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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89 行
2.9 KiB

using UnityEngine;
using MLAgents;
public class Ball3DAgent : Agent
{
[Header("Specific to Ball3D")]
public GameObject ball;
Rigidbody m_BallRb;
IFloatProperties m_ResetParams;
public override void InitializeAgent()
{
m_BallRb = ball.GetComponent<Rigidbody>();
var academy = FindObjectOfType<Academy>();
m_ResetParams = academy.FloatProperties;
SetResetParameters();
}
public override void CollectObservations()
{
AddVectorObs(gameObject.transform.rotation.z);
AddVectorObs(gameObject.transform.rotation.x);
AddVectorObs(ball.transform.position - gameObject.transform.position);
AddVectorObs(m_BallRb.velocity);
}
public override void AgentAction(float[] vectorAction)
{
var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
(gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
{
gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ);
}
if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) ||
(gameObject.transform.rotation.x > -0.25f && actionX < 0f))
{
gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX);
}
if ((ball.transform.position.y - gameObject.transform.position.y) < -2f ||
Mathf.Abs(ball.transform.position.x - gameObject.transform.position.x) > 3f ||
Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
{
Done();
SetReward(-1f);
}
else
{
SetReward(0.1f);
}
}
public override void AgentReset()
{
gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));
gameObject.transform.Rotate(new Vector3(0, 0, 1), Random.Range(-10f, 10f));
m_BallRb.velocity = new Vector3(0f, 0f, 0f);
ball.transform.position = new Vector3(Random.Range(-1.5f, 1.5f), 4f, Random.Range(-1.5f, 1.5f))
+ gameObject.transform.position;
//Reset the parameters when the Agent is reset.
SetResetParameters();
}
public override float[] Heuristic()
{
var action = new float[2];
action[0] = -Input.GetAxis("Horizontal");
action[1] = Input.GetAxis("Vertical");
return action;
}
public void SetBall()
{
//Set the attributes of the ball by fetching the information from the academy
m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
ball.transform.localScale = new Vector3(scale, scale, scale);
}
public void SetResetParameters()
{
SetBall();
}
}