您最多选择25个主题
主题必须以中文或者字母或数字开头，可以包含连字符 (-)，并且长度不得超过35个字符
1181 行
44 KiB
1181 行
44 KiB
using System.Collections.Generic;
|
|
using Google.Protobuf;
|
|
using MLAgents.CommunicatorObjects;
|
|
using UnityEngine;
|
|
|
|
|
|
namespace MLAgents
|
|
{
|
|
/// <summary>
|
|
/// Struct that contains all the information for an Agent, including its
|
|
/// observations, actions and current status, that is sent to the Brain.
|
|
/// </summary>
|
|
public struct AgentInfo
|
|
{
|
|
/// <summary>
|
|
/// Most recent agent vector (i.e. numeric) observation.
|
|
/// </summary>
|
|
public List<float> vectorObservation;
|
|
|
|
/// <summary>
|
|
/// The previous agent vector observations, stacked. The length of the
|
|
/// history (i.e. number of vector observations to stack) is specified
|
|
/// in the Brain parameters.
|
|
/// </summary>
|
|
public List<float> stackedVectorObservation;
|
|
|
|
/// <summary>
|
|
/// Most recent agent camera (i.e. texture) observation.
|
|
/// </summary>
|
|
public List<Texture2D> visualObservations;
|
|
|
|
/// <summary>
|
|
/// Most recent text observation.
|
|
/// </summary>
|
|
public string textObservation;
|
|
|
|
/// <summary>
|
|
/// Keeps track of the last vector action taken by the Brain.
|
|
/// </summary>
|
|
public float[] storedVectorActions;
|
|
|
|
/// <summary>
|
|
/// Keeps track of the last text action taken by the Brain.
|
|
/// </summary>
|
|
public string storedTextActions;
|
|
|
|
/// <summary>
|
|
/// For discrete control, specifies the actions that the agent cannot take. Is true if
|
|
/// the action is masked.
|
|
/// </summary>
|
|
public bool[] actionMasks;
|
|
|
|
/// <summary>
|
|
/// Used by the Trainer to store information about the agent. This data
|
|
/// structure is not consumed or modified by the agent directly, they are
|
|
/// just the owners of their trainier's memory. Currently, however, the
|
|
/// size of the memory is in the Brain properties.
|
|
/// </summary>
|
|
public List<float> memories;
|
|
|
|
/// <summary>
|
|
/// Current agent reward.
|
|
/// </summary>
|
|
public float reward;
|
|
|
|
/// <summary>
|
|
/// Whether the agent is done or not.
|
|
/// </summary>
|
|
public bool done;
|
|
|
|
/// <summary>
|
|
/// Whether the agent has reached its max step count for this episode.
|
|
/// </summary>
|
|
public bool maxStepReached;
|
|
|
|
/// <summary>
|
|
/// Unique identifier each agent receives at initialization. It is used
|
|
/// to separate between different agents in the environment.
|
|
/// </summary>
|
|
public int id;
|
|
|
|
/// <summary>
|
|
/// User-customizable object for sending structured output from Unity to Python in response
|
|
/// to an action in addition to a scalar reward.
|
|
/// </summary>
|
|
public CustomObservation customObservation;
|
|
|
|
/// <summary>
|
|
/// Converts a AgentInfo to a protobuffer generated AgentInfoProto
|
|
/// </summary>
|
|
/// <returns>The protobuf version of the AgentInfo.</returns>
|
|
public AgentInfoProto ToProto()
|
|
{
|
|
var agentInfoProto = new AgentInfoProto
|
|
{
|
|
StackedVectorObservation = { stackedVectorObservation },
|
|
StoredVectorActions = { storedVectorActions },
|
|
StoredTextActions = storedTextActions,
|
|
TextObservation = textObservation,
|
|
Reward = reward,
|
|
MaxStepReached = maxStepReached,
|
|
Done = done,
|
|
Id = id,
|
|
CustomObservation = customObservation
|
|
};
|
|
if (memories != null)
|
|
{
|
|
agentInfoProto.Memories.Add(memories);
|
|
}
|
|
|
|
if (actionMasks != null)
|
|
{
|
|
agentInfoProto.ActionMask.AddRange(actionMasks);
|
|
}
|
|
|
|
foreach (var obs in visualObservations)
|
|
{
|
|
agentInfoProto.VisualObservations.Add(
|
|
ByteString.CopyFrom(obs.EncodeToPNG())
|
|
);
|
|
}
|
|
return agentInfoProto;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Remove the visual observations from memory. Call at each timestep
|
|
/// to avoid memory leaks.
|
|
/// </summary>
|
|
public void ClearVisualObs()
|
|
{
|
|
foreach (var obs in visualObservations)
|
|
{
|
|
Object.Destroy(obs);
|
|
}
|
|
visualObservations.Clear();
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Struct that contains the action information sent from the Brain to the
|
|
/// Agent.
|
|
/// </summary>
|
|
public struct AgentAction
|
|
{
|
|
public float[] vectorActions;
|
|
public string textActions;
|
|
public List<float> memories;
|
|
public float value;
|
|
public CustomAction customAction;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Struct that contains all the Agent-specific parameters provided in the
|
|
/// Editor. This excludes the Brain linked to the Agent since it can be
|
|
/// modified programmatically.
|
|
/// </summary>
|
|
[System.Serializable]
|
|
public class AgentParameters
|
|
{
|
|
/// <summary>
|
|
/// The list of the Camera GameObjects the agent uses for visual
|
|
/// observations.
|
|
/// </summary>
|
|
public List<Camera> agentCameras = new List<Camera>();
|
|
|
|
/// <summary>
|
|
/// The list of the RenderTextures the agent uses for visual
|
|
/// observations.
|
|
/// </summary>
|
|
public List<RenderTexture> agentRenderTextures = new List<RenderTexture>();
|
|
|
|
|
|
/// <summary>
|
|
/// The maximum number of steps the agent takes before being done.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// If set to 0, the agent can only be set to done programmatically (or
|
|
/// when the Academy is done).
|
|
/// If set to any positive integer, the agent will be set to done after
|
|
/// that many steps. Note that setting the max step to a value greater
|
|
/// than the academy max step value renders it useless.
|
|
/// </remarks>
|
|
public int maxStep;
|
|
|
|
/// <summary>
|
|
/// Determines the behaviour of the agent when done.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// If true, the agent will reset when done and start a new episode.
|
|
/// Otherwise, the agent will remain done and its behavior will be
|
|
/// dictated by the AgentOnDone method.
|
|
/// </remarks>
|
|
public bool resetOnDone = true;
|
|
|
|
/// <summary>
|
|
/// Whether to enable On Demand Decisions or make a decision at
|
|
/// every step.
|
|
/// </summary>
|
|
public bool onDemandDecision;
|
|
|
|
/// <summary>
|
|
/// Number of actions between decisions (used when On Demand Decisions
|
|
/// is turned off).
|
|
/// </summary>
|
|
public int numberOfActionsBetweenDecisions;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Agent Monobehavior class that is attached to a Unity GameObject, making it
|
|
/// an Agent. An agent produces observations and takes actions in the
|
|
/// environment. Observations are determined by the cameras attached
|
|
/// to the agent in addition to the vector observations implemented by the
|
|
/// user in <see cref="CollectObservations"/>. On the other hand, actions
|
|
/// are determined by decisions produced by a linked Brain. Currently, this
|
|
/// class is expected to be extended to implement the desired agent behavior.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// Simply speaking, an agent roams through an environment and at each step
|
|
/// of the environment extracts its current observation, sends them to its
|
|
/// linked brain and in return receives an action from its brain. In practice,
|
|
/// however, an agent need not send its observation at every step since very
|
|
/// little may have changed between sucessive steps. Currently, how often an
|
|
/// agent updates its brain with a fresh observation is determined by the
|
|
/// Academy.
|
|
///
|
|
/// At any step, an agent may be considered <see cref="m_Done"/>.
|
|
/// This could occur due to a variety of reasons:
|
|
/// - The agent reached an end state within its environment.
|
|
/// - The agent reached the maximum # of steps (i.e. timed out).
|
|
/// - The academy reached the maximum # of steps (forced agent to be done).
|
|
///
|
|
/// Here, an agent reaches an end state if it completes its task successfully
|
|
/// or somehow fails along the way. In the case where an agent is done before
|
|
/// the academy, it either resets and restarts, or just lingers until the
|
|
/// academy is done.
|
|
///
|
|
/// An important note regarding steps and episodes is due. Here, an agent step
|
|
/// corresponds to an academy step, which also corresponds to Unity
|
|
/// environment step (i.e. each FixedUpdate call). This is not the case for
|
|
/// episodes. The academy controls the global episode count and each agent
|
|
/// controls its own local episode count and can reset and start a new local
|
|
/// episode independently (based on its own experience). Thus an academy
|
|
/// (global) episode can be viewed as the upper-bound on an agents episode
|
|
/// length and that within a single global episode, an agent may have completed
|
|
/// multiple local episodes. Consequently, if an agent max step is
|
|
/// set to a value larger than the academy max steps value, then the academy
|
|
/// value takes precedence (since the agent max step will never be reached).
|
|
///
|
|
/// Lastly, note that at any step the brain linked to the agent is allowed to
|
|
/// change programmatically with <see cref="GiveBrain"/>.
|
|
///
|
|
/// Implementation-wise, it is required that this class is extended and the
|
|
/// virtual methods overridden. For sample implementations of agent behavior,
|
|
/// see the Examples/ directory within this Unity project.
|
|
/// </remarks>
|
|
[HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/master/" +
|
|
"docs/Learning-Environment-Design-Agents.md")]
|
|
[System.Serializable]
|
|
public abstract class Agent : MonoBehaviour
|
|
{
|
|
/// <summary>
|
|
/// The Brain attached to this agent. A brain can be attached either
|
|
/// directly from the Editor through AgentEditor or
|
|
/// programmatically through <see cref="GiveBrain"/>. It is OK for an agent
|
|
/// to not have a brain, as long as no decision is requested.
|
|
/// </summary>
|
|
[HideInInspector] public Brain brain;
|
|
|
|
/// <summary>
|
|
/// Agent parameters specified within the Editor via AgentEditor.
|
|
/// </summary>
|
|
[HideInInspector] public AgentParameters agentParameters;
|
|
|
|
/// Current Agent information (message sent to Brain).
|
|
AgentInfo m_Info;
|
|
|
|
/// Current Agent action (message sent from Brain).
|
|
AgentAction m_Action;
|
|
|
|
/// Represents the reward the agent accumulated during the current step.
|
|
/// It is reset to 0 at the beginning of every step.
|
|
/// Should be set to a positive value when the agent performs a "good"
|
|
/// action that we wish to reinforce/reward, and set to a negative value
|
|
/// when the agent performs a "bad" action that we wish to punish/deter.
|
|
/// Additionally, the magnitude of the reward should not exceed 1.0
|
|
float m_Reward;
|
|
|
|
/// Keeps track of the cumulative reward in this episode.
|
|
float m_CumulativeReward;
|
|
|
|
/// Whether or not the agent requests an action.
|
|
bool m_RequestAction;
|
|
|
|
/// Whether or not the agent requests a decision.
|
|
bool m_RequestDecision;
|
|
|
|
/// Whether or not the agent has completed the episode. This may be due
|
|
/// to either reaching a success or fail state, or reaching the maximum
|
|
/// number of steps (i.e. timing out).
|
|
bool m_Done;
|
|
|
|
/// Whether or not the agent reached the maximum number of steps.
|
|
bool m_MaxStepReached;
|
|
|
|
/// Keeps track of the number of steps taken by the agent in this episode.
|
|
/// Note that this value is different for each agent, and may not overlap
|
|
/// with the step counter in the Academy, since agents reset based on
|
|
/// their own experience.
|
|
int m_StepCount;
|
|
|
|
/// Flag to signify that an agent has been reset but the fact that it is
|
|
/// done has not been communicated (required for On Demand Decisions).
|
|
bool m_HasAlreadyReset;
|
|
|
|
/// Flag to signify that an agent is done and should not reset until
|
|
/// the fact that it is done has been communicated.
|
|
bool m_Terminate;
|
|
|
|
/// Unique identifier each agent receives at initialization. It is used
|
|
/// to separate between different agents in the environment.
|
|
int m_Id;
|
|
|
|
/// Keeps track of the actions that are masked at each step.
|
|
private ActionMasker m_ActionMasker;
|
|
|
|
/// <summary>
|
|
/// Demonstration recorder.
|
|
/// </summary>
|
|
private DemonstrationRecorder m_Recorder;
|
|
|
|
/// Monobehavior function that is called when the attached GameObject
|
|
/// becomes enabled or active.
|
|
void OnEnable()
|
|
{
|
|
m_Id = gameObject.GetInstanceID();
|
|
var academy = FindObjectOfType<Academy>();
|
|
OnEnableHelper(academy);
|
|
|
|
m_Recorder = GetComponent<DemonstrationRecorder>();
|
|
}
|
|
|
|
/// Helper method for the <see cref="OnEnable"/> event, created to
|
|
/// facilitate testing.
|
|
void OnEnableHelper(Academy academy)
|
|
{
|
|
m_Info = new AgentInfo();
|
|
m_Action = new AgentAction();
|
|
|
|
if (academy == null)
|
|
{
|
|
throw new UnityAgentsException(
|
|
"No Academy Component could be found in the scene.");
|
|
}
|
|
|
|
academy.AgentSetStatus += SetStatus;
|
|
academy.AgentResetIfDone += ResetIfDone;
|
|
academy.AgentSendState += SendInfo;
|
|
academy.AgentAct += AgentStep;
|
|
academy.AgentForceReset += _AgentReset;
|
|
|
|
if (brain != null)
|
|
{
|
|
ResetData();
|
|
}
|
|
else
|
|
{
|
|
Debug.Log(
|
|
string.Format(
|
|
"The Agent component attached to the " +
|
|
"GameObject {0} was initialized without a brain.",
|
|
gameObject.name));
|
|
}
|
|
|
|
InitializeAgent();
|
|
}
|
|
|
|
/// Monobehavior function that is called when the attached GameObject
|
|
/// becomes disabled or inactive.
|
|
void OnDisable()
|
|
{
|
|
var academy = FindObjectOfType<Academy>();
|
|
if (academy != null)
|
|
{
|
|
academy.AgentSetStatus -= SetStatus;
|
|
academy.AgentResetIfDone -= ResetIfDone;
|
|
academy.AgentSendState -= SendInfo;
|
|
academy.AgentAct -= AgentStep;
|
|
academy.AgentForceReset -= ForceReset;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the Brain for the agent. Any brain currently assigned to the
|
|
/// agent will be replaced with the provided one.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// The agent unsubscribes from its current brain (if it has one) and
|
|
/// subscribes to the provided brain. This enables contextual brains, that
|
|
/// is, updating the behaviour (hence brain) of the agent depending on
|
|
/// the context of the game. For example, we may utilize one (wandering)
|
|
/// brain when an agent is randomly exploring an open world, but switch
|
|
/// to another (fighting) brain when it comes into contact with an enemy.
|
|
/// </remarks>
|
|
/// <param name="givenBrain">New brain to subscribe this agent to</param>
|
|
public void GiveBrain(Brain givenBrain)
|
|
{
|
|
brain = givenBrain;
|
|
ResetData();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns the current step counter (within the current epside).
|
|
/// </summary>
|
|
/// <returns>
|
|
/// Current episode number.
|
|
/// </returns>
|
|
public int GetStepCount()
|
|
{
|
|
return m_StepCount;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Resets the step reward and possibly the episode reward for the agent.
|
|
/// </summary>
|
|
public void ResetReward()
|
|
{
|
|
m_Reward = 0f;
|
|
if (m_Done)
|
|
{
|
|
m_CumulativeReward = 0f;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Overrides the current step reward of the agent and updates the episode
|
|
/// reward accordingly.
|
|
/// </summary>
|
|
/// <param name="reward">The new value of the reward.</param>
|
|
public void SetReward(float reward)
|
|
{
|
|
m_CumulativeReward += (reward - m_Reward);
|
|
m_Reward = reward;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Increments the step and episode rewards by the provided value.
|
|
/// </summary>
|
|
/// <param name="increment">Incremental reward value.</param>
|
|
public void AddReward(float increment)
|
|
{
|
|
m_Reward += increment;
|
|
m_CumulativeReward += increment;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Retrieves the step reward for the Agent.
|
|
/// </summary>
|
|
/// <returns>The step reward.</returns>
|
|
public float GetReward()
|
|
{
|
|
return m_Reward;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Retrieves the episode reward for the Agent.
|
|
/// </summary>
|
|
/// <returns>The episode reward.</returns>
|
|
public float GetCumulativeReward()
|
|
{
|
|
return m_CumulativeReward;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sets the done flag to true.
|
|
/// </summary>
|
|
public void Done()
|
|
{
|
|
m_Done = true;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Is called when the agent must request the brain for a new decision.
|
|
/// </summary>
|
|
public void RequestDecision()
|
|
{
|
|
m_RequestDecision = true;
|
|
RequestAction();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Is called then the agent must perform a new action.
|
|
/// </summary>
|
|
public void RequestAction()
|
|
{
|
|
m_RequestAction = true;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Indicates if the agent has reached his maximum number of steps.
|
|
/// </summary>
|
|
/// <returns>
|
|
/// <c>true</c>, if max step reached was reached, <c>false</c> otherwise.
|
|
/// </returns>
|
|
public bool IsMaxStepReached()
|
|
{
|
|
return m_MaxStepReached;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Indicates if the agent is done
|
|
/// </summary>
|
|
/// <returns>
|
|
/// <c>true</c>, if the agent is done, <c>false</c> otherwise.
|
|
/// </returns>
|
|
public bool IsDone()
|
|
{
|
|
return m_Done;
|
|
}
|
|
|
|
/// Helper function that resets all the data structures associated with
|
|
/// the agent. Typically used when the agent is being initialized or reset
|
|
/// at the end of an episode.
|
|
void ResetData()
|
|
{
|
|
if (brain == null)
|
|
{
|
|
return;
|
|
}
|
|
|
|
var param = brain.brainParameters;
|
|
m_ActionMasker = new ActionMasker(param);
|
|
// If we haven't initialized vectorActions, initialize to 0. This should only
|
|
// happen during the creation of the Agent. In subsequent episodes, vectorAction
|
|
// should stay the previous action before the Done(), so that it is properly recorded.
|
|
if (m_Action.vectorActions == null)
|
|
{
|
|
if (param.vectorActionSpaceType == SpaceType.Continuous)
|
|
{
|
|
m_Action.vectorActions = new float[param.vectorActionSize[0]];
|
|
m_Info.storedVectorActions = new float[param.vectorActionSize[0]];
|
|
}
|
|
else
|
|
{
|
|
m_Action.vectorActions = new float[param.vectorActionSize.Length];
|
|
m_Info.storedVectorActions = new float[param.vectorActionSize.Length];
|
|
}
|
|
}
|
|
|
|
if (m_Info.textObservation == null)
|
|
m_Info.textObservation = "";
|
|
m_Action.textActions = "";
|
|
m_Info.memories = new List<float>();
|
|
m_Action.memories = new List<float>();
|
|
m_Info.vectorObservation =
|
|
new List<float>(param.vectorObservationSize);
|
|
m_Info.stackedVectorObservation =
|
|
new List<float>(param.vectorObservationSize
|
|
* brain.brainParameters.numStackedVectorObservations);
|
|
m_Info.stackedVectorObservation.AddRange(
|
|
new float[param.vectorObservationSize
|
|
* param.numStackedVectorObservations]);
|
|
|
|
m_Info.visualObservations = new List<Texture2D>();
|
|
m_Info.customObservation = null;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Initializes the agent, called once when the agent is enabled. Can be
|
|
/// left empty if there is no special, unique set-up behavior for the
|
|
/// agent.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// One sample use is to store local references to other objects in the
|
|
/// scene which would facilitate computing this agents observation.
|
|
/// </remarks>
|
|
public virtual void InitializeAgent()
|
|
{
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sends the Agent info to the linked Brain.
|
|
/// </summary>
|
|
void SendInfoToBrain()
|
|
{
|
|
if (brain == null)
|
|
{
|
|
return;
|
|
}
|
|
|
|
m_Info.memories = m_Action.memories;
|
|
m_Info.storedVectorActions = m_Action.vectorActions;
|
|
m_Info.storedTextActions = m_Action.textActions;
|
|
m_Info.vectorObservation.Clear();
|
|
m_ActionMasker.ResetMask();
|
|
CollectObservations();
|
|
m_Info.actionMasks = m_ActionMasker.GetMask();
|
|
|
|
var param = brain.brainParameters;
|
|
if (m_Info.vectorObservation.Count != param.vectorObservationSize)
|
|
{
|
|
throw new UnityAgentsException(string.Format(
|
|
"Vector Observation size mismatch between continuous " +
|
|
"agent {0} and brain {1}. " +
|
|
"Was Expecting {2} but received {3}. ",
|
|
gameObject.name, brain.name,
|
|
brain.brainParameters.vectorObservationSize,
|
|
m_Info.vectorObservation.Count));
|
|
}
|
|
|
|
Utilities.ShiftLeft(m_Info.stackedVectorObservation, param.vectorObservationSize);
|
|
Utilities.ReplaceRange(m_Info.stackedVectorObservation, m_Info.vectorObservation,
|
|
m_Info.stackedVectorObservation.Count - m_Info.vectorObservation.Count);
|
|
|
|
m_Info.visualObservations.Clear();
|
|
var visualObservationCount = agentParameters.agentCameras.Count + agentParameters.agentRenderTextures.Count;
|
|
if (param.cameraResolutions.Length > visualObservationCount)
|
|
{
|
|
throw new UnityAgentsException(string.Format(
|
|
"Not enough cameras/renderTextures for agent {0} : Brain {1} expecting at " +
|
|
"least {2} cameras/renderTextures but only {3} were present.",
|
|
gameObject.name, brain.name,
|
|
brain.brainParameters.cameraResolutions.Length,
|
|
visualObservationCount));
|
|
}
|
|
|
|
//First add all cameras
|
|
for (var i = 0; i < agentParameters.agentCameras.Count; i++)
|
|
{
|
|
var obsTexture = ObservationToTexture(
|
|
agentParameters.agentCameras[i],
|
|
param.cameraResolutions[i].width,
|
|
param.cameraResolutions[i].height);
|
|
m_Info.visualObservations.Add(obsTexture);
|
|
}
|
|
|
|
//Then add all renderTextures
|
|
var camCount = agentParameters.agentCameras.Count;
|
|
for (var i = 0; i < agentParameters.agentRenderTextures.Count; i++)
|
|
{
|
|
var obsTexture = ObservationToTexture(
|
|
agentParameters.agentRenderTextures[i],
|
|
param.cameraResolutions[camCount + i].width,
|
|
param.cameraResolutions[camCount + i].height);
|
|
m_Info.visualObservations.Add(obsTexture);
|
|
}
|
|
|
|
m_Info.reward = m_Reward;
|
|
m_Info.done = m_Done;
|
|
m_Info.maxStepReached = m_MaxStepReached;
|
|
m_Info.id = m_Id;
|
|
|
|
brain.SendState(this, m_Info);
|
|
|
|
if (m_Recorder != null && m_Recorder.record && Application.isEditor)
|
|
{
|
|
m_Recorder.WriteExperience(m_Info);
|
|
}
|
|
|
|
m_Info.textObservation = "";
|
|
}
|
|
|
|
/// <summary>
|
|
/// Collects the (vector, visual, text) observations of the agent.
|
|
/// The agent observation describes the current environment from the
|
|
/// perspective of the agent.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// Simply, an agents observation is any environment information that helps
|
|
/// the Agent acheive its goal. For example, for a fighting Agent, its
|
|
/// observation could include distances to friends or enemies, or the
|
|
/// current level of ammunition at its disposal.
|
|
/// Recall that an Agent may attach vector, visual or textual observations.
|
|
/// Vector observations are added by calling the provided helper methods:
|
|
/// - <see cref="AddVectorObs(int)"/>
|
|
/// - <see cref="AddVectorObs(float)"/>
|
|
/// - <see cref="AddVectorObs(Vector3)"/>
|
|
/// - <see cref="AddVectorObs(Vector2)"/>
|
|
/// - <see>
|
|
/// <cref>AddVectorObs(float[])</cref>
|
|
/// </see>
|
|
/// - <see>
|
|
/// <cref>AddVectorObs(List{float})</cref>
|
|
/// </see>
|
|
/// - <see cref="AddVectorObs(Quaternion)"/>
|
|
/// - <see cref="AddVectorObs(bool)"/>
|
|
/// - <see cref="AddVectorObs(int, int)"/>
|
|
/// Depending on your environment, any combination of these helpers can
|
|
/// be used. They just need to be used in the exact same order each time
|
|
/// this method is called and the resulting size of the vector observation
|
|
/// needs to match the vectorObservationSize attribute of the linked Brain.
|
|
/// Visual observations are implicitly added from the cameras attached to
|
|
/// the Agent.
|
|
/// Lastly, textual observations are added using
|
|
/// <see cref="SetTextObs(string)"/>.
|
|
/// </remarks>
|
|
public virtual void CollectObservations()
|
|
{
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sets an action mask for discrete control agents. When used, the agent will not be
|
|
/// able to perform the action passed as argument at the next decision. If no branch is
|
|
/// specified, the default branch will be 0. The actionIndex or actionIndices correspond
|
|
/// to the action the agent will be unable to perform.
|
|
/// </summary>
|
|
/// <param name="actionIndices">The indices of the masked actions on branch 0</param>
|
|
protected void SetActionMask(IEnumerable<int> actionIndices)
|
|
{
|
|
m_ActionMasker.SetActionMask(0, actionIndices);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sets an action mask for discrete control agents. When used, the agent will not be
|
|
/// able to perform the action passed as argument at the next decision. If no branch is
|
|
/// specified, the default branch will be 0. The actionIndex or actionIndices correspond
|
|
/// to the action the agent will be unable to perform.
|
|
/// </summary>
|
|
/// <param name="actionIndex">The index of the masked action on branch 0</param>
|
|
protected void SetActionMask(int actionIndex)
|
|
{
|
|
m_ActionMasker.SetActionMask(0, new[] { actionIndex });
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sets an action mask for discrete control agents. When used, the agent will not be
|
|
/// able to perform the action passed as argument at the next decision. If no branch is
|
|
/// specified, the default branch will be 0. The actionIndex or actionIndices correspond
|
|
/// to the action the agent will be unable to perform.
|
|
/// </summary>
|
|
/// <param name="branch">The branch for which the actions will be masked</param>
|
|
/// <param name="actionIndex">The index of the masked action</param>
|
|
protected void SetActionMask(int branch, int actionIndex)
|
|
{
|
|
m_ActionMasker.SetActionMask(branch, new[] { actionIndex });
|
|
}
|
|
|
|
/// <summary>
|
|
/// Modifies an action mask for discrete control agents. When used, the agent will not be
|
|
/// able to perform the action passed as argument at the next decision. If no branch is
|
|
/// specified, the default branch will be 0. The actionIndex or actionIndices correspond
|
|
/// to the action the agent will be unable to perform.
|
|
/// </summary>
|
|
/// <param name="branch">The branch for which the actions will be masked</param>
|
|
/// <param name="actionIndices">The indices of the masked actions</param>
|
|
protected void SetActionMask(int branch, IEnumerable<int> actionIndices)
|
|
{
|
|
m_ActionMasker.SetActionMask(branch, actionIndices);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds a float observation to the vector observations of the agent.
|
|
/// Increases the size of the agents vector observation by 1.
|
|
/// </summary>
|
|
/// <param name="observation">Observation.</param>
|
|
protected void AddVectorObs(float observation)
|
|
{
|
|
m_Info.vectorObservation.Add(observation);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds an integer observation to the vector observations of the agent.
|
|
/// Increases the size of the agents vector observation by 1.
|
|
/// </summary>
|
|
/// <param name="observation">Observation.</param>
|
|
protected void AddVectorObs(int observation)
|
|
{
|
|
m_Info.vectorObservation.Add(observation);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds an Vector3 observation to the vector observations of the agent.
|
|
/// Increases the size of the agents vector observation by 3.
|
|
/// </summary>
|
|
/// <param name="observation">Observation.</param>
|
|
protected void AddVectorObs(Vector3 observation)
|
|
{
|
|
m_Info.vectorObservation.Add(observation.x);
|
|
m_Info.vectorObservation.Add(observation.y);
|
|
m_Info.vectorObservation.Add(observation.z);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds an Vector2 observation to the vector observations of the agent.
|
|
/// Increases the size of the agents vector observation by 2.
|
|
/// </summary>
|
|
/// <param name="observation">Observation.</param>
|
|
protected void AddVectorObs(Vector2 observation)
|
|
{
|
|
m_Info.vectorObservation.Add(observation.x);
|
|
m_Info.vectorObservation.Add(observation.y);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds a collection of float observations to the vector observations of the agent.
|
|
/// Increases the size of the agents vector observation by size of the collection.
|
|
/// </summary>
|
|
/// <param name="observation">Observation.</param>
|
|
protected void AddVectorObs(IEnumerable<float> observation)
|
|
{
|
|
m_Info.vectorObservation.AddRange(observation);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds a quaternion observation to the vector observations of the agent.
|
|
/// Increases the size of the agents vector observation by 4.
|
|
/// </summary>
|
|
/// <param name="observation">Observation.</param>
|
|
protected void AddVectorObs(Quaternion observation)
|
|
{
|
|
m_Info.vectorObservation.Add(observation.x);
|
|
m_Info.vectorObservation.Add(observation.y);
|
|
m_Info.vectorObservation.Add(observation.z);
|
|
m_Info.vectorObservation.Add(observation.w);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds a boolean observation to the vector observation of the agent.
|
|
/// Increases the size of the agent's vector observation by 1.
|
|
/// </summary>
|
|
/// <param name="observation"></param>
|
|
protected void AddVectorObs(bool observation)
|
|
{
|
|
m_Info.vectorObservation.Add(observation ? 1f : 0f);
|
|
}
|
|
|
|
protected void AddVectorObs(int observation, int range)
|
|
{
|
|
var oneHotVector = new float[range];
|
|
oneHotVector[observation] = 1;
|
|
m_Info.vectorObservation.AddRange(oneHotVector);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sets the text observation.
|
|
/// </summary>
|
|
/// <param name="textObservation">The text observation.</param>
|
|
public void SetTextObs(string textObservation)
|
|
{
|
|
m_Info.textObservation = textObservation;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Specifies the agent behavior at every step based on the provided
|
|
/// action.
|
|
/// </summary>
|
|
/// <param name="vectorAction">
|
|
/// Vector action. Note that for discrete actions, the provided array
|
|
/// will be of length 1.
|
|
/// </param>
|
|
/// <param name="textAction">Text action.</param>
|
|
public virtual void AgentAction(float[] vectorAction, string textAction)
|
|
{
|
|
}
|
|
|
|
/// <summary>
|
|
/// Specifies the agent behavior at every step based on the provided
|
|
/// action.
|
|
/// </summary>
|
|
/// <param name="vectorAction">
|
|
/// Vector action. Note that for discrete actions, the provided array
|
|
/// will be of length 1.
|
|
/// </param>
|
|
/// <param name="textAction">Text action.</param>
|
|
/// <param name="customAction">
|
|
/// A custom action, defined by the user as custom protobuf message. Useful if the action is hard to encode
|
|
/// as either a flat vector or a single string.
|
|
/// </param>
|
|
public virtual void AgentAction(float[] vectorAction, string textAction, CustomAction customAction)
|
|
{
|
|
// We fall back to not using the custom action if the subclassed Agent doesn't override this method.
|
|
AgentAction(vectorAction, textAction);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Specifies the agent behavior when done and
|
|
/// <see cref="AgentParameters.resetOnDone"/> is false. This method can be
|
|
/// used to remove the agent from the scene.
|
|
/// </summary>
|
|
public virtual void AgentOnDone()
|
|
{
|
|
}
|
|
|
|
/// <summary>
|
|
/// Specifies the agent behavior when being reset, which can be due to
|
|
/// the agent or Academy being done (i.e. completion of local or global
|
|
/// episode).
|
|
/// </summary>
|
|
public virtual void AgentReset()
|
|
{
|
|
}
|
|
|
|
/// <summary>
|
|
/// This method will forcefully reset the agent and will also reset the hasAlreadyReset flag.
|
|
/// This way, even if the agent was already in the process of reseting, it will be reset again
|
|
/// and will not send a Done flag at the next step.
|
|
/// </summary>
|
|
void ForceReset()
|
|
{
|
|
m_HasAlreadyReset = false;
|
|
_AgentReset();
|
|
}
|
|
|
|
/// <summary>
|
|
/// An internal reset method that updates internal data structures in
|
|
/// addition to calling <see cref="AgentReset"/>.
|
|
/// </summary>
|
|
void _AgentReset()
|
|
{
|
|
ResetData();
|
|
m_StepCount = 0;
|
|
AgentReset();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the vector action.
|
|
/// </summary>
|
|
/// <param name="vectorActions">Vector actions.</param>
|
|
public void UpdateVectorAction(float[] vectorActions)
|
|
{
|
|
m_Action.vectorActions = vectorActions;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the memories action.
|
|
/// </summary>
|
|
/// <param name="memories">Memories.</param>
|
|
public void UpdateMemoriesAction(List<float> memories)
|
|
{
|
|
m_Action.memories = memories;
|
|
}
|
|
|
|
public void AppendMemoriesAction(List<float> memories)
|
|
{
|
|
m_Action.memories.AddRange(memories);
|
|
}
|
|
|
|
public List<float> GetMemoriesAction()
|
|
{
|
|
return m_Action.memories;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the text action.
|
|
/// </summary>
|
|
/// <param name="textActions">Text actions.</param>
|
|
public void UpdateTextAction(string textActions)
|
|
{
|
|
m_Action.textActions = textActions;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the custom action.
|
|
/// </summary>
|
|
/// <param name="customAction">Custom action.</param>
|
|
public void UpdateCustomAction(CustomAction customAction)
|
|
{
|
|
m_Action.customAction = customAction;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the value of the agent.
|
|
/// </summary>
|
|
public void UpdateValueAction(float value)
|
|
{
|
|
m_Action.value = value;
|
|
}
|
|
|
|
protected float GetValueEstimate()
|
|
{
|
|
return m_Action.value;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Scales continuous action from [-1, 1] to arbitrary range.
|
|
/// </summary>
|
|
/// <param name="rawAction"></param>
|
|
/// <param name="min"></param>
|
|
/// <param name="max"></param>
|
|
/// <returns></returns>
|
|
protected float ScaleAction(float rawAction, float min, float max)
|
|
{
|
|
var middle = (min + max) / 2;
|
|
var range = (max - min) / 2;
|
|
return rawAction * range + middle;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sets the status of the agent. Will request decisions or actions according
|
|
/// to the Academy's stepcount.
|
|
/// </summary>
|
|
/// <param name="academyStepCounter">Number of current steps in episode</param>
|
|
void SetStatus(int academyStepCounter)
|
|
{
|
|
MakeRequests(academyStepCounter);
|
|
}
|
|
|
|
/// Signals the agent that it must reset if its done flag is set to true.
|
|
void ResetIfDone()
|
|
{
|
|
// If an agent is done, then it will also
|
|
// request for a decision and an action
|
|
if (IsDone())
|
|
{
|
|
if (agentParameters.resetOnDone)
|
|
{
|
|
if (agentParameters.onDemandDecision)
|
|
{
|
|
if (!m_HasAlreadyReset)
|
|
{
|
|
// If event based, the agent can reset as soon
|
|
// as it is done
|
|
_AgentReset();
|
|
m_HasAlreadyReset = true;
|
|
}
|
|
}
|
|
else if (m_RequestDecision)
|
|
{
|
|
// If not event based, the agent must wait to request a
|
|
// decision before resetting to keep multiple agents in sync.
|
|
_AgentReset();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_Terminate = true;
|
|
RequestDecision();
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Signals the agent that it must sent its decision to the brain.
|
|
/// </summary>
|
|
void SendInfo()
|
|
{
|
|
if (m_RequestDecision)
|
|
{
|
|
SendInfoToBrain();
|
|
ResetReward();
|
|
m_Done = false;
|
|
m_MaxStepReached = false;
|
|
m_RequestDecision = false;
|
|
|
|
m_HasAlreadyReset = false;
|
|
}
|
|
}
|
|
|
|
/// Used by the brain to make the agent perform a step.
|
|
void AgentStep()
|
|
{
|
|
if (m_Terminate)
|
|
{
|
|
m_Terminate = false;
|
|
ResetReward();
|
|
m_Done = false;
|
|
m_MaxStepReached = false;
|
|
m_RequestDecision = false;
|
|
m_RequestAction = false;
|
|
|
|
m_HasAlreadyReset = false;
|
|
OnDisable();
|
|
AgentOnDone();
|
|
}
|
|
|
|
if ((m_RequestAction) && (brain != null))
|
|
{
|
|
m_RequestAction = false;
|
|
AgentAction(m_Action.vectorActions, m_Action.textActions, m_Action.customAction);
|
|
}
|
|
|
|
if ((m_StepCount >= agentParameters.maxStep)
|
|
&& (agentParameters.maxStep > 0))
|
|
{
|
|
m_MaxStepReached = true;
|
|
Done();
|
|
}
|
|
|
|
m_StepCount += 1;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Is called after every step, contains the logic to decide if the agent
|
|
/// will request a decision at the next step.
|
|
/// </summary>
|
|
void MakeRequests(int academyStepCounter)
|
|
{
|
|
agentParameters.numberOfActionsBetweenDecisions =
|
|
Mathf.Max(agentParameters.numberOfActionsBetweenDecisions, 1);
|
|
if (!agentParameters.onDemandDecision)
|
|
{
|
|
RequestAction();
|
|
if (academyStepCounter %
|
|
agentParameters.numberOfActionsBetweenDecisions == 0)
|
|
{
|
|
RequestDecision();
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Converts a camera and corresponding resolution to a 2D texture.
|
|
/// </summary>
|
|
/// <returns>The 2D texture.</returns>
|
|
/// <param name="obsCamera">Camera.</param>
|
|
/// <param name="width">Width of resulting 2D texture.</param>
|
|
/// <param name="height">Height of resulting 2D texture.</param>
|
|
/// <returns name="texture2D">Texture2D to render to.</returns>
|
|
public static Texture2D ObservationToTexture(Camera obsCamera, int width, int height)
|
|
{
|
|
var texture2D = new Texture2D(width, height, TextureFormat.RGB24, false);
|
|
var oldRec = obsCamera.rect;
|
|
obsCamera.rect = new Rect(0f, 0f, 1f, 1f);
|
|
var depth = 24;
|
|
var format = RenderTextureFormat.Default;
|
|
var readWrite = RenderTextureReadWrite.Default;
|
|
|
|
var tempRt =
|
|
RenderTexture.GetTemporary(width, height, depth, format, readWrite);
|
|
|
|
var prevActiveRt = RenderTexture.active;
|
|
var prevCameraRt = obsCamera.targetTexture;
|
|
|
|
// render to offscreen texture (readonly from CPU side)
|
|
RenderTexture.active = tempRt;
|
|
obsCamera.targetTexture = tempRt;
|
|
|
|
obsCamera.Render();
|
|
|
|
texture2D.ReadPixels(new Rect(0, 0, texture2D.width, texture2D.height), 0, 0);
|
|
|
|
obsCamera.targetTexture = prevCameraRt;
|
|
obsCamera.rect = oldRec;
|
|
RenderTexture.active = prevActiveRt;
|
|
RenderTexture.ReleaseTemporary(tempRt);
|
|
return texture2D;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Converts a RenderTexture and correspinding resolution to a 2D texture.
|
|
/// </summary>
|
|
/// <returns>The 2D texture.</returns>
|
|
/// <param name="obsTexture">RenderTexture.</param>
|
|
/// <param name="width">Width of resulting 2D texture.</param>
|
|
/// <param name="height">Height of resulting 2D texture.</param>
|
|
/// <returns name="texture2D">Texture2D to render to.</returns>
|
|
public static Texture2D ObservationToTexture(RenderTexture obsTexture, int width, int height)
|
|
{
|
|
var texture2D = new Texture2D(width, height, TextureFormat.RGB24, false);
|
|
|
|
if (width != texture2D.width || height != texture2D.height)
|
|
{
|
|
texture2D.Resize(width, height);
|
|
}
|
|
|
|
if (width != obsTexture.width || height != obsTexture.height)
|
|
{
|
|
throw new UnityAgentsException(string.Format(
|
|
"RenderTexture {0} : width/height is {1}/{2} brain is expecting {3}/{4}.",
|
|
obsTexture.name, obsTexture.width, obsTexture.height, width, height));
|
|
}
|
|
|
|
var prevActiveRt = RenderTexture.active;
|
|
RenderTexture.active = obsTexture;
|
|
|
|
texture2D.ReadPixels(new Rect(0, 0, texture2D.width, texture2D.height), 0, 0);
|
|
texture2D.Apply();
|
|
RenderTexture.active = prevActiveRt;
|
|
return texture2D;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Sets the custom observation for the agent for this episode.
|
|
/// </summary>
|
|
/// <param name="customObservation">New value of the agent's custom observation.</param>
|
|
public void SetCustomObservation(CustomObservation customObservation)
|
|
{
|
|
m_Info.customObservation = customObservation;
|
|
}
|
|
}
|
|
}
|