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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329 行
11 KiB

//Put this script on your blue cube.
using System.Collections;
using UnityEngine;
using MLAgents;
public class WallJumpAgent : Agent
{
// Depending on this value, the wall will have different height
int m_Configuration;
// Brain to use when no wall is present
public Brain noWallBrain;
// Brain to use when a jumpable wall is present
public Brain smallWallBrain;
// Brain to use when a wall requiring a block to jump over is present
public Brain bigWallBrain;
public GameObject ground;
public GameObject spawnArea;
Bounds m_SpawnAreaBounds;
public GameObject goal;
public GameObject shortBlock;
public GameObject wall;
Rigidbody m_ShortBlockRb;
Rigidbody m_AgentRb;
Material m_GroundMaterial;
Renderer m_GroundRenderer;
WallJumpAcademy m_Academy;
RayPerception m_RayPer;
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;
public override void InitializeAgent()
{
m_Academy = FindObjectOfType<WallJumpAcademy>();
m_RayPer = GetComponent<RayPerception>();
m_Configuration = Random.Range(0, 5);
m_DetectableObjects = new[] { "wall", "goal", "block" };
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;
spawnArea.SetActive(false);
}
// 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;
float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
AddVectorObs(m_RayPer.Perceive(
rayDistance, rayAngles, m_DetectableObjects, 0f, 0f));
AddVectorObs(m_RayPer.Perceive(
rayDistance, rayAngles, m_DetectableObjects, 2.5f, 2.5f));
var agentPos = m_AgentRb.position - ground.transform.position;
AddVectorObs(agentPos / 20f);
AddVectorObs(DoGroundCheck(true) ? 1 : 0);
}
/// <summary>
/// Gets a random spawn position in the spawningArea.
/// </summary>
/// <returns>The random spawn position.</returns>
public Vector3 GetRandomSpawnPos()
{
var randomPosX = Random.Range(-m_SpawnAreaBounds.extents.x,
m_SpawnAreaBounds.extents.x);
var randomPosZ = Random.Range(-m_SpawnAreaBounds.extents.z,
m_SpawnAreaBounds.extents.z);
var randomSpawnPos = spawnArea.transform.position +
new Vector3(randomPosX, 0.45f, randomPosZ);
return randomSpawnPos;
}
/// <summary>
/// Chenges 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>
/// <param name="time">The time the material will remain.</param>
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 MoveAgent(float[] act)
{
AddReward(-0.0005f);
var smallGrounded = DoGroundCheck(true);
var largeGrounded = DoGroundCheck(false);
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var dirToGoForwardAction = (int)act[0];
var rotateDirAction = (int)act[1];
var dirToGoSideAction = (int)act[2];
var jumpAction = (int)act[3];
if (dirToGoForwardAction == 1)
dirToGo = (largeGrounded ? 1f : 0.5f) * 1f * transform.forward;
else if (dirToGoForwardAction == 2)
dirToGo = (largeGrounded ? 1f : 0.5f) * -1f * transform.forward;
if (rotateDirAction == 1)
rotateDir = transform.up * -1f;
else if (rotateDirAction == 2)
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;
if (jumpAction == 1)
if ((jumpingTime <= 0f) && smallGrounded)
{
Jump();
}
transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
ForceMode.VelocityChange);
if (jumpingTime > 0f)
{
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 (!(jumpingTime > 0f) && !largeGrounded)
{
m_AgentRb.AddForce(
Vector3.down * fallingForce, ForceMode.Acceleration);
}
jumpingTime -= Time.fixedDeltaTime;
}
public override void AgentAction(float[] vectorAction, string textAction)
{
MoveAgent(vectorAction);
if ((!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
|| (!Physics.Raycast(m_ShortBlockRb.position, Vector3.down, 20)))
{
Done();
SetReward(-1f);
ResetBlock(m_ShortBlockRb);
StartCoroutine(
GoalScoredSwapGroundMaterial(m_Academy.failMaterial, .5f));
}
}
// Detect when the agent hits the goal
void OnTriggerStay(Collider col)
{
if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
{
SetReward(1f);
Done();
StartCoroutine(
GoalScoredSwapGroundMaterial(m_Academy.goalScoredMaterial, 2));
}
}
//Reset the orange block position
void ResetBlock(Rigidbody blockRb)
{
blockRb.transform.position = GetRandomSpawnPos();
blockRb.velocity = Vector3.zero;
blockRb.angularVelocity = Vector3.zero;
}
public override void AgentReset()
{
ResetBlock(m_ShortBlockRb);
transform.localPosition = new Vector3(
18 * (Random.value - 0.5f), 1, -12);
m_Configuration = Random.Range(0, 5);
m_AgentRb.velocity = default(Vector3);
}
private void FixedUpdate()
{
if (m_Configuration != -1)
{
ConfigureAgent(m_Configuration);
m_Configuration = -1;
}
}
/// <summary>
/// Configures the agent. Given an integer config, the wall will have
/// different height and a different brain will be assigned to the agent.
/// </summary>
/// <param name="config">Config.
/// If 0 : No wall and noWallBrain.
/// If 1: Small wall and smallWallBrain.
/// Other : Tall wall and BigWallBrain. </param>
void ConfigureAgent(int config)
{
var localScale = wall.transform.localScale;
if (config == 0)
{
localScale = new Vector3(
localScale.x,
m_Academy.resetParameters["no_wall_height"],
localScale.z);
wall.transform.localScale = localScale;
GiveBrain(noWallBrain);
}
else if (config == 1)
{
localScale = new Vector3(
localScale.x,
m_Academy.resetParameters["small_wall_height"],
localScale.z);
wall.transform.localScale = localScale;
GiveBrain(smallWallBrain);
}
else
{
var height =
m_Academy.resetParameters["big_wall_min_height"] +
Random.value * (m_Academy.resetParameters["big_wall_max_height"] -
m_Academy.resetParameters["big_wall_min_height"]);
localScale = new Vector3(
localScale.x,
height,
localScale.z);
wall.transform.localScale = localScale;
GiveBrain(bigWallBrain);
}
}
}