benson skal til at cooke

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

@@ -1 +1 @@
-{"count":1,"self":37.447126399999995,"total":38.1944854,"children":{"InitializeActuators":{"count":1,"self":0.0025220999999999998,"total":0.0025220999999999998,"children":null},"InitializeSensors":{"count":1,"self":0.0015034,"total":0.0015034,"children":null},"AgentSendState":{"count":1670,"self":0.10014859999999999,"total":0.668503,"children":{"CollectObservations":{"count":1670,"self":0.54390779999999994,"total":0.54390779999999994,"children":null},"WriteActionMask":{"count":1670,"self":0.0030217,"total":0.0030217,"children":null},"RequestDecision":{"count":1670,"self":0.012055399999999999,"total":0.0214249,"children":{"RayPerceptionSensor.Perceive":{"count":3340,"self":0.0093695,"total":0.0093695,"children":null}}}}},"DecideAction":{"count":1670,"self":0.0163969,"total":0.0163969,"children":null},"AgentAct":{"count":1670,"self":0.056928099999999995,"total":0.056928099999999995,"children":{"RayPerceptionSensor.Perceive":{"count":4,"self":0,"total":0,"children":null}}}},"gauges":{"BensonV4.CumulativeReward":{"count":2,"max":24.2291832,"min":23.1571674,"runningAverage":23.6931763,"value":24.2291832,"weightedAverage":23.42517}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1713519122","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 4068a663-bd5e-4526-907d-88111baad304 -accessToken lEnHrjqkaCSQA7MdFiPPC8yoqdYZh4_FAtRTqZKLQPI005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1713519160"}}
+{"count":1,"self":10.153191999999999,"total":27.592682399999998,"children":{"InitializeActuators":{"count":10,"self":0.0015107999999999999,"total":0.0015107999999999999,"children":null},"InitializeSensors":{"count":10,"self":0.0023767,"total":0.0023767,"children":null},"AgentSendState":{"count":5201,"self":0.2085676,"total":0.39965059999999997,"children":{"CollectObservations":{"count":10410,"self":0.0506109,"total":0.0506109,"children":null},"WriteActionMask":{"count":10410,"self":0.0049118999999999994,"total":0.0049118999999999994,"children":null},"RequestDecision":{"count":10410,"self":0.0353548,"total":0.1355602,"children":{"AgentInfo.ToProto":{"count":10410,"self":0.0238086,"total":0.1002054,"children":{"GenerateSensorData":{"count":10410,"self":0.066654999999999992,"total":0.0763968,"children":{"RayPerceptionSensor.Perceive":{"count":20820,"self":0.0097418,"total":0.0097418,"children":null}}}}}}}}},"DecideAction":{"count":5201,"self":16.709854399999998,"total":16.7098548,"children":null},"AgentAct":{"count":5201,"self":0.3219187,"total":0.32504869999999997,"children":{"AgentInfo.ToProto":{"count":260,"self":0,"total":0.00313,"children":{"GenerateSensorData":{"count":260,"self":0.0021091,"total":0.00313,"children":{"RayPerceptionSensor.Perceive":{"count":520,"self":0.0010209,"total":0.0010209,"children":null}}}}}}}},"gauges":{"BensonV4.CumulativeReward":{"count":260,"max":0.137023434,"min":0.09874481,"runningAverage":0.120815031,"value":0.120933376,"weightedAverage":0.120719552}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1713525165","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 4068a663-bd5e-4526-907d-88111baad304 -accessToken 2br8Tr5WDuAnqRzlr3wnNZ_EORRyV0BMpmUN7FvToCw005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1713525193"}}

Assets/Prefabs/Training Areas/TrainingV4.prefab.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: a3462884d5dfc9e49a4a1c1abb5c98e7
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/AgentControllerV4.cs

@@ -14,8 +14,6 @@ using System;
 public class AgentControllerV4 : Agent
 {
     public float motorForce = 300;
-    public float brakeForce = 500;
-    public float maxSpeed = 400;
     public float steeringRange = 9;
     Rigidbody rigidBody;
     public List<GameObject> 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<Rigidbody>();
-        // 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);
+        // Agent rotation
-        sensor.AddObservation(transform.rotation.y);
+        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
+        Vector2 velocity = new Vector2(rigidBody.velocity.x, rigidBody.velocity.z);
-
-        if (forwardMagnitude >= 0.001)
-            sensor.AddObservation(forwardMagnitude);
-        else
-            sensor.AddObservation(FullVelocityMagnitude);
-            
-        sensor.AddObservation(angularMagnitude);
 
+        // 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<Checkpoint>().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
+    // // punishment for hitting a wall
-    private void OnCollisionEnter(Collision other) {
+    // private void OnCollisionEnter(Collision other) {
-        if (other.gameObject.tag == "Wall")
+    //     if (other.gameObject.tag == "Wall")
-        {
+    //     {
-            AddReward(-0.05f);
+    //         AddReward(-0.05f);
-        }
+    //     }
-    }
+    // }
 
-    // punishment for staying at a wall
+    // // punishment for staying at a wall
-    private void OnCollisionStay(Collision other) {
+    // private void OnCollisionStay(Collision other) {
-        if (other.gameObject.tag == "Wall")
+    //     if (other.gameObject.tag == "Wall")
-        {
+    //     {
-            AddReward(-0.05f);
+    //         AddReward(-0.005f);
-        }
+    //     }
-    }
+    // }
 }