Unity 机器学习代理工具包 (ML-Agents) 是一个开源项目,它使游戏和模拟能够作为训练智能代理的环境。
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133 行
4.8 KiB

using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
public class ReacherAgent : Agent
{
public GameObject pendulumA;
public GameObject pendulumB;
public GameObject hand;
public GameObject goal;
float m_GoalDegree;
Rigidbody m_RbA;
Rigidbody m_RbB;
// speed of the goal zone around the arm (in radians)
float m_GoalSpeed;
// radius of the goal zone
float m_GoalSize;
// Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension
float m_Deviation;
// Frequency of the cosine deviation of the goal along the vertical dimension
float m_DeviationFreq;
EnvironmentParameters m_ResetParams;
/// <summary>
/// Collect the rigidbodies of the reacher in order to resue them for
/// observations and actions.
/// </summary>
public override void Initialize()
{
m_RbA = pendulumA.GetComponent<Rigidbody>();
m_RbB = pendulumB.GetComponent<Rigidbody>();
m_ResetParams = Academy.Instance.EnvironmentParameters;
SetResetParameters();
}
/// <summary>
/// We collect the normalized rotations, angularal velocities, and velocities of both
/// limbs of the reacher as well as the relative position of the target and hand.
/// </summary>
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(pendulumA.transform.localPosition);
sensor.AddObservation(pendulumA.transform.rotation);
sensor.AddObservation(m_RbA.angularVelocity);
sensor.AddObservation(m_RbA.velocity);
sensor.AddObservation(pendulumB.transform.localPosition);
sensor.AddObservation(pendulumB.transform.rotation);
sensor.AddObservation(m_RbB.angularVelocity);
sensor.AddObservation(m_RbB.velocity);
sensor.AddObservation(goal.transform.localPosition);
sensor.AddObservation(hand.transform.localPosition);
sensor.AddObservation(m_GoalSpeed);
}
/// <summary>
/// The agent's four actions correspond to torques on each of the two joints.
/// </summary>
public override void OnActionReceived(float[] vectorAction)
{
m_GoalDegree += m_GoalSpeed;
UpdateGoalPosition();
var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * 150f;
var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * 150f;
m_RbA.AddTorque(new Vector3(torqueX, 0f, torqueZ));
torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * 150f;
torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * 150f;
m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ));
AddReward( - 0.001f * (vectorAction[0] * vectorAction[0]
+ vectorAction[1] * vectorAction[1]
+ vectorAction[2] * vectorAction[2]
+ vectorAction[3] * vectorAction[3]
));
}
/// <summary>
/// Used to move the position of the target goal around the agent.
/// </summary>
void UpdateGoalPosition()
{
if ((goal.transform.position - hand.transform.position).magnitude > 3.5f)
{
AddReward(-0.002f);
}
// AddReward( - 0.001f * (goal.transform.position - hand.transform.position).magnitude);
// Debug.Log((goal.transform.position - hand.transform.position).magnitude);
var radians = m_GoalDegree * Mathf.PI / 180f;
var goalX = 8f * Mathf.Cos(radians);
var goalY = 8f * Mathf.Sin(radians);
var goalZ = m_Deviation * Mathf.Cos(m_DeviationFreq * radians);
goal.transform.position = new Vector3(goalY, goalZ, goalX) + transform.position;
}
/// <summary>
/// Resets the position and velocity of the agent and the goal.
/// </summary>
public override void OnEpisodeBegin()
{
pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
m_RbA.velocity = Vector3.zero;
m_RbA.angularVelocity = Vector3.zero;
pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
m_RbB.velocity = Vector3.zero;
m_RbB.angularVelocity = Vector3.zero;
m_GoalDegree = Random.Range(0, 360);
UpdateGoalPosition();
SetResetParameters();
goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize);
}
public void SetResetParameters()
{
m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
}
}