.SetActive(false);
// DestroyImmediate(col.gameObject);
}
}
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;
}
}
}

12
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs.meta


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92
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs


//Put this script on your blue cube.
using System.Collections;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
public class PushAgentCollab : Agent
{
private PushBlockSettings m_PushBlockSettings;
private Rigidbody m_AgentRb; //cached on initialization
void Awake()
{
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
}
public override void Initialize()
{
// Cache the agent rb
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);
}
/// <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);
}
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;
}
}
}

8
Project/Assets/ML-Agents/Examples/Arena-Sequence.meta


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1001
Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos-10499984.onnx
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