From 8f16297e05cb4edf88abc5882560c5833473c321 Mon Sep 17 00:00:00 2001 From: Ciakon Date: Fri, 19 Apr 2024 14:10:31 +0200 Subject: [PATCH] benson skal til at cooke --- .../ML-Agents/Timers/AI training_timers.json | 2 +- .../Prefabs/Training Areas/TrainingV4.prefab | 1677 ++++++++++++++ .../Training Areas/TrainingV4.prefab.meta | 7 + Assets/Scenes/AI Training.unity | 1939 ++++------------- Assets/Scripts/AgentControllerV4.cs | 64 +- 5 files changed, 2093 insertions(+), 1596 deletions(-) create mode 100644 Assets/Prefabs/Training Areas/TrainingV4.prefab create mode 100644 Assets/Prefabs/Training Areas/TrainingV4.prefab.meta diff --git a/Assets/ML-Agents/Timers/AI training_timers.json b/Assets/ML-Agents/Timers/AI training_timers.json index 54f99cb..3e19dd3 100644 --- a/Assets/ML-Agents/Timers/AI training_timers.json +++ b/Assets/ML-Agents/Timers/AI training_timers.json @@ -1 +1 @@ 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= 400; public float steeringRange = 9; Rigidbody rigidBody; public List checkpoints; @@ -24,14 +22,12 @@ public class AgentControllerV4 : Agent int currentStep = 0; int stepsSinceCheckpoint = 0; public int maxStepsPerCheckpoint = 300; - public int distanceBetweenCheckpoints; - + public int distanceBetweenCheckpoints = 5; // Start is called before the first frame update void Start() { rigidBody = GetComponent(); - // Find all child GameObjects that have the WheelControl script attached startPosition = transform.localPosition; startRotation = transform.localRotation; } @@ -67,8 +63,8 @@ public class AgentControllerV4 : Agent } } - print(transform.rotation.y); - sensor.AddObservation(transform.rotation.y); + // Agent rotation + sensor.AddObservation(transform.localRotation.y); Vector3 position = transform.localPosition; Vector3 checkpointPosition = currentCheckpoint.localPosition; @@ -78,21 +74,15 @@ public class AgentControllerV4 : Agent checkpointPosition.z - position.z ); + // Normalized vector in direction of checkpoint and distancce to checkpoint. sensor.AddObservation(toCheckpoint.normalized); - sensor.AddObservation(toCheckpoint.magnitude); + sensor.AddObservation(distanceToCheckpoint(currentCheckpoint)); - var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity - var angularMagnitude = rigidBody.angularVelocity.magnitude; - var forwardMagnitude = Mathf.Sqrt( Mathf.Pow(FullVelocityMagnitude, 2) - Mathf.Pow(angularMagnitude, 2)); // Agent velocity in forward direction - - if (forwardMagnitude >= 0.001) - sensor.AddObservation(forwardMagnitude); - else - sensor.AddObservation(FullVelocityMagnitude); - - sensor.AddObservation(angularMagnitude); + Vector2 velocity = new Vector2(rigidBody.velocity.x, rigidBody.velocity.z); + // Velocity + sensor.AddObservation(velocity); } public override void OnActionReceived(ActionBuffers actions) @@ -111,13 +101,6 @@ public class AgentControllerV4 : Agent if (actions.DiscreteActions[1] == 1) hInput = 1f; - // reward for going forward - - // if (vInput == 1f) - // { - // AddReward(0.02f); - // } - // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still) AddReward(-0.002f); @@ -155,12 +138,13 @@ public class AgentControllerV4 : Agent currentCheckpoint.GetComponent().isCollected = true; stepsSinceCheckpoint = 0; + // If last checkpoint if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform) { AddReward(10f); EndEpisode(); } - AddReward(1.0f); + AddReward(1f); } currentStep += 1; @@ -208,19 +192,19 @@ public class AgentControllerV4 : Agent return angle; } - // punishment for hitting a wall - private void OnCollisionEnter(Collision other) { - if (other.gameObject.tag == "Wall") - { - AddReward(-0.05f); - } - } + // // punishment for hitting a wall + // private void OnCollisionEnter(Collision other) { + // if (other.gameObject.tag == "Wall") + // { + // AddReward(-0.05f); + // } + // } - // punishment for staying at a wall - private void OnCollisionStay(Collision other) { - if (other.gameObject.tag == "Wall") - { - AddReward(-0.05f); - } - } + // // punishment for staying at a wall + // private void OnCollisionStay(Collision other) { + // if (other.gameObject.tag == "Wall") + // { + // AddReward(-0.005f); + // } + // } } \ No newline at end of file