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;
using System.Collections.Generic;
using System.Linq;
using Unity.MLAgents.Policies;
namespace Unity.MLAgents.Actuators
{
/// <summary>
/// Defines the structure of an Action Space to be used by the Actuator system.
/// </summary>
public readonly struct ActionSpec
{
/// <summary>
/// An array of branch sizes for our action space.
///
/// For an IActuator that uses a Discrete <see cref="SpaceType"/>, the number of
/// branches is the Length of the Array and each index contains the branch size.
/// The cumulative sum of the total number of discrete actions can be retrieved
/// by the <see cref="SumOfDiscreteBranchSizes"/> property.
///
/// For an IActuator with a Continuous it will be null.
/// </summary>
public readonly int[] BranchSizes;
/// <summary>
/// The number of actions for a Continuous <see cref="SpaceType"/>.
/// </summary>
public int NumContinuousActions { get; }
/// <summary>
/// The number of branches for a Discrete <see cref="SpaceType"/>.
/// </summary>
public int NumDiscreteActions { get; }
/// <summary>
/// Get the total number of Discrete Actions that can be taken by calculating the Sum
/// of all of the Discrete Action branch sizes.
/// </summary>
public int SumOfDiscreteBranchSizes { get; }
/// <summary>
/// Creates a Continuous <see cref="ActionSpec"/> with the number of actions available.
/// </summary>
/// <param name="numActions">The number of actions available.</param>
/// <returns>An Continuous ActionSpec initialized with the number of actions available.</returns>
public static ActionSpec MakeContinuous(int numActions)
{
var actuatorSpace = new ActionSpec(numActions, 0);
return actuatorSpace;
}
/// <summary>
/// Creates a Discrete <see cref="ActionSpec"/> with the array of branch sizes that
/// represents the action space.
/// </summary>
/// <param name="branchSizes">The array of branch sizes for the discrete action space. Each index
/// contains the number of actions available for that branch.</param>
/// <returns>An Discrete ActionSpec initialized with the array of branch sizes.</returns>
public static ActionSpec MakeDiscrete(params int[] branchSizes)
{
var numActions = branchSizes.Length;
var actuatorSpace = new ActionSpec(0, numActions, branchSizes);
return actuatorSpace;
}
internal ActionSpec(int numContinuousActions, int numDiscreteActions, int[] branchSizes = null)
{
NumContinuousActions = numContinuousActions;
NumDiscreteActions = numDiscreteActions;
BranchSizes = branchSizes;
SumOfDiscreteBranchSizes = branchSizes?.Sum() ?? 0;
}
/// <summary>
/// Temporary check that the ActionSpec uses either all continuous or all discrete actions.
/// This should be removed once the trainer supports them.
/// </summary>
/// <exception cref="UnityAgentsException"></exception>
internal void CheckNotHybrid()
{
if (NumContinuousActions > 0 && NumDiscreteActions > 0)
{
throw new UnityAgentsException("ActionSpecs must be all continuous or all discrete.");
}
}
}
}