Ciakon/racesm
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

benson V5 har cooket

Browse Source
This commit is contained in:
Ciakon
2024-04-20 14:45:47 +02:00
parent 2d017b7a59
commit 65607aebc4
322 changed files with 127875 additions and 143 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Assets/ML-Agents/Timers/AI training_timers.json
View File

@@ -1 +1 @@
{"count":1,"self":111.86097919999999,"total":112.7056501,"children":{"InitializeActuators":{"count":1,"self":0.0010004999999999999,"total":0.0010004999999999999,"children":null},"InitializeSensors":{"count":1,"self":0.0020055,"total":0.0020055,"children":null},"AgentSendState":{"count":5396,"self":0.072008599999999992,"total":0.112703,"children":{"CollectObservations":{"count":1080,"self":0.0271168,"total":0.0271168,"children":null},"WriteActionMask":{"count":1080,"self":0,"total":0,"children":null},"RequestDecision":{"count":1080,"self":0.013577599999999999,"total":0.013577599999999999,"children":null}}},"DecideAction":{"count":5396,"self":0.5794904,"total":0.58251979999999992,"children":{"RayPerceptionSensor.Perceive":{"count":2160,"self":0.0030294,"total":0.0030294,"children":null}}},"AgentAct":{"count":5396,"self":0.1464373,"total":0.1464373,"children":null}},"gauges":{"BensonV4.CumulativeReward":{"count":7,"max":5.96420574,"min":5.79276133,"runningAverage":5.889879,"value":5.87086153,"weightedAverage":5.89014149}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1713539474","unity_version":"2022.3.11f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2022.3.11f1\\Editor\\Unity.exe -projectpath C:\\Users\\noahk\\Documents\\Unity projects\\Racesm -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-noahk -hubSessionId 391732a6-a2b0-4a93-b4a3-321236b9bad5 -accessToken 3KS6Z2WtkqT-u9ZbvfSgVazd2aJBTKTOTKNuyMYuWDs005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1713539587"}}
{"count":1,"self":71.3308416,"total":564.2276214,"children":{"InitializeActuators":{"count":10,"self":0.0025063999999999998,"total":0.0025063999999999998,"children":null},"InitializeSensors":{"count":10,"self":0.0020006,"total":0.0020006,"children":null},"AgentSendState":{"count":104734,"self":3.1834852,"total":6.9912367,"children":{"CollectObservations":{"count":209470,"self":1.2111973,"total":1.2111973,"children":null},"WriteActionMask":{"count":209470,"self":0.10131609999999999,"total":0.10131609999999999,"children":null},"RequestDecision":{"count":209470,"self":0.4577849,"total":2.4952381999999997,"children":{"AgentInfo.ToProto":{"count":209470,"self":0.4025186,"total":2.0374532999999997,"children":{"GenerateSensorData":{"count":209470,"self":1.3459704,"total":1.6349346999999999,"children":{"RayPerceptionSensor.Perceive":{"count":418940,"self":0.2889643,"total":0.2889643,"children":null}}}}}}}}},"DecideAction":{"count":104734,"self":358.0066304,"total":358.00662489999996,"children":null},"AgentAct":{"count":104734,"self":127.88074239999999,"total":127.89341119999999,"children":{"AgentInfo.ToProto":{"count":819,"self":0.0010191,"total":0.012669399999999999,"children":{"GenerateSensorData":{"count":819,"self":0.011148,"total":0.011650299999999999,"children":{"RayPerceptionSensor.Perceive":{"count":1638,"self":0.0005023,"total":0.0005023,"children":null}}}}}}}},"gauges":{"BensonV5.CumulativeReward":{"count":819,"max":11.6134615,"min":0.537391961,"runningAverage":10.37029,"value":11.4620371,"weightedAverage":9.683728}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1713616473","unity_version":"2022.3.11f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2022.3.11f1\\Editor\\Unity.exe -projectpath C:\\Users\\noahk\\Documents\\Unity projects\\Racesm -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-noahk -hubSessionId e08cc479-296a-466a-a392-68af5330fc09 -accessToken S1StEIprioU2rzDDo5vTCfsRe2zgz-zUchvR2e0iCUQ005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1713617037"}}

2
Assets/Prefabs/CheckPoint.prefab
View File

@@ -13,7 +13,7 @@ GameObject:
- component: {fileID: 1915818325675539370}
- component: {fileID: 3466260334280045808}
- component: {fileID: 5655726606384773670}
m_Layer: 0
m_Layer: 2
m_Name: CheckPoint
m_TagString: Untagged
m_Icon: {fileID: 0}

118
Assets/Prefabs/Training Areas/TrainingV4.prefab
View File

@@ -9,7 +9,7 @@ GameObject:
serializedVersion: 6
m_Component:
- component: {fileID: 3871044324247212909}
m_Layer: 0
m_Layer: 2
m_Name: Rewards
m_TagString: Untagged
m_Icon: {fileID: 0}
@@ -267,8 +267,8 @@ MonoBehaviour:
m_ObservationStacks: 1
rayHitColor: {r: 1, g: 0, b: 0, a: 1}
rayMissColor: {r: 1, g: 1, b: 1, a: 1}
m_StartVerticalOffset: 0.25
m_EndVerticalOffset: 0.25
m_StartVerticalOffset: 0.2
m_EndVerticalOffset: 0.2
--- !u!1 &8832687267391831282
GameObject:
m_ObjectHideFlags: 0
@@ -355,6 +355,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (7)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -422,6 +426,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (8)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -489,6 +497,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (13)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -556,6 +568,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (2)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -623,6 +639,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (11)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -694,6 +714,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (1)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -761,6 +785,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (10)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -828,6 +856,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (3)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -895,6 +927,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (6)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -944,7 +980,7 @@ PrefabInstance:
objectReference: {fileID: 4361687674892069559, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
- target: {fileID: 3310781390057679429, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
propertyPath: m_IsActive
value: 0
value: 1
objectReference: {fileID: 0}
- target: {fileID: 5418785709807611868, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
propertyPath: maxSpeed
@@ -1032,11 +1068,11 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 7302242925535239009, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
propertyPath: m_IsActive
value: 0
value: 1
objectReference: {fileID: 0}
- target: {fileID: 7906150893989788378, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
propertyPath: m_IsActive
value: 0
value: 1
objectReference: {fileID: 0}
- target: {fileID: 7953198523918571078, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
propertyPath: m_LocalScale.x
@@ -1064,7 +1100,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 8790375192439221064, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
propertyPath: m_IsActive
value: 0
value: 1
objectReference: {fileID: 0}
m_RemovedComponents:
- {fileID: 5418785709807611868, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
@@ -1085,13 +1121,10 @@ PrefabInstance:
addedObject: {fileID: 1228817729644437253}
- targetCorrespondingSourceObject: {fileID: 5711380006811689493, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
insertIndex: -1
addedObject: {fileID: 3354859547742687855}
addedObject: {fileID: 1639575900821545436}
- targetCorrespondingSourceObject: {fileID: 5711380006811689493, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
insertIndex: -1
addedObject: {fileID: 2481429082858237285}
- targetCorrespondingSourceObject: {fileID: 5711380006811689493, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
insertIndex: -1
addedObject: {fileID: 6023538107748668233}
addedObject: {fileID: 6232026075062764434}
m_SourcePrefab: {fileID: 100100000, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
--- !u!4 &105864364744706313 stripped
Transform:
@@ -1116,7 +1149,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
m_BrainParameters:
VectorObservationSize: 6
VectorObservationSize: 7
NumStackedVectorObservations: 1
m_ActionSpec:
m_NumContinuousActions: 0
@@ -1128,28 +1161,12 @@ MonoBehaviour:
m_Model: {fileID: 0}
m_InferenceDevice: 0
m_BehaviorType: 0
m_BehaviorName: BensonV4
m_BehaviorName: BensonV5
TeamId: 0
m_UseChildSensors: 1
m_UseChildActuators: 1
m_ObservableAttributeHandling: 0
--- !u!114 &3354859547742687855
MonoBehaviour:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 360449495197158213}
m_Enabled: 0
m_EditorHideFlags: 0
m_Script: {fileID: 11500000, guid: f2902496c0120472b90269f94a0aec7e, type: 3}
m_Name:
m_EditorClassIdentifier:
Record: 0
NumStepsToRecord: 0
DemonstrationName: BensonV4
DemonstrationDirectory:
--- !u!114 &2481429082858237285
--- !u!114 &1639575900821545436
MonoBehaviour:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
@@ -1158,15 +1175,19 @@ MonoBehaviour:
m_GameObject: {fileID: 360449495197158213}
m_Enabled: 1
m_EditorHideFlags: 0
m_Script: {fileID: 11500000, guid: f5cda3de98f45464999f00bdd795f2a0, type: 3}
m_Script: {fileID: 11500000, guid: 2a31c1c1fd9a962429d7742f2cd1ac61, type: 3}
m_Name:
m_EditorClassIdentifier:
agentParameters:
maxStep: 0
hasUpgradedFromAgentParameters: 1
MaxStep: 0
motorForce: 500
steeringRange: 2
motorTorque: 300
brakeTorque: 500
maxSpeed: 400
steeringRange: 9
steeringRangeAtMaxSpeed: 7
autoBrake: 100
checkpoints:
- {fileID: 8925203239849578955}
- {fileID: 8821007502236365947}
@@ -1183,9 +1204,10 @@ MonoBehaviour:
- {fileID: 8751309615715668357}
- {fileID: 3783507094856640719}
- {fileID: 1250869111078240827}
maxStepsPerCheckpoint: 200
maxStepsPerCheckpoint: 300
distanceBetweenCheckpoints: 12
--- !u!114 &6023538107748668233
ignoreMentalPain: 1
--- !u!114 &6232026075062764434
MonoBehaviour:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
@@ -1251,6 +1273,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (5)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -1318,6 +1344,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (14)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -1459,6 +1489,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (4)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -1526,6 +1560,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (9)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -1593,6 +1631,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (15)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
@@ -1660,6 +1702,10 @@ PrefabInstance:
propertyPath: m_Name
value: Checkpoint (12)
objectReference: {fileID: 0}
- target: {fileID: 7234834637752836426, guid: a5cc261231f5a6a4c88239b1dab368cb, type: 3}
propertyPath: m_Layer
value: 2
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []

107
Assets/Scenes/AI Training.unity
View File

@@ -323,7 +323,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
m_IsActive: 0
--- !u!81 &765367129
AudioListener:
m_ObjectHideFlags: 0
@@ -578,7 +578,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 1387890555408215438, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3}
propertyPath: m_IsActive
value: 0
value: 1
objectReference: {fileID: 0}
- target: {fileID: 2100622393876020061, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3}
propertyPath: CameraSide
@@ -1254,100 +1254,6 @@ PrefabInstance:
m_AddedGameObjects: []
m_AddedComponents: []
m_SourcePrefab: {fileID: 100100000, guid: a3462884d5dfc9e49a4a1c1abb5c98e7, type: 3}
--- !u!1 &1847426965
GameObject:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
serializedVersion: 6
m_Component:
- component: {fileID: 1847426967}
- component: {fileID: 1847426966}
m_Layer: 0
m_Name: Directional Light (1)
m_TagString: Untagged
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
m_IsActive: 1
--- !u!108 &1847426966
Light:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1847426965}
m_Enabled: 1
serializedVersion: 10
m_Type: 1
m_Shape: 0
m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1}
m_Intensity: 1
m_Range: 10
m_SpotAngle: 30
m_InnerSpotAngle: 21.80208
m_CookieSize: 10
m_Shadows:
m_Type: 2
m_Resolution: -1
m_CustomResolution: -1
m_Strength: 1
m_Bias: 0.05
m_NormalBias: 0.4
m_NearPlane: 0.2
m_CullingMatrixOverride:
e00: 1
e01: 0
e02: 0
e03: 0
e10: 0
e11: 1
e12: 0
e13: 0
e20: 0
e21: 0
e22: 1
e23: 0
e30: 0
e31: 0
e32: 0
e33: 1
m_UseCullingMatrixOverride: 0
m_Cookie: {fileID: 0}
m_DrawHalo: 0
m_Flare: {fileID: 0}
m_RenderMode: 0
m_CullingMask:
serializedVersion: 2
m_Bits: 4294967295
m_RenderingLayerMask: 1
m_Lightmapping: 4
m_LightShadowCasterMode: 0
m_AreaSize: {x: 1, y: 1}
m_BounceIntensity: 1
m_ColorTemperature: 6570
m_UseColorTemperature: 0
m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0}
m_UseBoundingSphereOverride: 0
m_UseViewFrustumForShadowCasterCull: 1
m_ShadowRadius: 0
m_ShadowAngle: 0
--- !u!4 &1847426967
Transform:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1847426965}
serializedVersion: 2
m_LocalRotation: {x: 0.40821788, y: -0.23456968, z: 0.10938163, w: 0.8754261}
m_LocalPosition: {x: 0, y: 3, z: 100}
m_LocalScale: {x: 1, y: 1, z: 1}
m_ConstrainProportionsScale: 0
m_Children: []
m_Father: {fileID: 0}
m_LocalEulerAnglesHint: {x: 50, y: -30, z: 0}
--- !u!1 &2015283366 stripped
GameObject:
m_CorrespondingSourceObject: {fileID: 4840733166066636179, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3}
@@ -1535,14 +1441,6 @@ PrefabInstance:
propertyPath: m_LocalEulerAnglesHint.z
value: 0
objectReference: {fileID: 0}
- target: {fileID: 1228817729644437253, guid: a3462884d5dfc9e49a4a1c1abb5c98e7, type: 3}
propertyPath: m_Model
value:
objectReference: {fileID: 0}
- target: {fileID: 1228817729644437253, guid: a3462884d5dfc9e49a4a1c1abb5c98e7, type: 3}
propertyPath: m_BehaviorType
value: 0
objectReference: {fileID: 0}
- target: {fileID: 8832687267391831282, guid: a3462884d5dfc9e49a4a1c1abb5c98e7, type: 3}
propertyPath: m_Name
value: TrainingV4
@@ -1557,7 +1455,6 @@ SceneRoots:
m_ObjectHideFlags: 0
m_Roots:
- {fileID: 1051678512}
- {fileID: 1847426967}
- {fileID: 1574695326}
- {fileID: 915493271}
- {fileID: 1175324936}

293
Assets/Scripts/AgentControllerV5.cs Normal file
View File

@@ -0,0 +1,293 @@
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 AgentControllerV5 : 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;
Rigidbody rigidBody;
public List<GameObject> checkpoints;
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 = false;
// Start is called before the first frame update
void Start()
{
rigidBody = 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;
rigidBody.velocity = Vector3.zero;
rigidBody.angularVelocity = Vector3.zero;
// reset checkpoints
foreach (GameObject checkpoint in checkpoints)
{
checkpoint.GetComponent<Checkpoint>().isCollected = false;
}
}
public override void CollectObservations(VectorSensor sensor)
{
Transform currentCheckpoint = checkpoints[0].transform;
foreach (GameObject checkpoint in checkpoints)
{
bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
if (!isCollected)
{
currentCheckpoint = checkpoint.transform;
break;
}
}
// Agent rotation
sensor.AddObservation(transform.localRotation.y);
Vector3 position = transform.localPosition;
Vector3 checkpointPosition = currentCheckpoint.localPosition;
Vector2 toCheckpoint = new Vector2(
checkpointPosition.x - position.x,
checkpointPosition.z - position.z
);
// Normalized vector in direction of checkpoint and distancce to checkpoint.
sensor.AddObservation(toCheckpoint.normalized);
sensor.AddObservation(distanceToCheckpoint(currentCheckpoint));
Vector2 velocity = new Vector2(rigidBody.velocity.x, rigidBody.velocity.z);
// Velocity
sensor.AddObservation(velocity);
sensor.AddObservation(angleToCheckpoint(currentCheckpoint));
}
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, rigidBody.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[0].transform;
foreach (GameObject checkpoint in checkpoints)
{
bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
if (!isCollected)
{
currentCheckpoint = checkpoint.transform;
break;
}
}
float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
float reward = (1 - Mathf.InverseLerp(0, distanceBetweenCheckpoints, checkpintDistance)) / 1000;
totalReward += reward;
AddReward(reward);
print(GetCumulativeReward().ToString());
if (checkpintDistance < 0.1f)
{
currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
stepsSinceCheckpoint = 0;
checkpointsReached += 1;
// If last checkpoint
if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
{
AddReward(10f);
EndEpisode();
}
//TODO fix variable names
AddReward(1f);
AddReward(-totalReward);
totalReward = 0;
print("checkpoint");
}
currentStep += 1;
stepsSinceCheckpoint += 1;
if (stepsSinceCheckpoint >= maxStepsPerCheckpoint)
{
stepsSinceCheckpoint = 0;
EndEpisode();
}
}
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;
}
}

11
Assets/Scripts/AgentControllerV5.cs.meta Normal file
View File

@@ -0,0 +1,11 @@
fileFormatVersion: 2
guid: 2a31c1c1fd9a962429d7742f2cd1ac61
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:

18
Assets/Scripts/AgentControllerV6.cs Normal file
View File

@@ -0,0 +1,18 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class AgentControllerV6 : MonoBehaviour
{
// Start is called before the first frame update
void Start()
{
}
// Update is called once per frame
void Update()
{
}
}

11
Assets/Scripts/AgentControllerV6.cs.meta Normal file
View File

@@ -0,0 +1,11 @@
fileFormatVersion: 2
guid: e504560e573e8634db5ced380452680f
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant: