Benson V7 be training

Assets/ML-Agents/Timers/AI training_timers.json

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Assets/Scripts/AgentControllerV7.cs

@@ -66,6 +66,20 @@ public class AgentControllerV7 : Agent
         transform.localRotation = startRotation;
         rb.velocity = Vector3.zero;
         rb.angularVelocity = Vector3.zero;
+
+        //randomize car position
+
+        float rng = UnityEngine.Random.Range(-3f, 3f);
+        // int rng = UnityEngine.Random.(-3, 3);
+
+        transform.localPosition = new Vector3(
+            transform.localPosition.x,
+            transform.localPosition.y,
+            transform.localPosition.z + rng
+        );
+        
+
+
     }
 
     public override void CollectObservations(VectorSensor sensor)
@@ -219,7 +233,6 @@ public class AgentControllerV7 : Agent
         if (checkpintDistance < 0.1f)
         {
             stepsSinceCheckpoint = 0;
-            checkpointsReached += 1;
             
             // If last checkpoint
             if (checkpointsReached == checkpoints.Count - 1)
@@ -228,6 +241,8 @@ public class AgentControllerV7 : Agent
                 EndEpisode();           
             }
 
+            checkpointsReached += 1;
+
             //TODO fix variable names
 
             AddReward(1f);

MLAgents/config/BensonV7.yaml

@@ -49,10 +49,10 @@ behaviors:
 
     self_play:
       window: 10
-      play_against_latest_model_ratio: 0.5
+      play_against_latest_model_ratio: 0.666
-      save_steps: 20000
+      save_steps: 40000
-      swap_steps: 10000
+      swap_steps: 20000
-      team_change: 100000
+      team_change: 200000
 
       # # curiosity module
       # curiosity:

MLAgents/results/BensonV7/configuration.yaml

@@ -42,11 +42,11 @@ behaviors:
     summary_freq: 10000
     threaded: false
     self_play:
-      save_steps: 20000
+      save_steps: 40000
-      team_change: 100000
+      team_change: 200000
-      swap_steps: 10000
+      swap_steps: 20000
       window: 10
-      play_against_latest_model_ratio: 0.5
+      play_against_latest_model_ratio: 0.666
       initial_elo: 1200.0
     behavioral_cloning: null
 env_settings:
@@ -72,8 +72,8 @@ checkpoint_settings:
   run_id: BensonV7
   initialize_from: null
   load_model: false
-  resume: false
+  resume: true
-  force: true
+  force: false
   train_model: false
   inference: false
   results_dir: results

MLAgents/results/BensonV7/run_logs/timers.json

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@@ -303,19 +310,19 @@
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MLAgents/results/BensonV7/run_logs/training_status.json

@@ -1,24 +1,60 @@
 {
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MLAgents/train.bat

@@ -1,2 +1,2 @@
-mlagents-learn config/BensonV7.yaml --run-id=BensonV7 --force
+mlagents-learn config/BensonV7.yaml --run-id=BensonV7 --resume
 @REM mlagents-learn config/BensonV5.yaml --run-id=BensonV5 --resume --env="C:\Users\noahk\Desktop\BensonV5\Racesm_L.exe" --no-graphics --num-envs=1