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 Unity.Barracuda;
using System;
using UnityEngine;
using UnityEngine.Serialization;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors.Reflection;
namespace Unity.MLAgents.Policies
{
/// <summary>
/// Defines what type of behavior the Agent will be using
/// </summary>
[Serializable]
public enum BehaviorType
{
/// <summary>
/// The Agent will use the remote process for decision making.
/// if unavailable, will use inference and if no model is provided, will use
/// the heuristic.
/// </summary>
Default,
/// <summary>
/// The Agent will always use its heuristic
/// </summary>
HeuristicOnly,
/// <summary>
/// The Agent will always use inference with the provided
/// neural network model.
/// </summary>
InferenceOnly,
/// <summary>
/// C# training
/// </summary>
InEditorTraining
}
/// <summary>
/// Options for controlling how the Agent class is searched for <see cref="ObservableAttribute"/>s.
/// </summary>
public enum ObservableAttributeOptions
{
/// <summary>
/// All ObservableAttributes on the Agent will be ignored. This is the
/// default behavior. If there are no ObservableAttributes on the
/// Agent, this will result in the fastest initialization time.
/// </summary>
Ignore,
/// <summary>
/// Only members on the declared class will be examined; members that are
/// inherited are ignored. This is a reasonable tradeoff between
/// performance and flexibility.
/// </summary>
/// <remarks>This corresponds to setting the
/// [BindingFlags.DeclaredOnly](https://docs.microsoft.com/en-us/dotnet/api/system.reflection.bindingflags?view=netcore-3.1)
/// when examining the fields and properties of the Agent class instance.
/// </remarks>
ExcludeInherited,
/// <summary>
/// All members on the class will be examined. This can lead to slower
/// startup times.
/// </summary>
ExamineAll
}
/// <summary>
/// A component for setting an <seealso cref="Agent"/> instance's behavior and
/// brain properties.
/// </summary>
/// <remarks>At runtime, this component generates the agent's policy objects
/// according to the settings you specified in the Editor.</remarks>
[AddComponentMenu("ML Agents/Behavior Parameters", (int)MenuGroup.Default)]
public class BehaviorParameters : MonoBehaviour
{
[HideInInspector, SerializeField]
BrainParameters m_BrainParameters = new BrainParameters();
/// <summary>
/// Delegate for receiving events about Policy Updates.
/// </summary>
/// <param name="isInHeuristicMode">Whether or not the current policy is running in heuristic mode.</param>
public delegate void PolicyUpdated(bool isInHeuristicMode);
/// <summary>
/// Event that fires when an Agent's policy is updated.
/// </summary>
internal event PolicyUpdated OnPolicyUpdated;
/// <summary>
/// The associated <see cref="Policies.BrainParameters"/> for this behavior.
/// </summary>
public BrainParameters BrainParameters
{
get { return m_BrainParameters; }
internal set { m_BrainParameters = value; }
}
[HideInInspector, SerializeField]
NNModel m_Model;
/// <summary>
/// The neural network model used when in inference mode.
/// This should not be set at runtime; use <see cref="Agent.SetModel(string,NNModel,Policies.InferenceDevice)"/>
/// to set it instead.
/// </summary>
public NNModel Model
{
get { return m_Model; }
set { m_Model = value; UpdateAgentPolicy(); }
}
[HideInInspector, SerializeField]
InferenceDevice m_InferenceDevice = InferenceDevice.Burst;
/// <summary>
/// How inference is performed for this Agent's model.
/// This should not be set at runtime; use <see cref="Agent.SetModel(string,NNModel,Policies.InferenceDevice)"/>
/// to set it instead.
/// </summary>
public InferenceDevice InferenceDevice
{
get { return m_InferenceDevice; }
set { m_InferenceDevice = value; UpdateAgentPolicy(); }
}
[HideInInspector, SerializeField]
BehaviorType m_BehaviorType;
/// <summary>
/// The BehaviorType for the Agent.
/// </summary>
public BehaviorType BehaviorType
{
get { return m_BehaviorType; }
set { m_BehaviorType = value; UpdateAgentPolicy(); }
}
[HideInInspector, SerializeField]
string m_BehaviorName = "My Behavior";
/// <summary>
/// The name of this behavior, which is used as a base name. See
/// <see cref="FullyQualifiedBehaviorName"/> for the full name.
/// This should not be set at runtime; use <see cref="Agent.SetModel(string,NNModel,Policies.InferenceDevice)"/>
/// to set it instead.
/// </summary>
public string BehaviorName
{
get { return m_BehaviorName; }
set { m_BehaviorName = value; UpdateAgentPolicy(); }
}
/// <summary>
/// The team ID for this behavior.
/// </summary>
[HideInInspector, SerializeField, FormerlySerializedAs("m_TeamID")]
public int TeamId;
// TODO properties here instead of Agent
[FormerlySerializedAs("m_useChildSensors")]
[HideInInspector]
[SerializeField]
[Tooltip("Use all Sensor components attached to child GameObjects of this Agent.")]
bool m_UseChildSensors = true;
[HideInInspector]
[SerializeField]
[Tooltip("Use all Actuator components attached to child GameObjects of this Agent.")]
bool m_UseChildActuators = true;
/// <summary>
/// Whether or not to use all the sensor components attached to child GameObjects of the agent.
/// Note that changing this after the Agent has been initialized will not have any effect.
/// </summary>
public bool UseChildSensors
{
get { return m_UseChildSensors; }
set { m_UseChildSensors = value; }
}
/// <summary>
/// Whether or not to use all the actuator components attached to child GameObjects of the agent.
/// Note that changing this after the Agent has been initialized will not have any effect.
/// </summary>
public bool UseChildActuators
{
get { return m_UseChildActuators; }
set { m_UseChildActuators = value; }
}
[HideInInspector, SerializeField]
ObservableAttributeOptions m_ObservableAttributeHandling = ObservableAttributeOptions.Ignore;
/// <summary>
/// Determines how the Agent class is searched for <see cref="ObservableAttribute"/>s.
/// </summary>
public ObservableAttributeOptions ObservableAttributeHandling
{
get { return m_ObservableAttributeHandling; }
set { m_ObservableAttributeHandling = value; }
}
/// <summary>
/// Returns the behavior name, concatenated with any other metadata (i.e. team id).
/// </summary>
public string FullyQualifiedBehaviorName
{
get { return m_BehaviorName + "?team=" + TeamId; }
}
void Awake()
{
OnPolicyUpdated += mode => { };
}
internal IPolicy GeneratePolicy(ActionSpec actionSpec, ActuatorManager actuatorManager)
{
switch (m_BehaviorType)
{
case BehaviorType.HeuristicOnly:
return new HeuristicPolicy(actuatorManager, actionSpec);
case BehaviorType.InferenceOnly:
{
if (m_Model == null)
{
var behaviorType = BehaviorType.InferenceOnly.ToString();
throw new UnityAgentsException(
$"Can't use Behavior Type {behaviorType} without a model. " +
"Either assign a model, or change to a different Behavior Type."
);
}
return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
}
case BehaviorType.InEditorTraining:
return new TrainingPolicy(actionSpec, m_BehaviorName, m_Model);
case BehaviorType.Default:
if (Academy.Instance.IsCommunicatorOn)
{
return new RemotePolicy(actionSpec, actuatorManager, FullyQualifiedBehaviorName);
}
if (m_Model != null)
{
return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
}
else
{
return new HeuristicPolicy(actuatorManager, actionSpec);
}
default:
return new HeuristicPolicy(actuatorManager, actionSpec);
}
}
/// <summary>
/// Query the behavior parameters in order to see if the Agent is running in Heuristic Mode.
/// </summary>
/// <returns>true if the Agent is running in Heuristic mode.</returns>
public bool IsInHeuristicMode()
{
if (BehaviorType == BehaviorType.HeuristicOnly)
{
return true;
}
return BehaviorType == BehaviorType.Default &&
ReferenceEquals(Model, null) &&
(!Academy.IsInitialized ||
Academy.IsInitialized &&
!Academy.Instance.IsCommunicatorOn);
}
internal void UpdateAgentPolicy()
{
var agent = GetComponent<Agent>();
if (agent == null)
{
return;
}
agent.ReloadPolicy();
OnPolicyUpdated?.Invoke(IsInHeuristicMode());
}
}
}