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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using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
using Random = UnityEngine.Random;
public class FoodCollectorAgent : Agent
{
FoodCollectorSettings m_FoodCollecterSettings;
public GameObject area;
FoodCollectorArea m_MyArea;
bool m_Frozen;
bool m_Poisoned;
bool m_Satiated;
bool m_Shoot;
float m_FrozenTime;
float m_EffectTime;
Rigidbody m_AgentRb;
float m_LaserLength;
// Speed of agent rotation.
public float turnSpeed = 300;
// Speed of agent movement.
public float moveSpeed = 2;
public Material normalMaterial;
public Material badMaterial;
public Material goodMaterial;
public Material frozenMaterial;
public GameObject myLaser;
public bool contribute;
public bool useVectorObs;
[Tooltip("Use only the frozen flag in vector observations. If \"Use Vector Obs\" " +
"is checked, this option has no effect. This option is necessary for the " +
"VisualFoodCollector scene.")]
public bool useVectorFrozenFlag;
EnvironmentParameters m_ResetParams;
public override void Initialize()
{
m_AgentRb = GetComponent<Rigidbody>();
m_MyArea = area.GetComponent<FoodCollectorArea>();
m_FoodCollecterSettings = FindObjectOfType<FoodCollectorSettings>();
m_ResetParams = Academy.Instance.EnvironmentParameters;
SetResetParameters();
}
public override void CollectObservations(VectorSensor sensor)
{
if (useVectorObs)
{
var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity);
sensor.AddObservation(localVelocity.x);
sensor.AddObservation(localVelocity.z);
sensor.AddObservation(m_Frozen);
sensor.AddObservation(m_Shoot);
}
else if (useVectorFrozenFlag)
{
sensor.AddObservation(m_Frozen);
}
}
public Color32 ToColor(int hexVal)
{
var r = (byte)((hexVal >> 16) & 0xFF);
var g = (byte)((hexVal >> 8) & 0xFF);
var b = (byte)(hexVal & 0xFF);
return new Color32(r, g, b, 255);
}
public void MoveAgent(ActionBuffers actionBuffers)
{
m_Shoot = false;
if (Time.time > m_FrozenTime + 4f && m_Frozen)
{
Unfreeze();
}
if (Time.time > m_EffectTime + 0.5f)
{
if (m_Poisoned)
{
Unpoison();
}
if (m_Satiated)
{
Unsatiate();
}
}
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var continuousActions = actionBuffers.ContinuousActions;
var discreteActions = actionBuffers.DiscreteActions;
if (!m_Frozen)
{
var forward = Mathf.Clamp(continuousActions[0], -1f, 1f);
var right = Mathf.Clamp(continuousActions[1], -1f, 1f);
var rotate = Mathf.Clamp(continuousActions[2], -1f, 1f);
dirToGo = transform.forward * forward;
dirToGo += transform.right * right;
rotateDir = -transform.up * rotate;
var shootCommand = (int)discreteActions[0] > 0;
if (shootCommand)
{
m_Shoot = true;
dirToGo *= 0.5f;
m_AgentRb.velocity *= 0.75f;
}
m_AgentRb.AddForce(dirToGo * moveSpeed, ForceMode.VelocityChange);
transform.Rotate(rotateDir, Time.fixedDeltaTime * turnSpeed);
}
if (m_AgentRb.velocity.sqrMagnitude > 25f) // slow it down
{
m_AgentRb.velocity *= 0.95f;
}
if (m_Shoot)
{
var myTransform = transform;
myLaser.transform.localScale = new Vector3(1f, 1f, m_LaserLength);
var rayDir = 25.0f * myTransform.forward;
Debug.DrawRay(myTransform.position, rayDir, Color.red, 0f, true);
RaycastHit hit;
if (Physics.SphereCast(transform.position, 2f, rayDir, out hit, 25f))
{
if (hit.collider.gameObject.CompareTag("agent"))
{
hit.collider.gameObject.GetComponent<FoodCollectorAgent>().Freeze();
}
}
}
else
{
myLaser.transform.localScale = new Vector3(0f, 0f, 0f);
}
}
void Freeze()
{
gameObject.tag = "frozenAgent";
m_Frozen = true;
m_FrozenTime = Time.time;
gameObject.GetComponentInChildren<Renderer>().material = frozenMaterial;
}
void Unfreeze()
{
m_Frozen = false;
gameObject.tag = "agent";
gameObject.GetComponentInChildren<Renderer>().material = normalMaterial;
}
void Poison()
{
m_Poisoned = true;
m_EffectTime = Time.time;
gameObject.GetComponentInChildren<Renderer>().material = badMaterial;
}
void Unpoison()
{
m_Poisoned = false;
gameObject.GetComponentInChildren<Renderer>().material = normalMaterial;
}
void Satiate()
{
m_Satiated = true;
m_EffectTime = Time.time;
gameObject.GetComponentInChildren<Renderer>().material = goodMaterial;
}
void Unsatiate()
{
m_Satiated = false;
gameObject.GetComponentInChildren<Renderer>().material = normalMaterial;
}
public override void OnActionReceived(ActionBuffers actionBuffers)
{
MoveAgent(actionBuffers);
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var continuousActionsOut = actionsOut.ContinuousActions;
continuousActionsOut[0] = 0;
continuousActionsOut[1] = 0;
continuousActionsOut[2] = 0;
if (Input.GetKey(KeyCode.D))
{
continuousActionsOut[2] = 1;
}
if (Input.GetKey(KeyCode.W))
{
continuousActionsOut[0] = 1;
}
if (Input.GetKey(KeyCode.A))
{
continuousActionsOut[2] = -1;
}
if (Input.GetKey(KeyCode.S))
{
continuousActionsOut[0] = -1;
}
var discreteActionsOut = actionsOut.DiscreteActions;
discreteActionsOut[0] = Input.GetKey(KeyCode.Space) ? 1 : 0;
}
public override void OnEpisodeBegin()
{
Unfreeze();
Unpoison();
Unsatiate();
m_Shoot = false;
m_AgentRb.velocity = Vector3.zero;
myLaser.transform.localScale = new Vector3(0f, 0f, 0f);
transform.position = new Vector3(Random.Range(-m_MyArea.range, m_MyArea.range),
2f, Random.Range(-m_MyArea.range, m_MyArea.range))
+ area.transform.position;
transform.rotation = Quaternion.Euler(new Vector3(0f, Random.Range(0, 360)));
SetResetParameters();
}
void OnCollisionEnter(Collision collision)
{
if (collision.gameObject.CompareTag("food"))
{
Satiate();
collision.gameObject.GetComponent<FoodLogic>().OnEaten();
AddReward(1f);
if (contribute)
{
m_FoodCollecterSettings.totalScore += 1;
}
}
if (collision.gameObject.CompareTag("badFood"))
{
Poison();
collision.gameObject.GetComponent<FoodLogic>().OnEaten();
AddReward(-1f);
if (contribute)
{
m_FoodCollecterSettings.totalScore -= 1;
}
}
}
public void SetLaserLengths()
{
m_LaserLength = m_ResetParams.GetWithDefault("laser_length", 1.0f);
}
public void SetAgentScale()
{
float agentScale = m_ResetParams.GetWithDefault("agent_scale", 1.0f);
gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale);
}
public void SetResetParameters()
{
SetLaserLengths();
SetAgentScale();
}
}