clean up config

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+  agentRunSpeed: 20
+  agentRunInAirSpeed: 10
+  agentIdleDragVelCoeff: 0.9
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+  agentFallingSpeed: 50
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     width: 80
     height: 80
   resetParameters:
     m_ResetParameters:
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-      value: 8
+      value: 8.5
-      value: 8
-  agentRunSpeed: 3
-  agentJumpHeight: 2.75
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UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAcademy.cs

 public class WallJumpAcademy : Academy
 {
     [Header("Specific to WallJump")]
-    public float agentRunSpeed;
-    public float agentJumpHeight;
-
-    [HideInInspector]
-    //use ~3 to make things less floaty
-    public float gravityMultiplier = 2.5f;
-    [HideInInspector]
-    public float agentJumpVelocity = 777;
-    [HideInInspector]
-    public float agentJumpVelocityMaxChange = 10;
-
-    // Use this for initialization
-    public override void InitializeAcademy()
-    {
-        Physics.gravity *= gravityMultiplier;
-    }
 }

UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs

 using UnityEngine;
 using MLAgents;
 
+[RequireComponent(typeof(AgentCubeGroundCheck))] // Required for groundcheck
 public class WallJumpAgent : Agent
 {
     // Depending on this value, the wall will have different height
 
     public GameObject ground;
     public GameObject spawnArea;
-    Bounds m_SpawnAreaBounds;
-
-
-    public GameObject goal;
+    Bounds m_SpawnAreaBounds;
     Rigidbody m_ShortBlockRb;
     Rigidbody m_AgentRb;
     Material m_GroundMaterial;
+    string[] m_DetectableObjects;
-    public float jumpingTime;
-    public float jumpTime;
-    // This is a downward force applied when falling to make jumps look
-    // less floaty
-    public float fallingForce;
-    // Use to check the coliding objects
-    public Collider[] hitGroundColliders = new Collider[3];
-    Vector3 m_JumpTargetPos;
-    Vector3 m_JumpStartingPos;
-
-    string[] m_DetectableObjects;
+    //Groundcheck
+    AgentCubeGroundCheck m_groundCheck;
+    AgentCubeMovement m_agentMovement;
+        m_groundCheck = GetComponent<AgentCubeGroundCheck>();
+        m_agentMovement = FindObjectOfType<AgentCubeMovement>();
-
-
-    // Begin the jump sequence
-    public void Jump()
-    {
-        jumpingTime = 0.2f;
-        m_JumpStartingPos = m_AgentRb.position;
-    }
-
-    /// <summary>
-    /// Does the ground check.
-    /// </summary>
-    /// <returns><c>true</c>, if the agent is on the ground,
-    /// <c>false</c> otherwise.</returns>
-    /// <param name="smallCheck"></param>
-    public bool DoGroundCheck(bool smallCheck)
-    {
-        if (!smallCheck)
-        {
-            hitGroundColliders = new Collider[3];
-            var o = gameObject;
-            Physics.OverlapBoxNonAlloc(
-                o.transform.position + new Vector3(0, -0.05f, 0),
-                new Vector3(0.95f / 2f, 0.5f, 0.95f / 2f),
-                hitGroundColliders,
-                o.transform.rotation);
-            var grounded = false;
-            foreach (var col in hitGroundColliders)
-            {
-                if (col != null && col.transform != transform &&
-                    (col.CompareTag("walkableSurface") ||
-                     col.CompareTag("block") ||
-                     col.CompareTag("wall")))
-                {
-                    grounded = true; //then we're grounded
-                    break;
-                }
-            }
-            return grounded;
-        }
-        else
-        {
-            RaycastHit hit;
-            Physics.Raycast(transform.position + new Vector3(0, -0.05f, 0), -Vector3.up, out hit,
-                1f);
-
-            if (hit.collider != null &&
-                (hit.collider.CompareTag("walkableSurface") ||
-                 hit.collider.CompareTag("block") ||
-                 hit.collider.CompareTag("wall"))
-                && hit.normal.y > 0.95f)
-            {
-                return true;
-            }
-
-            return false;
-        }
-    }
-
-    /// <summary>
-    /// Moves  a rigidbody towards a position smoothly.
-    /// </summary>
-    /// <param name="targetPos">Target position.</param>
-    /// <param name="rb">The rigidbody to be moved.</param>
-    /// <param name="targetVel">The velocity to target during the
-    ///  motion.</param>
-    /// <param name="maxVel">The maximum velocity posible.</param>
-    void MoveTowards(
-        Vector3 targetPos, Rigidbody rb, float targetVel, float maxVel)
-    {
-        var moveToPos = targetPos - rb.worldCenterOfMass;
-        var velocityTarget = Time.fixedDeltaTime * targetVel * moveToPos;
-        if (float.IsNaN(velocityTarget.x) == false)
-        {
-            rb.velocity = Vector3.MoveTowards(
-                rb.velocity, velocityTarget, maxVel);
-        }
-    }
-
     public override void CollectObservations()
     {
         var rayDistance = 20f;
             rayDistance, rayAngles, m_DetectableObjects, 2.5f, 2.5f));
         var agentPos = m_AgentRb.position - ground.transform.position;
 
-        AddVectorObs(agentPos / 20f);
-        AddVectorObs(DoGroundCheck(true) ? 1 : 0);
+        AddVectorObs(agentPos / 20f); //help with orientation
+        AddVectorObs(m_groundCheck.isGrounded);
+        AddVectorObs(m_AgentRb.velocity/m_agentMovement.agentRunSpeed); //normalized vel
+        AddVectorObs(m_AgentRb.angularVelocity/m_AgentRb.maxAngularVelocity); //normalized angVel
+        AddVectorObs(m_AgentRb.transform.forward); //help with orientation
     }
 
     /// <summary>
     }
 
     /// <summary>
-    /// Chenges the color of the ground for a moment
+    /// Changes the color of the ground for a moment
     /// </summary>
     /// <returns>The Enumerator to be used in a Coroutine</returns>
     /// <param name="mat">The material to be swaped.</param>
         m_GroundRenderer.material = mat;
-        yield return new WaitForSeconds(time); //wait for 2 sec
+        yield return new WaitForSeconds(time);
-        AddReward(-0.0005f);
-        var smallGrounded = DoGroundCheck(true);
-        var largeGrounded = DoGroundCheck(false);
+        AddReward(-0.0005f); //hurry up
-        var dirToGoSideAction = (int)act[2];
-        var jumpAction = (int)act[3];
-
+        var jumpAction = (int)act[2];
-            dirToGo = (largeGrounded ? 1f : 0.5f) * 1f * transform.forward;
+            dirToGo += transform.forward;
-            dirToGo = (largeGrounded ? 1f : 0.5f) * -1f * transform.forward;
+            dirToGo += -transform.forward;
-            rotateDir = transform.up * -1f;
+            rotateDir = -transform.up ;
-            rotateDir = transform.up * 1f;
-        if (dirToGoSideAction == 1)
-            dirToGo = (largeGrounded ? 1f : 0.5f) * -0.6f * transform.right;
-        else if (dirToGoSideAction == 2)
-            dirToGo = (largeGrounded ? 1f : 0.5f) * 0.6f * transform.right;
+            rotateDir = transform.up;
+        
+        //handle jumping
-            if ((jumpingTime <= 0f) && smallGrounded)
+        {
+            if (m_groundCheck.isGrounded)
-                Jump();
+                m_agentMovement.Jump(m_AgentRb);
+        }
-        transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
-        m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
-            ForceMode.VelocityChange);
+        //handle body rotation
+        if (rotateDir != Vector3.zero)
+        {
+            m_agentMovement.RotateBody(m_AgentRb, rotateDir);
+        }
-        if (jumpingTime > 0f)
+        //handle running        
+        if (dirToGo != Vector3.zero)
-            m_JumpTargetPos =
-                new Vector3(m_AgentRb.position.x,
-                    m_JumpStartingPos.y + m_Academy.agentJumpHeight,
-                    m_AgentRb.position.z) + dirToGo;
-            MoveTowards(m_JumpTargetPos, m_AgentRb, m_Academy.agentJumpVelocity,
-                m_Academy.agentJumpVelocityMaxChange);
+            if (!m_groundCheck.isGrounded)
+            {
+                m_agentMovement.RunInAir(m_AgentRb, dirToGo.normalized);
+            }
+            else
+            {
+                m_agentMovement.RunOnGround(m_AgentRb, dirToGo.normalized);
+            }
+        }
+        
+        //handle idle drag
+        if (m_groundCheck.isGrounded && dirToGo == Vector3.zero)
+        {
+            m_agentMovement.AddIdleDrag(m_AgentRb);
-        if (!(jumpingTime > 0f) && !largeGrounded)
+        //handle falling forces
+        if (!m_groundCheck.isGrounded)
-            m_AgentRb.AddForce(
-                Vector3.down * fallingForce, ForceMode.Acceleration);
+            m_agentMovement.AddFallingForce(m_AgentRb);
-        jumpingTime -= Time.fixedDeltaTime;
-        if ((!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
-            || (!Physics.Raycast(m_ShortBlockRb.position, Vector3.down, 20)))
+        if(m_AgentRb.position.y < -1 || m_ShortBlockRb.position.y < -1)
-            Done();
+            Done();
         }
     }
 
-        if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
+        if (col.gameObject.CompareTag("goal") && m_groundCheck.isGrounded)
-            Done();
+            ResetBlock(m_ShortBlockRb);
-                GoalScoredSwapGroundMaterial(m_Academy.goalScoredMaterial, 2));
+                GoalScoredSwapGroundMaterial(m_Academy.goalScoredMaterial, .5f));
+            Done();
         }
     }
 
         transform.localPosition = new Vector3(
             18 * (Random.value - 0.5f), 1, -12);
         m_Configuration = Random.Range(0, 5);
-        m_AgentRb.velocity = default(Vector3);
+        m_AgentRb.velocity = Vector3.zero;
     }
 
     private void FixedUpdate()

UnitySDK/Assets/ML-Agents/Examples/WallJump/TFModels/BigWallJumpLearning.nn.meta

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UnitySDK/Assets/ML-Agents/Examples/WallJump/TFModels/SmallWallJumpLearning.nn.meta

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config/trainer_config.yaml

     num_layers: 2
 
 SmallWallJumpLearning:
-    max_steps: 1.0e6
+    max_steps: 2.0e5
     batch_size: 128
     buffer_size: 2048
     beta: 5.0e-3
     normalize: false
 
 BigWallJumpLearning:
-    max_steps: 1.0e6
-    batch_size: 128
-    buffer_size: 2048
-    beta: 5.0e-3
-    hidden_units: 256
-    summary_freq: 2000
-    time_horizon: 128
+    normalize: true
+    num_epoch: 8
+    time_horizon: 1000
+    batch_size: 512
+    buffer_size: 4096
+    max_steps: 2e6
+    summary_freq: 3000
-    normalize: false
+    hidden_units: 128
+    reward_signals:
+        extrinsic:
+            strength: 1.0
+            gamma: 0.99
+        curiosity:
+            strength: 0.02
+            gamma: 0.99
+            encoding_size: 256
 
 StrikerLearning:
     max_steps: 5.0e5

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeGroundCheck.cs.meta

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UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs.meta

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+timeCreated: 1571951124

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeGroundCheck.cs

+//Standardized ground check for the Agent Cube
+using UnityEngine;
+
+namespace MLAgents
+{
+
+    /// <summary>
+    /// Perform Groundcheck using a Physics OverlapBox
+    /// </summary>
+    [DisallowMultipleComponent]
+    public class AgentCubeGroundCheck : MonoBehaviour
+    {
+        public bool debugDrawGizmos;
+        public Collider[] hitGroundColliders = new Collider[3];
+        public Vector3 groundCheckBoxLocalPos = new Vector3(0,-0.52f, 0);
+        public Vector3 groundCheckBoxSize = new Vector3(0.99f, 0.02f, 0.99f);
+        public bool isGrounded;
+        public float ungroundedTime; //amount of time agent hasn't been grounded
+        public float groundedTime; //amount of time agent has been grounded
+
+        void FixedUpdate()
+        {
+            DoGroundCheck();
+            if(!isGrounded)
+            {
+                ungroundedTime += Time.deltaTime;
+                groundedTime = 0;
+            }
+            else
+            {
+                groundedTime += Time.deltaTime;
+                ungroundedTime = 0;
+            }
+        }
+
+        /// <summary>
+        /// Does the ground check.
+        /// </summary>
+        /// <returns><c>true</c>, if the agent is on the ground,
+        /// <c>false</c> otherwise.</returns>
+        /// <param name="smallCheck"></param>
+        public void DoGroundCheck()
+        {
+            isGrounded = false;
+            if(Physics.OverlapBoxNonAlloc(
+                transform.TransformPoint(groundCheckBoxLocalPos),
+                groundCheckBoxSize/2,
+                hitGroundColliders,
+                transform.rotation) > 0)
+                {
+                    foreach (var col in hitGroundColliders)
+                    {
+                        if (col != null && col.transform != transform &&
+                            (col.CompareTag("walkableSurface") ||
+                                col.CompareTag("block")))
+                        {
+                            isGrounded = true; //then we're grounded
+                            break;
+                        }
+                    }
+                }
+            //empty the array
+            for (int i = 0; i < hitGroundColliders.Length; i++)
+            {
+                hitGroundColliders[i] = null;
+            }
+        }
+
+        //Draw the Box Overlap as a gizmo to show where it currently is testing.
+        void OnDrawGizmos()
+        {
+            if (debugDrawGizmos)
+            {
+                Gizmos.color = Color.red;
+                Gizmos.matrix = transform.localToWorldMatrix;
+                Gizmos.DrawWireCube(groundCheckBoxLocalPos, groundCheckBoxSize);
+            }
+        }
+    }
+}

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs

+//Standardized movement controller for the Agent Cube
+using UnityEngine;
+
+namespace MLAgents
+{
+    public class AgentCubeMovement : MonoBehaviour
+    {
+        [Header("RUNNING")] public ForceMode runningForceMode = ForceMode.Impulse;
+        //speed agent can run if grounded
+        public float agentRunSpeed = 20; 
+        //speed agent can run if not grounded
+        public float agentRunInAirSpeed = 10f; 
+        
+        [Header("IDLE")]
+        //coefficient used to dampen velocity when idle
+        //the purpose of this is to fine tune agent drag
+        //...and prevent the agent sliding around while grounded
+        //0 means it will instantly stop when grounded
+        //1 means no drag will be applied
+        public float agentIdleDragVelCoeff = .85f; 
+        
+        [Header("BODY ROTATION")]
+        //body rotation speed
+        public float agentRotationSpeed = 7f;
+
+        [Header("JUMPING")]
+        //upward jump velocity magnitude 
+        public float agentJumpVelocity = 15f;
+
+        [Header("FALLING FORCE")]
+        //force applied to agent while falling
+        public float agentFallingSpeed = 50f;
+
+        public void Jump(Rigidbody rb)
+        {
+            Vector3 velToUse = rb.velocity;
+            velToUse.y = agentJumpVelocity;
+            rb.velocity = velToUse;
+        }
+        
+        public void RotateBody(Rigidbody rb, Vector3 rotationAxis)
+        {
+            rb.MoveRotation(rb.rotation * Quaternion.AngleAxis(agentRotationSpeed, rotationAxis));
+        }
+
+        public void RunOnGround(Rigidbody rb, Vector3 dir)
+        {
+            var vel = rb.velocity.magnitude;
+            float adjustedSpeed = Mathf.Clamp(agentRunSpeed - vel, 0, agentRunSpeed);
+            rb.AddForce(dir.normalized * adjustedSpeed,
+                runningForceMode); 
+        }
+        
+        public void RunInAir(Rigidbody rb, Vector3 dir)
+        {
+            var vel = rb.velocity.magnitude;
+            float adjustedSpeed = Mathf.Clamp(agentRunInAirSpeed - vel, 0, agentRunInAirSpeed);
+            rb.AddForce(dir.normalized * adjustedSpeed,
+                runningForceMode); 
+        }
+
+        public void AddIdleDrag(Rigidbody rb)
+        {
+            rb.velocity *= agentIdleDragVelCoeff;
+        }
+        
+        public void AddFallingForce(Rigidbody rb)
+        {
+            rb.AddForce(
+                Vector3.down * agentFallingSpeed, ForceMode.Acceleration);
+        }
+    }
+    
+}

UnitySDK/csharp_timers.json

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csharp_timers.json

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