small AI changes

2024-04-11 14:31:24 +02:00
parent eeb46585e7
commit 83e08fa10d
8 changed files with 166 additions and 88 deletions
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--- a/Assets/ML-Agents/Timers/AI
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--- a/Assets/Scripts/AgentController.cs
+++ b/Assets/Scripts/AgentController.cs
@@ -9,6 +9,7 @@ using System.Linq;
 using Unity.Mathematics;
 using Unity.VisualScripting;
 using System.Reflection;
+using System;

 public class AgentController : Agent
 {
@@ -41,7 +42,7 @@ public class AgentController : Agent

    public override void OnEpisodeBegin()
    {
-        int stepsSinceCheckpoint = 0;
+        stepsSinceCheckpoint = 0;
        // reset wheels
        foreach (var wheel in wheels)
        {
@@ -79,14 +80,9 @@ public class AgentController : Agent
            }
        }

-        sensor.AddObservation(currentCheckpoint.localPosition.x);
-        sensor.AddObservation(currentCheckpoint.localPosition.z);
+        float checkpointDistance = distanceToCheckpoint(currentCheckpoint);

-
-        // agent
-        sensor.AddObservation(transform.localPosition.x);
-        sensor.AddObservation(transform.localPosition.z);
-        sensor.AddObservation(transform.rotation.eulerAngles.y);
+        sensor.AddObservation(checkpointDistance);

        // Agent velocity
        var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity
@@ -130,6 +126,11 @@ public class AgentController : Agent
        if (actions.DiscreteActions[1] == 1)
            hInput = 1f;

+        if (vInput == 1f)
+        {
+            AddReward(0.001f);
+        }
+
        float forwardSpeed = Vector3.Dot(transform.forward, rigidBody.velocity);


@@ -210,12 +211,14 @@ public class AgentController : Agent
            }
        }

-        var closestPoint = currentCheckpoint.GetComponent<Collider>().ClosestPointOnBounds(transform.localPosition);
-        var distanceToCheckpoint = Vector3.Distance(transform.localPosition, closestPoint);
+        float checkpintDistance = distanceToCheckpoint(currentCheckpoint);

-        if (distanceToCheckpoint < 0.3f)
+        // float reward = (1 - Mathf.InverseLerp(0, 20, checkpintDistance)) / 1000;
+
+        // AddReward(reward);
+
+        if (checkpintDistance < 0.1f)
        {
-
            Debug.Log(currentCheckpoint.name);

            currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
@@ -223,13 +226,12 @@ public class AgentController : Agent

            if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
            {
-                SetReward(10f);
+                AddReward(10f);
                EndEpisode();

                Debug.Log("END");                
            }
-
-            SetReward(1.0f);
+            AddReward(1.0f);
        }

        currentStep += 1;
@@ -259,4 +261,11 @@ public class AgentController : Agent
        if (Input.GetAxis("Horizontal") > 0.5)
            discreteActionsOut[1] = 1;
    }
+
+    float distanceToCheckpoint(Transform checkpoint)
+    {
+        var closestPoint = checkpoint.GetComponent<Collider>().ClosestPointOnBounds(transform.position);
+        var distanceToCheckpoint = Vector3.Distance(transform.position, closestPoint);
+        return distanceToCheckpoint;
+    }
 }
--- a/Assets/Scripts/AgentController.cs.meta
+++ b/Assets/Scripts/AgentController.cs.meta