Merge branch 'master' of git@ooftooft.net:Racesm.git
# Conflicts: # Assets/ML-Agents/Timers/Racetrack mini_timers.json # Assets/Scenes/Racetrack mini.unity
This commit is contained in:
magn9775
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File diff suppressed because it is too large
Load Diff
@@ -33,8 +33,7 @@ public class AgentControllerV6 : Agent
|
||||
public int distanceBetweenCheckpoints = 5;
|
||||
public bool ignoreMentalPain = false;
|
||||
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
void Awake()
|
||||
{
|
||||
rigidBody = GetComponent<Rigidbody>();
|
||||
// Find all child GameObjects that have the WheelControl script attached
|
||||
@@ -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;
|
||||
|
||||
295
Assets/Scripts/AgentControllerV7.cs
Normal file
295
Assets/Scripts/AgentControllerV7.cs
Normal file
@@ -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<GameObject> 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<Rigidbody>();
|
||||
// Find all child GameObjects that have the WheelControl script attached
|
||||
wheels = GetComponentsInChildren<WheelControl>();
|
||||
|
||||
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<Collider>().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);
|
||||
}
|
||||
}
|
||||
}
|
||||
11
Assets/Scripts/AgentControllerV7.cs.meta
Normal file
11
Assets/Scripts/AgentControllerV7.cs.meta
Normal file
@@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 2eeab89a9b8a5f04291ce55ceb722904
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -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<CarData>().carType = CurrentCar.name;
|
||||
carData.GetComponent<CarData>().carColor = currentColor;
|
||||
}
|
||||
|
||||
void SelectHotrod()
|
||||
@@ -106,71 +120,83 @@ public class Garage : MonoBehaviour
|
||||
{
|
||||
Material color = Colors[0];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Black";
|
||||
}
|
||||
|
||||
void SelectBlue()
|
||||
{
|
||||
Material color = Colors[1];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Blue";
|
||||
}
|
||||
|
||||
void SelectBrown()
|
||||
{
|
||||
Material color = Colors[2];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Brown";
|
||||
}
|
||||
|
||||
void SelectGray()
|
||||
{
|
||||
Material color = Colors[3];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Gray";
|
||||
}
|
||||
|
||||
void SelectGreen()
|
||||
{
|
||||
Material color = Colors[4];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Green";
|
||||
}
|
||||
|
||||
void SelectOrange()
|
||||
{
|
||||
Material color = Colors[5];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Orange";
|
||||
}
|
||||
|
||||
void SelectPink()
|
||||
{
|
||||
Material color = Colors[6];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Pink";
|
||||
}
|
||||
|
||||
void SelectRed()
|
||||
{
|
||||
Material color = Colors[7];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Red";
|
||||
}
|
||||
|
||||
void SelectTurquoise()
|
||||
{
|
||||
Material color = Colors[8];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Turquoise";
|
||||
}
|
||||
|
||||
void SelectViolet()
|
||||
{
|
||||
Material color = Colors[9];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Violet";
|
||||
}
|
||||
|
||||
void SelectWhite()
|
||||
{
|
||||
Material color = Colors[10];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "White";
|
||||
}
|
||||
|
||||
void SelectYellow()
|
||||
{
|
||||
Material color = Colors[11];
|
||||
CurrentCar.GetComponent<ChangeCarColor>().ChangeColor(color);
|
||||
currentColor = "Yellow";
|
||||
}
|
||||
}
|
||||
|
||||
13
Assets/Scripts/Car Data.cs
Normal file
13
Assets/Scripts/Car Data.cs
Normal file
@@ -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);
|
||||
}
|
||||
}
|
||||
11
Assets/Scripts/Car Data.cs.meta
Normal file
11
Assets/Scripts/Car Data.cs.meta
Normal file
@@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: eb30df1407c4e1348a03c058cb70c8ff
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
92
Assets/Scripts/Car Loader.cs
Normal file
92
Assets/Scripts/Car Loader.cs
Normal file
@@ -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<CarData>().carType;
|
||||
carColor = GameObject.Find("Car Data").GetComponent<CarData>().carColor;
|
||||
|
||||
foreach (GameObject car in Cars)
|
||||
{
|
||||
if (car.name == carType)
|
||||
{
|
||||
replaceCar(car, carColor);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void replaceCar(GameObject car, string color)
|
||||
{
|
||||
car.GetComponent<carcontrolv2>().enabled = true;
|
||||
car.GetComponent<AgentControllerV6>().enabled = false;
|
||||
|
||||
vcam.Follow = car.transform;
|
||||
vcam.LookAt = car.transform;
|
||||
|
||||
if (color == "Default")
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (color == "Black")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[0]);
|
||||
}
|
||||
if (color == "Blue")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[1]);
|
||||
}
|
||||
if (color == "Brown")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[2]);
|
||||
}
|
||||
if (color == "Gray")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[3]);
|
||||
}
|
||||
if (color == "Green")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[4]);
|
||||
}
|
||||
if (color == "Orange")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[5]);
|
||||
}
|
||||
if (color == "Pink")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[6]);
|
||||
}
|
||||
if (color == "Red")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[7]);
|
||||
}
|
||||
if (color == "Turquoise")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[8]);
|
||||
}
|
||||
if (color == "Violet")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[9]);
|
||||
}
|
||||
if (color == "White")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[10]);
|
||||
}
|
||||
if (color == "Yellow")
|
||||
{
|
||||
car.GetComponent<ChangeCarColor>().ChangeColor(Colors[11]);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
11
Assets/Scripts/Car Loader.cs.meta
Normal file
11
Assets/Scripts/Car Loader.cs.meta
Normal file
@@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 7750762847caa7b4bbc035455344adf9
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -128,7 +128,7 @@ public class carcontrolv2 : MonoBehaviour
|
||||
|
||||
if (other.gameObject.tag == "Wall")
|
||||
{
|
||||
audio.Play();
|
||||
// audio.Play();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
72
MLAgents/config/BensonV7.yaml
Normal file
72
MLAgents/config/BensonV7.yaml
Normal file
@@ -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
|
||||
BIN
MLAgents/results/BensonV7/BensonV7.onnx
Normal file
BIN
MLAgents/results/BensonV7/BensonV7.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-2400.onnx
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-2400.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-2400.pt
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-2400.pt
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-249156.onnx
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-249156.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-249156.pt
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-249156.pt
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-40000.onnx
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-40000.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-40000.pt
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-40000.pt
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-78400.onnx
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-78400.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-78400.pt
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-78400.pt
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-960.onnx
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-960.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-960.pt
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/BensonV7-960.pt
Normal file
Binary file not shown.
BIN
MLAgents/results/BensonV7/BensonV7/checkpoint.pt
Normal file
BIN
MLAgents/results/BensonV7/BensonV7/checkpoint.pt
Normal file
Binary file not shown.
Binary file not shown.
82
MLAgents/results/BensonV7/configuration.yaml
Normal file
82
MLAgents/results/BensonV7/configuration.yaml
Normal file
@@ -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
|
||||
325
MLAgents/results/BensonV7/run_logs/timers.json
Normal file
325
MLAgents/results/BensonV7/run_logs/timers.json
Normal file
@@ -0,0 +1,325 @@
|
||||
{
|
||||
"name": "root",
|
||||
"gauges": {
|
||||
"BensonV7.Policy.Entropy.mean": {
|
||||
"value": 1.3791288137435913,
|
||||
"min": 1.3791288137435913,
|
||||
"max": 2.187758684158325,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Policy.Entropy.sum": {
|
||||
"value": 13763.705078125,
|
||||
"min": 13763.705078125,
|
||||
"max": 22402.6484375,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Step.mean": {
|
||||
"value": 239991.0,
|
||||
"min": 9984.0,
|
||||
"max": 239991.0,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Step.sum": {
|
||||
"value": 239991.0,
|
||||
"min": 9984.0,
|
||||
"max": 239991.0,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Policy.ExtrinsicValueEstimate.mean": {
|
||||
"value": 0.4123384356498718,
|
||||
"min": -0.17652811110019684,
|
||||
"max": 0.4123384356498718,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Policy.ExtrinsicValueEstimate.sum": {
|
||||
"value": 75.45793151855469,
|
||||
"min": -43.4259147644043,
|
||||
"max": 75.45793151855469,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Environment.EpisodeLength.mean": {
|
||||
"value": 208.6595744680851,
|
||||
"min": 79.0,
|
||||
"max": 208.6595744680851,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Environment.EpisodeLength.sum": {
|
||||
"value": 9807.0,
|
||||
"min": 8690.0,
|
||||
"max": 10688.0,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Self-play.ELO.mean": {
|
||||
"value": 115.6026867741647,
|
||||
"min": 90.04764891469252,
|
||||
"max": 1141.217976657289,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Self-play.ELO.sum": {
|
||||
"value": 5433.326278385741,
|
||||
"min": 5433.326278385741,
|
||||
"max": 136946.1571988747,
|
||||
"count": 24
|
||||
},
|
||||
"BensonV7.Environment.CumulativeReward.mean": {
|
||||
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||||
30
MLAgents/results/BensonV7/run_logs/training_status.json
Normal file
30
MLAgents/results/BensonV7/run_logs/training_status.json
Normal file
@@ -0,0 +1,30 @@
|
||||
{
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||||
"BensonV7": {
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"checkpoints": [
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{
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"steps": 249156,
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"file_path": "results\\BensonV7\\BensonV7\\BensonV7-249156.onnx",
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"reward": null,
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"creation_time": 1713855170.9470267,
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"auxillary_file_paths": [
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"results\\BensonV7\\BensonV7\\BensonV7-249156.pt"
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]
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}
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],
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"final_checkpoint": {
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"file_path": "results\\BensonV7\\BensonV7.onnx",
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||||
"reward": null,
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"creation_time": 1713855170.9470267,
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"auxillary_file_paths": [
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"results\\BensonV7\\BensonV7\\BensonV7-249156.pt"
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]
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}
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},
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"metadata": {
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}
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}
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||||
@@ -1,2 +1,2 @@
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||||
mlagents-learn config/BensonV6.1.yaml --run-id=BensonV6.1 --force
|
||||
mlagents-learn config/BensonV7.yaml --run-id=BensonV7 --force
|
||||
@REM mlagents-learn config/BensonV5.yaml --run-id=BensonV5 --resume --env="C:\Users\noahk\Desktop\BensonV5\Racesm_L.exe" --no-graphics --num-envs=1
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||||
@@ -4,5 +4,11 @@
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||||
EditorBuildSettings:
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m_ObjectHideFlags: 0
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serializedVersion: 2
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m_Scenes: []
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m_Scenes:
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||||
- enabled: 1
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||||
path: Assets/Scenes/Car Customization.unity
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||||
guid: 46fb4d69ffddef24abd332313bb5f4d8
|
||||
- enabled: 1
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||||
path: Assets/Scenes/Racetrack mini.unity
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||||
guid: 9b5f77be9dfb7c14cba3af351597ec83
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||||
m_configObjects: {}
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||||
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||||
@@ -5,6 +5,7 @@ TagManager:
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||||
serializedVersion: 2
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||||
tags:
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||||
- Wall
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||||
- NPC
|
||||
layers:
|
||||
- Default
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||||
- TransparentFX
|
||||
|
||||
Reference in New Issue
Block a user