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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204 行
5.7 KiB

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using MLAgents;
public class AgentSoccer : Agent
{
public enum Team
{
red, blue
}
public enum AgentRole
{
striker, goalie
}
public Team team;
public AgentRole agentRole;
float kickPower;
int playerIndex;
public SoccerFieldArea area;
[HideInInspector]
public Rigidbody agentRB;
SoccerAcademy academy;
Renderer agentRenderer;
RayPerception rayPer;
public void ChooseRandomTeam()
{
team = (Team)Random.Range(0, 2);
agentRenderer.material = team == Team.red ? academy.redMaterial : academy.blueMaterial;
}
public void JoinRedTeam(AgentRole role)
{
agentRole = role;
team = Team.red;
agentRenderer.material = academy.redMaterial;
}
public void JoinBlueTeam(AgentRole role)
{
agentRole = role;
team = Team.blue;
agentRenderer.material = academy.blueMaterial;
}
public override void InitializeAgent()
{
base.InitializeAgent();
agentRenderer = GetComponent<Renderer>();
rayPer = GetComponent<RayPerception>();
academy = FindObjectOfType<SoccerAcademy>();
PlayerState playerState = new PlayerState();
playerState.agentRB = GetComponent<Rigidbody>();
agentRB = GetComponent<Rigidbody>();
agentRB.maxAngularVelocity = 500;
playerState.startingPos = transform.position;
playerState.agentScript = this;
area.playerStates.Add(playerState);
playerIndex = area.playerStates.IndexOf(playerState);
playerState.playerIndex = playerIndex;
}
public override void CollectObservations()
{
float rayDistance = 20f;
float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
string[] detectableObjects;
if (team == Team.red)
{
detectableObjects = new string[] { "ball", "redGoal", "blueGoal",
"wall", "redAgent", "blueAgent" };
}
else
{
detectableObjects = new string[] { "ball", "blueGoal", "redGoal",
"wall", "blueAgent", "redAgent" };
}
AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 1f, 0f));
}
public void MoveAgent(float[] act)
{
Vector3 dirToGo = Vector3.zero;
Vector3 rotateDir = Vector3.zero;
int action = Mathf.FloorToInt(act[0]);
// Goalies and Strikers have slightly different action spaces.
if (agentRole == AgentRole.goalie)
{
kickPower = 0f;
switch (action)
{
case 1:
dirToGo = transform.forward * 1f;
kickPower = 1f;
break;
case 2:
dirToGo = transform.forward * -1f;
break;
case 4:
dirToGo = transform.right * -1f;
break;
case 3:
dirToGo = transform.right * 1f;
break;
}
}
else
{
kickPower = 0f;
switch (action)
{
case 1:
dirToGo = transform.forward * 1f;
kickPower = 1f;
break;
case 2:
dirToGo = transform.forward * -1f;
break;
case 3:
rotateDir = transform.up * 1f;
break;
case 4:
rotateDir = transform.up * -1f;
break;
case 5:
dirToGo = transform.right * -0.75f;
break;
case 6:
dirToGo = transform.right * 0.75f;
break;
}
}
transform.Rotate(rotateDir, Time.deltaTime * 100f);
agentRB.AddForce(dirToGo * academy.agentRunSpeed,
ForceMode.VelocityChange);
}
public override void AgentAction(float[] vectorAction, string textAction)
{
// Existential penalty for strikers.
if (agentRole == AgentRole.striker)
{
AddReward(-1f / 3000f);
}
// Existential bonus for goalies.
if (agentRole == AgentRole.goalie)
{
AddReward(1f / 3000f);
}
MoveAgent(vectorAction);
}
/// <summary>
/// Used to provide a "kick" to the ball.
/// </summary>
void OnCollisionEnter(Collision c)
{
float force = 2000f * kickPower;
if (c.gameObject.tag == "ball")
{
Vector3 dir = c.contacts[0].point - transform.position;
dir = dir.normalized;
c.gameObject.GetComponent<Rigidbody>().AddForce(dir * force);
}
}
public override void AgentReset()
{
if (academy.randomizePlayersTeamForTraining)
{
ChooseRandomTeam();
}
if (team == Team.red)
{
JoinRedTeam(agentRole);
transform.rotation = Quaternion.Euler(0f, -90f, 0f);
}
else
{
JoinBlueTeam(agentRole);
transform.rotation = Quaternion.Euler(0f, 90f, 0f);
}
transform.position = area.GetRandomSpawnPos(team.ToString(),
agentRole.ToString());
agentRB.velocity = Vector3.zero;
agentRB.angularVelocity = Vector3.zero;
area.ResetBall();
}
public override void AgentOnDone()
{
}
}