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-42,7 +41,11 @@ public class AgentControllerV6 : Agent startPosition = transform.localPosition; startRotation = transform.localRotation; - + } + + protected override void OnDisable() + { + return; } public override void OnEpisodeBegin() @@ -266,7 +269,6 @@ public class AgentControllerV6 : Agent totalReward = 0; - print("checkpoint"); } currentStep += 1; diff --git a/Assets/Scripts/AgentControllerV7.cs b/Assets/Scripts/AgentControllerV7.cs new file mode 100644 index 0000000..ecb8873 --- /dev/null +++ b/Assets/Scripts/AgentControllerV7.cs @@ -0,0 +1,295 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Unity.MLAgents; +using Unity.MLAgents.Sensors; +using Unity.MLAgents.Actuators; +using UnityEngine.UIElements; +using System.Linq; +using Unity.Mathematics; +using Unity.VisualScripting; +using System.Reflection; +using System; + +public class AgentControllerV7 : Agent +{ + public float motorTorque = 300; + public float brakeTorque = 500; + public float maxSpeed = 400; + public float steeringRange = 9; + public float steeringRangeAtMaxSpeed = 7; + public float autoBrake = 100; + WheelControl[] wheels; + public List checkpoints; + Rigidbody rb; + Vector3 startPosition; + Quaternion startRotation; + int currentStep = 0; + float totalReward = 0; + float totalMentalPain = 0; + int stepsSinceCheckpoint = 0; + int checkpointsReached = 0; + public int maxStepsPerCheckpoint = 300; + public int distanceBetweenCheckpoints = 5; + public bool ignoreMentalPain = true; + + // Start is called before the first frame update + void Start() + { + rb = GetComponent(); + // Find all child GameObjects that have the WheelControl script attached + wheels = GetComponentsInChildren(); + + startPosition = transform.localPosition; + startRotation = transform.localRotation; + + } + + public override void OnEpisodeBegin() + { + stepsSinceCheckpoint = 0; + checkpointsReached = 0; + totalReward = 0; + totalMentalPain = 0; + + // reset wheels + foreach (var wheel in wheels) + { + wheel.WheelCollider.brakeTorque = 0; + wheel.WheelCollider.motorTorque = 0; + wheel.WheelCollider.steerAngle = 0; + } + + + // reset car + transform.localPosition = startPosition; + transform.localRotation = startRotation; + rb.velocity = Vector3.zero; + rb.angularVelocity = Vector3.zero; + } + + public override void CollectObservations(VectorSensor sensor) + { + Transform currentCheckpoint = checkpoints[checkpointsReached].transform; + + // distance to next checkpoint + sensor.AddObservation(distanceToCheckpoint(currentCheckpoint)); + + // relative angle to checkpoint + sensor.AddObservation(angleToCheckpoint(currentCheckpoint)); + + // relative vector pointing to checkpoint + Vector3 position = transform.localPosition; + Vector3 checkpointPosition = currentCheckpoint.localPosition; + + Vector3 toCheckpoint = new Vector3( + checkpointPosition.x - position.x, + 0, + checkpointPosition.z - position.z + ); + + float carAngle = transform.localEulerAngles.y; + + toCheckpoint = Quaternion.Euler(0, -carAngle, 0) * toCheckpoint.normalized; + + sensor.AddObservation(toCheckpoint.x); + sensor.AddObservation(toCheckpoint.z); + + + // relative Velocity + Vector3 velocity = new Vector3( + rb.velocity.x, + 0, + rb.velocity.z + ); + + Vector3 relativeVelocity = Quaternion.Euler(0, -carAngle, 0) * velocity; + + sensor.AddObservation(relativeVelocity.x); + sensor.AddObservation(relativeVelocity.z); + } + + public override void OnActionReceived(ActionBuffers actions) + { + // Actions size = 2 [vertical speed, horizontal speed] = [-1..1, -1..1] // discrete = [{0, 1, 2}, {0, 1, 2}] = [{-1, 0, 1}...] + float vInput = 0; + float hInput = 0; + + if (actions.DiscreteActions[0] == 0) + vInput = -1f; + if (actions.DiscreteActions[0] == 1) + vInput = 1f; + + if (actions.DiscreteActions[1] == 0) + hInput = -1f; + if (actions.DiscreteActions[1] == 1) + hInput = 1f; + + // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still) + // AddReward(-0.002f); + AddReward(-0.0018f); // less pain because of V4 + totalMentalPain -= 0.0018f; + + if (ignoreMentalPain) + totalReward -= 0.0018f; + + float forwardSpeed = Vector3.Dot(transform.forward, rb.velocity); + // Calculate how close the car is to top speed + // as a number from zero to one + float speedFactor = Mathf.InverseLerp(0, maxSpeed / 4, forwardSpeed); + + // Use that to calculate how much torque is available + // (zero torque at top speed) + float currentMotorTorque = Mathf.Lerp(motorTorque, 0, speedFactor); + + // …and to calculate how much to steer + // (the car steers more gently at top speed) + + float currentSteerRange = Mathf.Lerp(steeringRange, steeringRangeAtMaxSpeed, speedFactor); + + // Check whether the user input is in the same direction + // as the car's velocity + bool isAccelerating = Mathf.Sign(vInput) == Mathf.Sign(forwardSpeed); + + bool isStopping = vInput == 0; // range + + bool isBraking = (vInput < 0 && forwardSpeed > 0) || (vInput > 0 && forwardSpeed < 0); + + if (vInput > 0 && forwardSpeed < 0) + { + isAccelerating = false; + } + + foreach (var wheel in wheels) + { + // Apply steering to Wheel colliders that have "Steerable" enabled + if (wheel.steerable) + { + wheel.WheelCollider.steerAngle = hInput * currentSteerRange; + } + + if (isBraking) + { + wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque; + //wheel.WheelCollider.motorTorque = 0; + } + + if (isAccelerating) + { + // Apply torque to Wheel colliders that have "Motorized" enabled + if (wheel.motorized) + { + wheel.WheelCollider.motorTorque = vInput * currentMotorTorque; + } + wheel.WheelCollider.brakeTorque = 0; + } + + if (isStopping) + { + // If the user is trying to go in the opposite direction + // apply brakes to all wheels + wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque + autoBrake; + + if (forwardSpeed < 0) + { + wheel.WheelCollider.brakeTorque = (Mathf.Abs(vInput) * brakeTorque + autoBrake) * 5; + } + + } + } + + // rewards + Transform currentCheckpoint = checkpoints[checkpointsReached].transform; + + float checkpintDistance = distanceToCheckpoint(currentCheckpoint); + float reward = (1 - Mathf.InverseLerp(0, distanceBetweenCheckpoints, checkpintDistance)) / 500; + + totalReward += reward; + AddReward(reward); + + float checkpointAngle = angleToCheckpoint(currentCheckpoint); + + if (checkpointAngle > 0) + reward = (1 - Mathf.InverseLerp(0, 60, checkpointAngle)) / 2000; + else + reward = Mathf.InverseLerp(-60, 0, checkpointAngle) / 2000; + + AddReward(reward); + + if (checkpintDistance < 0.1f) + { + stepsSinceCheckpoint = 0; + checkpointsReached += 1; + + // If last checkpoint + if (checkpointsReached == checkpoints.Count - 1) + { + AddReward(10f); + EndEpisode(); + } + + //TODO fix variable names + + AddReward(1f); + AddReward(-totalReward); + + totalReward = 0; + } + + currentStep += 1; + stepsSinceCheckpoint += 1; + + if (stepsSinceCheckpoint >= maxStepsPerCheckpoint) + { + stepsSinceCheckpoint = 0; + EndEpisode(); + } + + // print(GetCumulativeReward()); + } + + public override void Heuristic(in ActionBuffers actionsOut) + { + var discreteActionsOut = actionsOut.DiscreteActions; + + discreteActionsOut[0] = 2; + discreteActionsOut[1] = 2; + + if (Input.GetAxis("Vertical") < -0.5) + discreteActionsOut[0] = 0; + if (Input.GetAxis("Vertical") > 0.5) + discreteActionsOut[0] = 1; + + if (Input.GetAxis("Horizontal") < -0.5) + discreteActionsOut[1] = 0; + if (Input.GetAxis("Horizontal") > 0.5) + discreteActionsOut[1] = 1; + } + + // finds distance from agent to closest point on the checkpoint line + float distanceToCheckpoint(Transform checkpoint) + { + var closestPoint = checkpoint.GetComponent().ClosestPointOnBounds(transform.position); + var distanceToCheckpoint = Vector3.Distance(transform.position, closestPoint); + return distanceToCheckpoint; + } + + float angleToCheckpoint(Transform checkpoint) + { + Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition; + + float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up); + return angle; + } + + private void OnCollisionEnter(Collision other) { + // if (other.gameObject.tag == "NPC") + // { + // AddReward(0.1f); + // } + if (other.gameObject.tag == "Player") + { + AddReward(-0.1f); + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/AgentControllerV7.cs.meta b/Assets/Scripts/AgentControllerV7.cs.meta new file mode 100644 index 0000000..c1e40bb --- /dev/null +++ b/Assets/Scripts/AgentControllerV7.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 2eeab89a9b8a5f04291ce55ceb722904 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Car Customization/Garage.cs b/Assets/Scripts/Car Customization/Garage.cs index 4983743..d7bca9a 100644 --- a/Assets/Scripts/Car Customization/Garage.cs +++ b/Assets/Scripts/Car Customization/Garage.cs @@ -2,17 +2,21 @@ using System.Collections; using System.Collections.Generic; using Unity.Mathematics; using UnityEngine; +using UnityEngine.SceneManagement; using UnityEngine.UI; public class Garage : MonoBehaviour { GameObject CurrentCar; + string currentColor = "Default"; public Button[] CarButtons; public GameObject[] Garages; public GameObject[] CarBodies; public Button[] ColorButtons; public Material[] Colors; quaternion currentRotation; + public Button startButton; + public GameObject carData; void Start() { CarButtons[0].onClick.AddListener(SelectHotrod); @@ -37,6 +41,8 @@ public class Garage : MonoBehaviour ColorButtons[10].onClick.AddListener(SelectWhite); ColorButtons[11].onClick.AddListener(SelectYellow); + startButton.onClick.AddListener(startGame); + disable(); SelectHotrod(); } @@ -60,6 +66,14 @@ public class Garage : MonoBehaviour Garages[i].SetActive(true); CurrentCar = CarBodies[i]; CurrentCar.transform.rotation = currentRotation; + currentColor = "Default"; + } + + void startGame() + { + SceneManager.LoadScene("Racetrack mini"); + carData.GetComponent().carType = CurrentCar.name; + carData.GetComponent().carColor = currentColor; } void SelectHotrod() @@ -106,71 +120,83 @@ public class Garage : MonoBehaviour { Material color = Colors[0]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Black"; } void SelectBlue() { Material color = Colors[1]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Blue"; } void SelectBrown() { Material color = Colors[2]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Brown"; } void SelectGray() { Material color = Colors[3]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Gray"; } void SelectGreen() { Material color = Colors[4]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Green"; } void SelectOrange() { Material color = Colors[5]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Orange"; } void SelectPink() { Material color = Colors[6]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Pink"; } void SelectRed() { Material color = Colors[7]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Red"; } void SelectTurquoise() { Material color = Colors[8]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Turquoise"; } void SelectViolet() { Material color = Colors[9]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Violet"; } void SelectWhite() { Material color = Colors[10]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "White"; } void SelectYellow() { Material color = Colors[11]; CurrentCar.GetComponent().ChangeColor(color); + currentColor = "Yellow"; } } diff --git a/Assets/Scripts/Car Data.cs b/Assets/Scripts/Car Data.cs new file mode 100644 index 0000000..b6775a7 --- /dev/null +++ b/Assets/Scripts/Car Data.cs @@ -0,0 +1,13 @@ +using System.Collections; +using System.Collections.Generic; +using Unity.VisualScripting; +using UnityEngine; + +public class CarData : MonoBehaviour +{ + public string carType; + public string carColor; + private void Awake() { + DontDestroyOnLoad(gameObject); + } +} \ No newline at end of file diff --git a/Assets/Scripts/Car Data.cs.meta b/Assets/Scripts/Car Data.cs.meta new file mode 100644 index 0000000..5d73037 --- /dev/null +++ b/Assets/Scripts/Car Data.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: eb30df1407c4e1348a03c058cb70c8ff +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Car Loader.cs b/Assets/Scripts/Car Loader.cs new file mode 100644 index 0000000..366a599 --- /dev/null +++ b/Assets/Scripts/Car Loader.cs @@ -0,0 +1,92 @@ +using System.Collections; +using System.Collections.Generic; +using Cinemachine; +using Unity.Burst.Intrinsics; +using UnityEngine; + +public class CarLoader : MonoBehaviour +{ + public GameObject[] Cars; + string carType; + string carColor; + public Material[] Colors; + public CinemachineVirtualCamera vcam; + void Start() + { + carType = GameObject.Find("Car Data").GetComponent().carType; + carColor = GameObject.Find("Car Data").GetComponent().carColor; + + foreach (GameObject car in Cars) + { + if (car.name == carType) + { + replaceCar(car, carColor); + } + } + } + + void replaceCar(GameObject car, string color) + { + car.GetComponent().enabled = true; + car.GetComponent().enabled = false; + + vcam.Follow = car.transform; + vcam.LookAt = car.transform; + + if (color == "Default") + { + return; + } + + if (color == "Black") + { + car.GetComponent().ChangeColor(Colors[0]); + } + if (color == "Blue") + { + car.GetComponent().ChangeColor(Colors[1]); + } + if (color == "Brown") + { + car.GetComponent().ChangeColor(Colors[2]); + } + if (color == "Gray") + { + car.GetComponent().ChangeColor(Colors[3]); + } + if (color == "Green") + { + car.GetComponent().ChangeColor(Colors[4]); + } + if (color == "Orange") + { + car.GetComponent().ChangeColor(Colors[5]); + } + if (color == "Pink") + { + car.GetComponent().ChangeColor(Colors[6]); + } + if (color == "Red") + { + car.GetComponent().ChangeColor(Colors[7]); + } + if (color == "Turquoise") + { + car.GetComponent().ChangeColor(Colors[8]); + } + if (color == "Violet") + { + car.GetComponent().ChangeColor(Colors[9]); + } + if (color == "White") + { + car.GetComponent().ChangeColor(Colors[10]); + } + if (color == "Yellow") + { + car.GetComponent().ChangeColor(Colors[11]); + } + + + } +} diff --git a/Assets/Scripts/Car Loader.cs.meta b/Assets/Scripts/Car Loader.cs.meta new file mode 100644 index 0000000..c7bc182 --- /dev/null +++ b/Assets/Scripts/Car Loader.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 7750762847caa7b4bbc035455344adf9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/car control v2.cs b/Assets/Scripts/car control v2.cs index d1d8ab6..90cecc4 100644 --- a/Assets/Scripts/car control v2.cs +++ b/Assets/Scripts/car control v2.cs @@ -128,7 +128,7 @@ public class carcontrolv2 : MonoBehaviour if (other.gameObject.tag == "Wall") { - audio.Play(); + // audio.Play(); } } } diff --git a/MLAgents/config/BensonV7.yaml b/MLAgents/config/BensonV7.yaml new file mode 100644 index 0000000..b4aa65a --- /dev/null +++ b/MLAgents/config/BensonV7.yaml @@ -0,0 +1,72 @@ +behaviors: + BensonV7: + trainer_type: ppo + + hyperparameters: + # Hyperparameters common to PPO and SAC + batch_size: 50 + buffer_size: 10240 + learning_rate: 3.0e-4 + learning_rate_schedule: linear + + # PPO-specific hyperparameters + # Replaces the "PPO-specific hyperparameters" section above + beta: 5.0e-2 + epsilon: 0.2 + lambd: 0.95 + num_epoch: 3 + + # Configuration of the neural network (common to PPO/SAC) + network_settings: + vis_encoder_type: simple + normalize: false + hidden_units: 128 + num_layers: 2 + + # Trainer configurations common to all trainers + max_steps: 2.0e7 + time_horizon: 64 + summary_freq: 10000 + keep_checkpoints: 5 + checkpoint_interval : 500000 + threaded: false + init_path: null + + # # behavior cloning + # behavioral_cloning: + # demo_path: 'c:\Users\noahk\Documents\Unity projects\Racesm\Assets\Demonstrations\BensonV3M.demo' + # strength: 0.5 + # # steps: 150000 + # # batch_size: 512 + # # num_epoch: 3 + # # samples_per_update: 0 + + reward_signals: + # environment reward (default) + extrinsic: + strength: 1.0 + gamma: 0.99 + + self_play: + window: 10 + play_against_latest_model_ratio: 0.5 + save_steps: 20000 + swap_steps: 10000 + team_change: 100000 + + # # curiosity module + # curiosity: + # strength: 0.02 + # gamma: 0.99 + # encoding_size: 256 + # learning_rate: 3.0e-4 + + # # GAIL + # gail: + # strength: 0.5 + # # gamma: 0.99 + # # encoding_size: 128 + # demo_path: 'c:\Users\noahk\Documents\Unity projects\Racesm\Assets\Demonstrations\BensonV3M.demo' + # # learning_rate: 3.0e-4 + # # use_actions: false + # # use_vail: false \ No newline at end of file diff --git a/MLAgents/results/BensonV7/BensonV7.onnx b/MLAgents/results/BensonV7/BensonV7.onnx new file mode 100644 index 0000000..3ea0232 Binary files /dev/null and b/MLAgents/results/BensonV7/BensonV7.onnx differ diff --git a/MLAgents/results/BensonV7/BensonV7/BensonV7-2400.onnx b/MLAgents/results/BensonV7/BensonV7/BensonV7-2400.onnx new file mode 100644 index 0000000..488f1f0 Binary files /dev/null and b/MLAgents/results/BensonV7/BensonV7/BensonV7-2400.onnx differ diff --git a/MLAgents/results/BensonV7/BensonV7/BensonV7-2400.pt b/MLAgents/results/BensonV7/BensonV7/BensonV7-2400.pt new file mode 100644 index 0000000..9c6a19f Binary files /dev/null and b/MLAgents/results/BensonV7/BensonV7/BensonV7-2400.pt differ diff --git 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files /dev/null and b/MLAgents/results/BensonV7/BensonV7/BensonV7-960.pt differ diff --git a/MLAgents/results/BensonV7/BensonV7/checkpoint.pt b/MLAgents/results/BensonV7/BensonV7/checkpoint.pt new file mode 100644 index 0000000..082fb74 Binary files /dev/null and b/MLAgents/results/BensonV7/BensonV7/checkpoint.pt differ diff --git a/MLAgents/results/BensonV7/BensonV7/events.out.tfevents.1713854673.Noahs-Episke-PC.17592.0 b/MLAgents/results/BensonV7/BensonV7/events.out.tfevents.1713854673.Noahs-Episke-PC.17592.0 new file mode 100644 index 0000000..d247f67 Binary files /dev/null and b/MLAgents/results/BensonV7/BensonV7/events.out.tfevents.1713854673.Noahs-Episke-PC.17592.0 differ diff --git a/MLAgents/results/BensonV7/configuration.yaml b/MLAgents/results/BensonV7/configuration.yaml new file mode 100644 index 0000000..9effd70 --- /dev/null +++ b/MLAgents/results/BensonV7/configuration.yaml @@ -0,0 +1,82 @@ +default_settings: null +behaviors: + BensonV7: + trainer_type: ppo + hyperparameters: + batch_size: 50 + buffer_size: 10240 + learning_rate: 0.0003 + beta: 0.05 + epsilon: 0.2 + lambd: 0.95 + num_epoch: 3 + shared_critic: false + learning_rate_schedule: linear + beta_schedule: linear + epsilon_schedule: linear + network_settings: + normalize: false + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + memory: null + goal_conditioning_type: hyper + deterministic: false + reward_signals: + extrinsic: + gamma: 0.99 + strength: 1.0 + network_settings: + normalize: false + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + memory: null + goal_conditioning_type: hyper + deterministic: false + init_path: null + keep_checkpoints: 5 + checkpoint_interval: 500000 + max_steps: 20000000 + time_horizon: 64 + summary_freq: 10000 + threaded: false + self_play: + save_steps: 20000 + team_change: 100000 + swap_steps: 10000 + window: 10 + play_against_latest_model_ratio: 0.5 + initial_elo: 1200.0 + behavioral_cloning: null +env_settings: + env_path: null + env_args: null + base_port: 5005 + num_envs: 1 + num_areas: 1 + seed: -1 + max_lifetime_restarts: 10 + restarts_rate_limit_n: 1 + restarts_rate_limit_period_s: 60 +engine_settings: + width: 84 + height: 84 + quality_level: 5 + time_scale: 20 + target_frame_rate: -1 + capture_frame_rate: 60 + no_graphics: false +environment_parameters: null +checkpoint_settings: + run_id: BensonV7 + initialize_from: null + load_model: false + resume: false + force: true + train_model: false + inference: false + results_dir: results +torch_settings: + device: null +debug: false diff --git a/MLAgents/results/BensonV7/run_logs/timers.json b/MLAgents/results/BensonV7/run_logs/timers.json new file mode 100644 index 0000000..49631c6 --- /dev/null +++ b/MLAgents/results/BensonV7/run_logs/timers.json @@ -0,0 +1,325 @@ +{ + "name": "root", + "gauges": { + "BensonV7.Policy.Entropy.mean": { + "value": 1.3791288137435913, + "min": 1.3791288137435913, + "max": 2.187758684158325, + "count": 24 + }, + 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+ - enabled: 1 + path: Assets/Scenes/Car Customization.unity + guid: 46fb4d69ffddef24abd332313bb5f4d8 + - enabled: 1 + path: Assets/Scenes/Racetrack mini.unity + guid: 9b5f77be9dfb7c14cba3af351597ec83 m_configObjects: {} diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index 89726ad..5c92b3f 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -5,6 +5,7 @@ TagManager: serializedVersion: 2 tags: - Wall + - NPC layers: - Default - TransparentFX