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172 行
5.2 KiB
172 行
5.2 KiB
using System.Collections.Generic;
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using UnityEngine;
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namespace MLAgents.Sensor
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{
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public class VectorSensor : ISensor
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{
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// TODO use float[] instead
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// TOOD allow setting float[]
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List<float> m_Observations;
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int[] m_Shape;
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string m_Name;
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public VectorSensor(int observationSize, string name = null)
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{
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if (name == null)
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{
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name = $"VectorSensor_size{observationSize}";
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}
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m_Observations = new List<float>(observationSize);
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m_Name = name;
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m_Shape = new[] { observationSize };
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}
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public int Write(WriteAdapter adapter)
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{
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var expectedObservations = m_Shape[0];
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if (m_Observations.Count > expectedObservations)
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{
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// Too many observations, truncate
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Debug.LogWarningFormat(
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"More observations ({0}) made than vector observation size ({1}). The observations will be truncated.",
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m_Observations.Count, expectedObservations
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);
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m_Observations.RemoveRange(expectedObservations, m_Observations.Count - expectedObservations);
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}
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else if (m_Observations.Count < expectedObservations)
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{
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// Not enough observations; pad with zeros.
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Debug.LogWarningFormat(
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"Fewer observations ({0}) made than vector observation size ({1}). The observations will be padded.",
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m_Observations.Count, expectedObservations
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);
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for (int i = m_Observations.Count; i < expectedObservations; i++)
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{
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m_Observations.Add(0);
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}
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}
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adapter.AddRange(m_Observations);
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return expectedObservations;
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}
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public void Update()
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{
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Clear();
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}
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public int[] GetFloatObservationShape()
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{
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return m_Shape;
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}
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public string GetName()
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{
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return m_Name;
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}
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public virtual byte[] GetCompressedObservation()
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{
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return null;
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}
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public virtual SensorCompressionType GetCompressionType()
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{
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return SensorCompressionType.None;
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}
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void Clear()
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{
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m_Observations.Clear();
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}
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void AddFloatObs(float obs)
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{
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m_Observations.Add(obs);
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}
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// Compatibility methods with Agent observation. These should be removed eventually.
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/// <summary>
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/// Adds a float observation to the vector observations of the agent.
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/// </summary>
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/// <param name="observation">Observation.</param>
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public void AddObservation(float observation)
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{
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AddFloatObs(observation);
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}
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/// <summary>
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/// Adds an integer observation to the vector observations of the agent.
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/// </summary>
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/// <param name="observation">Observation.</param>
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public void AddObservation(int observation)
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{
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AddFloatObs(observation);
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}
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/// <summary>
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/// Adds an Vector3 observation to the vector observations of the agent.
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/// </summary>
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/// <param name="observation">Observation.</param>
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public void AddObservation(Vector3 observation)
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{
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AddFloatObs(observation.x);
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AddFloatObs(observation.y);
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AddFloatObs(observation.z);
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}
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/// <summary>
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/// Adds an Vector2 observation to the vector observations of the agent.
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/// </summary>
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/// <param name="observation">Observation.</param>
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public void AddObservation(Vector2 observation)
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{
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AddFloatObs(observation.x);
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AddFloatObs(observation.y);
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}
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/// <summary>
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/// Adds a collection of float observations to the vector observations of the agent.
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/// </summary>
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/// <param name="observation">Observation.</param>
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public void AddObservation(IEnumerable<float> observation)
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{
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foreach (var f in observation)
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{
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AddFloatObs(f);
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}
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}
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/// <summary>
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/// Adds a quaternion observation to the vector observations of the agent.
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/// </summary>
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/// <param name="observation">Observation.</param>
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public void AddObservation(Quaternion observation)
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{
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AddFloatObs(observation.x);
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AddFloatObs(observation.y);
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AddFloatObs(observation.z);
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AddFloatObs(observation.w);
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}
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/// <summary>
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/// Adds a boolean observation to the vector observation of the agent.
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/// </summary>
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/// <param name="observation"></param>
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public void AddObservation(bool observation)
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{
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AddFloatObs(observation ? 1f : 0f);
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}
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public void AddOneHotObservation(int observation, int range)
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{
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for (var i = 0; i < range; i++)
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{
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AddFloatObs(i == observation ? 1.0f : 0.0f);
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}
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}
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}
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}
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