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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166 行
4.7 KiB

using System;
using UnityEngine;
using System.Linq;
using MLAgents;
using MLAgents.Sensors;
using UnityEngine.Serialization;
public class GridAgent : Agent
{
[FormerlySerializedAs("m_Area")]
[Header("Specific to GridWorld")]
public GridArea area;
public float timeBetweenDecisionsAtInference;
float m_TimeSinceDecision;
[Tooltip("Because we want an observation right before making a decision, we can force " +
"a camera to render before making a decision. Place the agentCam here if using " +
"RenderTexture as observations.")]
public Camera renderCamera;
[Tooltip("Selecting will turn on action masking. Note that a model trained with action " +
"masking turned on may not behave optimally when action masking is turned off.")]
public bool maskActions = true;
const int k_NoAction = 0; // do nothing!
const int k_Up = 1;
const int k_Down = 2;
const int k_Left = 3;
const int k_Right = 4;
public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
{
// Mask the necessary actions if selected by the user.
if (maskActions)
{
// Prevents the agent from picking an action that would make it collide with a wall
var positionX = (int)transform.position.x;
var positionZ = (int)transform.position.z;
var maxPosition = (int)Academy.Instance.FloatProperties.GetPropertyWithDefault("gridSize", 5f) - 1;
if (positionX == 0)
{
actionMasker.SetMask(0, new int[]{ k_Left});
}
if (positionX == maxPosition)
{
actionMasker.SetMask(0, new int[]{k_Right});
}
if (positionZ == 0)
{
actionMasker.SetMask(0, new int[]{k_Down});
}
if (positionZ == maxPosition)
{
actionMasker.SetMask(0, new int[]{k_Up});
}
}
}
// to be implemented by the developer
public override void OnActionReceived(float[] vectorAction)
{
AddReward(-0.01f);
var action = Mathf.FloorToInt(vectorAction[0]);
var targetPos = transform.position;
switch (action)
{
case k_NoAction:
// do nothing
break;
case k_Right:
targetPos = transform.position + new Vector3(1f, 0, 0f);
break;
case k_Left:
targetPos = transform.position + new Vector3(-1f, 0, 0f);
break;
case k_Up:
targetPos = transform.position + new Vector3(0f, 0, 1f);
break;
case k_Down:
targetPos = transform.position + new Vector3(0f, 0, -1f);
break;
default:
throw new ArgumentException("Invalid action value");
}
var hit = Physics.OverlapBox(
targetPos, new Vector3(0.3f, 0.3f, 0.3f));
if (hit.Where(col => col.gameObject.CompareTag("wall")).ToArray().Length == 0)
{
transform.position = targetPos;
if (hit.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
{
SetReward(1f);
EndEpisode();
}
else if (hit.Where(col => col.gameObject.CompareTag("pit")).ToArray().Length == 1)
{
SetReward(-1f);
EndEpisode();
}
}
}
public override float[] Heuristic()
{
if (Input.GetKey(KeyCode.D))
{
return new float[] { k_Right };
}
if (Input.GetKey(KeyCode.W))
{
return new float[] { k_Up };
}
if (Input.GetKey(KeyCode.A))
{
return new float[] { k_Left };
}
if (Input.GetKey(KeyCode.S))
{
return new float[] { k_Down };
}
return new float[] { k_NoAction };
}
// to be implemented by the developer
public override void OnEpisodeBegin()
{
area.AreaReset();
}
public void FixedUpdate()
{
WaitTimeInference();
}
void WaitTimeInference()
{
if (renderCamera != null)
{
renderCamera.Render();
}
if (Academy.Instance.IsCommunicatorOn)
{
RequestDecision();
}
else
{
if (m_TimeSinceDecision >= timeBetweenDecisionsAtInference)
{
m_TimeSinceDecision = 0f;
RequestDecision();
}
else
{
m_TimeSinceDecision += Time.fixedDeltaTime;
}
}
}
}