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