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.Linq;
using UnityEngine;
namespace Unity.MLAgents.Actuators
{
/// <summary>
/// A structure that wraps the <see cref="ActionSegment{T}"/>s for a particular <see cref="IActionReceiver"/> and is
/// used when <see cref="IActionReceiver.OnActionReceived"/> is called.
/// </summary>
public readonly struct ActionBuffers
{
/// <summary>
/// An empty action buffer.
/// </summary>
public static ActionBuffers Empty = new ActionBuffers(ActionSegment<float>.Empty, ActionSegment<int>.Empty);
/// <summary>
/// Holds the Continuous <see cref="ActionSegment{T}"/> to be used by an <see cref="IActionReceiver"/>.
/// </summary>
public ActionSegment<float> ContinuousActions { get; }
/// <summary>
/// Holds the Discrete <see cref="ActionSegment{T}"/> to be used by an <see cref="IActionReceiver"/>.
/// </summary>
public ActionSegment<int> DiscreteActions { get; }
/// <summary>
/// Create an <see cref="ActionBuffers"/> instance with discrete actions stored as a float array. This exists
/// to achieve backward compatibility with the former Agent methods which used a float array for both continuous
/// and discrete actions.
/// </summary>
/// <param name="discreteActions">The float array of discrete actions.</param>
/// <returns>An <see cref="ActionBuffers"/> instance initialized with a <see cref="DiscreteActions"/>
/// <see cref="ActionSegment{T}"/> initialized from a float array.</returns>
public static ActionBuffers FromDiscreteActions(float[] discreteActions)
{
return new ActionBuffers(ActionSegment<float>.Empty, discreteActions == null ? ActionSegment<int>.Empty
: new ActionSegment<int>(Array.ConvertAll(discreteActions,
x => (int)x)));
}
/// <summary>
/// Construct an <see cref="ActionBuffers"/> instance with the continuous and discrete actions that will
/// be used.
/// /// </summary>
/// <param name="continuousActions">The continuous actions to send to an <see cref="IActionReceiver"/>.</param>
/// <param name="discreteActions">The discrete actions to send to an <see cref="IActionReceiver"/>.</param>
public ActionBuffers(float[] continuousActions, int[] discreteActions)
: this(new ActionSegment<float>(continuousActions), new ActionSegment<int>(discreteActions)) { }
/// <summary>
/// Construct an <see cref="ActionBuffers"/> instance with the continuous and discrete actions that will
/// be used.
/// </summary>
/// <param name="continuousActions">The continuous actions to send to an <see cref="IActionReceiver"/>.</param>
/// <param name="discreteActions">The discrete actions to send to an <see cref="IActionReceiver"/>.</param>
public ActionBuffers(ActionSegment<float> continuousActions, ActionSegment<int> discreteActions)
{
ContinuousActions = continuousActions;
DiscreteActions = discreteActions;
}
/// <summary>
/// Clear the <see cref="ContinuousActions"/> and <see cref="DiscreteActions"/> segments to be all zeros.
/// </summary>
public void Clear()
{
ContinuousActions.Clear();
DiscreteActions.Clear();
}
/// <inheritdoc/>
public override bool Equals(object obj)
{
if (!(obj is ActionBuffers))
{
return false;
}
var ab = (ActionBuffers)obj;
return ab.ContinuousActions.SequenceEqual(ContinuousActions) &&
ab.DiscreteActions.SequenceEqual(DiscreteActions);
}
/// <inheritdoc/>
public override int GetHashCode()
{
unchecked
{
return (ContinuousActions.GetHashCode() * 397) ^ DiscreteActions.GetHashCode();
}
}
/// <summary>
/// Packs the continuous and discrete actions into one float array. The array passed into this method
/// must have a Length that is greater than or equal to the sum of the Lengths of
/// <see cref="ContinuousActions"/> and <see cref="DiscreteActions"/>.
/// </summary>
/// <param name="destination">A float array to pack actions into whose length is greater than or
/// equal to the addition of the Lengths of this objects <see cref="ContinuousActions"/> and
/// <see cref="DiscreteActions"/> segments.</param>
public void PackActions(in float[] destination)
{
Debug.Assert(destination.Length >= ContinuousActions.Length + DiscreteActions.Length,
$"argument '{nameof(destination)}' is not large enough to pack the actions into.\n" +
$"{nameof(destination)}.Length: {destination.Length}\n" +
$"{nameof(ContinuousActions)}.Length + {nameof(DiscreteActions)}.Length: {ContinuousActions.Length + DiscreteActions.Length}");
var start = 0;
if (ContinuousActions.Length > 0)
{
Array.Copy(ContinuousActions.Array,
ContinuousActions.Offset,
destination,
start,
ContinuousActions.Length);
start = ContinuousActions.Length;
}
if (start >= destination.Length)
{
return;
}
if (DiscreteActions.Length > 0)
{
Array.Copy(DiscreteActions.Array,
DiscreteActions.Offset,
destination,
start,
DiscreteActions.Length);
}
}
}
/// <summary>
/// An interface that describes an object that can receive actions from a Reinforcement Learning network.
/// </summary>
public interface IActionReceiver
{
/// <summary>
/// Method called in order too allow object to execute actions based on the
/// <see cref="ActionBuffers"/> contents. The structure of the contents in the <see cref="ActionBuffers"/>
/// are defined by the <see cref="ActionSpec"/>.
/// </summary>
/// <param name="actionBuffers">The data structure containing the action buffers for this object.</param>
void OnActionReceived(ActionBuffers actionBuffers);
/// <summary>
/// Implement `WriteDiscreteActionMask()` to modify the masks for discrete
/// actions. When using discrete actions, the agent will not perform the masked
/// action.
/// </summary>
/// <param name="actionMask">
/// The action mask for the agent.
/// </param>
/// <remarks>
/// When using Discrete Control, you can prevent the Agent from using a certain
/// action by masking it with <see cref="IDiscreteActionMask.WriteMask"/>.
///
/// See [Agents - Actions] for more information on masking actions.
///
/// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_7_docs/docs/Learning-Environment-Design-Agents.md#actions
/// </remarks>
/// <seealso cref="IActionReceiver.OnActionReceived"/>
void WriteDiscreteActionMask(IDiscreteActionMask actionMask);
}
}