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 System.Collections.Generic;
using UnityEngine;
namespace MLAgents
{
/// <summary>
/// Brain receive data from Agents through calls to SendState. The brain then updates the
/// actions of the agents at each FixedUpdate.
/// The Brain encapsulates the decision making process. Every Agent must be assigned a Brain,
/// but you can use the same Brain with more than one Agent. You can also create several
/// Brains, attach each of the Brain to one or more than one Agent.
/// Brain assets has several important properties that you can set using the Inspector window.
/// These properties must be appropriate for the Agents using the Brain. For example, the
/// Vector Observation Space Size property must match the length of the feature
/// vector created by an Agent exactly.
/// </summary>
public abstract class Brain : ScriptableObject
{
[SerializeField] public BrainParameters brainParameters;
protected Dictionary<Agent, AgentInfo> m_AgentInfos =
new Dictionary<Agent, AgentInfo>(1024);
protected Batcher m_BrainBatcher;
[System.NonSerialized]
private bool m_IsInitialized;
/// <summary>
/// Sets the Batcher of the Brain. The brain will call the batcher at every step and give
/// it the agent's data using SendBrainInfo at each DecideAction call.
/// </summary>
/// <param name="batcher"> The Batcher the brain will use for the current session</param>
public void SetBatcher(Batcher batcher)
{
if (batcher == null)
{
m_BrainBatcher = null;
}
else
{
m_BrainBatcher = batcher;
m_BrainBatcher.SubscribeBrain(name);
}
LazyInitialize();
}
/// <summary>
/// Adds the data of an agent to the current batch so it will be processed in DecideAction.
/// </summary>
/// <param name="agent"></param>
/// <param name="info"></param>
public void SendState(Agent agent, AgentInfo info)
{
LazyInitialize();
m_AgentInfos.Add(agent, info);
}
/// <summary>
/// If the Brain is not initialized, it subscribes to the Academy's DecideAction Event and
/// calls the Initialize method to be implemented by child classes.
/// </summary>
private void LazyInitialize()
{
if (!m_IsInitialized)
{
var academy = FindObjectOfType<Academy>();
if (academy)
{
academy.BrainDecideAction += BrainDecideAction;
academy.DestroyAction += Shutdown;
Initialize();
m_IsInitialized = true;
}
}
}
/// <summary>
/// Called by the Academy when it shuts down. This ensures that the Brain cleans up properly
/// after scene changes.
/// </summary>
private void Shutdown()
{
if (m_IsInitialized)
{
m_AgentInfos.Clear();
m_IsInitialized = false;
}
}
/// <summary>
/// Calls the DecideAction method that the concrete brain implements.
/// </summary>
private void BrainDecideAction()
{
m_BrainBatcher?.SendBrainInfo(name, m_AgentInfos);
DecideAction();
}
/// <summary>
/// Is called only once at the begening of the training or inference session.
/// </summary>
protected abstract void Initialize();
/// <summary>
/// Is called once per Environment Step after the Brain has been initialized.
/// </summary>
protected abstract void DecideAction();
}
}