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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135 行
3.8 KiB

using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
public class PushAgentEscape : Agent
{
public GameObject MyKey; //my key gameobject. will be enabled when key picked up.
public bool IHaveAKey; //have i picked up a key
private PushBlockSettings m_PushBlockSettings;
private Rigidbody m_AgentRb;
private DungeonEscapeEnvController m_GameController;
public override void Initialize()
{
m_GameController = GetComponentInParent<DungeonEscapeEnvController>();
m_AgentRb = GetComponent<Rigidbody>();
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void OnEpisodeBegin()
{
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(IHaveAKey);
}
/// <summary>
/// Moves the agent according to the selected action.
/// </summary>
public void MoveAgent(ActionSegment<int> act)
{
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var action = act[0];
switch (action)
{
case 1:
dirToGo = transform.forward * 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.fixedDeltaTime * 200f);
m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
ForceMode.VelocityChange);
}
/// <summary>
/// Called every step of the engine. Here the agent takes an action.
/// </summary>
public override void OnActionReceived(ActionBuffers actionBuffers)
{
// Move the agent using the action.
MoveAgent(actionBuffers.DiscreteActions);
}
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag("lock"))
{
if (IHaveAKey)
{
MyKey.SetActive(false);
IHaveAKey = false;
m_GameController.UnlockDoor();
}
}
if (col.transform.CompareTag("dragon"))
{
m_GameController.KilledByBaddie(this, col);
MyKey.SetActive(false);
IHaveAKey = false;
}
if (col.transform.CompareTag("portal"))
{
m_GameController.TouchedHazard(this);
}
}
void OnTriggerEnter(Collider col)
{
//if we find a key and it's parent is the main platform we can pick it up
if (col.transform.CompareTag("key") && col.transform.parent == transform.parent && gameObject.activeInHierarchy)
{
print("Picked up key");
MyKey.SetActive(true);
IHaveAKey = true;
col.gameObject.SetActive(false);
}
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var discreteActionsOut = actionsOut.DiscreteActions;
if (Input.GetKey(KeyCode.D))
{
discreteActionsOut[0] = 3;
}
else if (Input.GetKey(KeyCode.W))
{
discreteActionsOut[0] = 1;
}
else if (Input.GetKey(KeyCode.A))
{
discreteActionsOut[0] = 4;
}
else if (Input.GetKey(KeyCode.S))
{
discreteActionsOut[0] = 2;
}
}
}