Merge branch 'master' of git@ooftooft.net:Racesm.git
# Conflicts: # Assets/ML-Agents/Timers/Racetrack mini_timers.json
This commit is contained in:
PokingPines
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|
||||
--- !u!1001 &5664739312409415817
|
||||
PrefabInstance:
|
||||
m_ObjectHideFlags: 0
|
||||
@@ -1829,10 +2090,14 @@ PrefabInstance:
|
||||
serializedVersion: 3
|
||||
m_TransformParent: {fileID: 0}
|
||||
m_Modifications:
|
||||
- target: {fileID: 1742803291406415280, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
|
||||
propertyPath: Loader
|
||||
value:
|
||||
objectReference: {fileID: 1012547617}
|
||||
- target: {fileID: 1742803291406415280, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
|
||||
propertyPath: TargetCar
|
||||
value:
|
||||
objectReference: {fileID: 6691047895503368177}
|
||||
objectReference: {fileID: 1807081645}
|
||||
- target: {fileID: 3506080139786068794, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
|
||||
propertyPath: m_LocalPosition.z
|
||||
value: -7
|
||||
@@ -2015,11 +2280,6 @@ PrefabInstance:
|
||||
m_AddedGameObjects: []
|
||||
m_AddedComponents: []
|
||||
m_SourcePrefab: {fileID: 100100000, guid: 9f63749b266355c4c8f8f5a8529d34cb, type: 3}
|
||||
--- !u!1 &6691047895503368177 stripped
|
||||
GameObject:
|
||||
m_CorrespondingSourceObject: {fileID: 9044108803436088291, guid: 9f63749b266355c4c8f8f5a8529d34cb, type: 3}
|
||||
m_PrefabInstance: {fileID: 6691047895503368176}
|
||||
m_PrefabAsset: {fileID: 0}
|
||||
--- !u!1001 &6862354766440944207
|
||||
PrefabInstance:
|
||||
m_ObjectHideFlags: 0
|
||||
@@ -2110,3 +2370,7 @@ SceneRoots:
|
||||
- {fileID: 6691047895503368176}
|
||||
- {fileID: 6340921078669887300}
|
||||
- {fileID: 844045141}
|
||||
- {fileID: 1726413938}
|
||||
- {fileID: 1069827985}
|
||||
- {fileID: 1807081644}
|
||||
- {fileID: 1565700212821217781}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -47,8 +47,8 @@ public class AgentController: Agent
|
||||
// Find all child GameObjects that have the WheelControl script attached
|
||||
wheels = GetComponentsInChildren<WheelControl>();
|
||||
|
||||
startPosition = transform.localPosition;
|
||||
startRotation = transform.localRotation;
|
||||
startPosition = transform.position;
|
||||
startRotation = transform.rotation;
|
||||
|
||||
}
|
||||
|
||||
@@ -76,21 +76,20 @@ public class AgentController: Agent
|
||||
|
||||
|
||||
// reset car
|
||||
transform.localPosition = startPosition;
|
||||
transform.localRotation = startRotation;
|
||||
transform.position = startPosition;
|
||||
transform.rotation = startRotation;
|
||||
rb.velocity = Vector3.zero;
|
||||
rb.angularVelocity = Vector3.zero;
|
||||
|
||||
//randomize car position
|
||||
// //randomize car position
|
||||
|
||||
float rng = UnityEngine.Random.Range(-3f, 3f);
|
||||
// int rng = UnityEngine.Random.(-3, 3);
|
||||
// float rng = UnityEngine.Random.Range(-3f, 3f);
|
||||
|
||||
transform.localPosition = new Vector3(
|
||||
transform.localPosition.x,
|
||||
transform.localPosition.y,
|
||||
transform.localPosition.z + rng
|
||||
);
|
||||
// transform.position = new Vector3(
|
||||
// transform.position.x,
|
||||
// transform.position.y,
|
||||
// transform.position.z + rng
|
||||
// );
|
||||
|
||||
|
||||
|
||||
@@ -114,8 +113,8 @@ public class AgentController: Agent
|
||||
sensor.AddObservation(angleToCheckpoint(currentCheckpoint));
|
||||
|
||||
// relative vector pointing to checkpoint
|
||||
Vector3 position = transform.localPosition;
|
||||
Vector3 checkpointPosition = currentCheckpoint.localPosition;
|
||||
Vector3 position = transform.position;
|
||||
Vector3 checkpointPosition = currentCheckpoint.position;
|
||||
|
||||
Vector3 toCheckpoint = new Vector3(
|
||||
checkpointPosition.x - position.x,
|
||||
@@ -123,7 +122,7 @@ public class AgentController: Agent
|
||||
checkpointPosition.z - position.z
|
||||
);
|
||||
|
||||
float carAngle = transform.localEulerAngles.y;
|
||||
float carAngle = transform.eulerAngles.y;
|
||||
|
||||
toCheckpoint = Quaternion.Euler(0, -carAngle, 0) * toCheckpoint.normalized;
|
||||
|
||||
@@ -353,7 +352,7 @@ public class AgentController: Agent
|
||||
|
||||
float angleToCheckpoint(Transform checkpoint)
|
||||
{
|
||||
Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition;
|
||||
Vector3 checkpointDirection = checkpoint.position - transform.position;
|
||||
|
||||
float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up);
|
||||
return angle;
|
||||
@@ -22,7 +22,7 @@ public class CarLoader : MonoBehaviour
|
||||
}
|
||||
catch (System.Exception)
|
||||
{
|
||||
carType = "Racecar";
|
||||
carType = "Bulldozer";
|
||||
carColor = "Default";
|
||||
print("no loading");
|
||||
}
|
||||
|
||||
32
Assets/Scripts/LapTimer.cs
Normal file
32
Assets/Scripts/LapTimer.cs
Normal file
@@ -0,0 +1,32 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class LapTimer : MonoBehaviour
|
||||
{
|
||||
public float time = 0;
|
||||
private bool startTime = false;
|
||||
|
||||
|
||||
private void OnTriggerEnter(Collider other) {
|
||||
|
||||
if (startTime)
|
||||
{
|
||||
startTime = false;
|
||||
print(time);
|
||||
} else {
|
||||
startTime = true;
|
||||
time=0;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void FixedUpdate()
|
||||
{
|
||||
|
||||
time +=1;
|
||||
|
||||
}
|
||||
}
|
||||
11
Assets/Scripts/LapTimer.cs.meta
Normal file
11
Assets/Scripts/LapTimer.cs.meta
Normal file
@@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 78b183b93b28716489abc7e12d0ee15f
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -122,13 +122,13 @@ public class PlayerController : MonoBehaviour
|
||||
}
|
||||
|
||||
private void Update() {
|
||||
Transform currentCheckpoint = checkpoints[checkpointsCollected].transform;
|
||||
float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
|
||||
// Transform currentCheckpoint = checkpoints[checkpointsCollected].transform;
|
||||
// float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
|
||||
|
||||
if (checkpintDistance < 0.1f)
|
||||
{
|
||||
checkpointsCollected += 1;
|
||||
}
|
||||
// if (checkpintDistance < 0.1f)
|
||||
// {
|
||||
// checkpointsCollected += 1;
|
||||
// }
|
||||
}
|
||||
|
||||
private void OnCollisionEnter(Collision other) {
|
||||
|
||||
72
MLAgents/config/BusTrack2.yaml
Normal file
72
MLAgents/config/BusTrack2.yaml
Normal file
@@ -0,0 +1,72 @@
|
||||
behaviors:
|
||||
BusTrack2:
|
||||
trainer_type: ppo
|
||||
|
||||
hyperparameters:
|
||||
# Hyperparameters common to PPO and SAC
|
||||
batch_size: 50
|
||||
buffer_size: 10240
|
||||
learning_rate: 3.0e-4
|
||||
learning_rate_schedule: linear
|
||||
|
||||
# PPO-specific hyperparameters
|
||||
# Replaces the "PPO-specific hyperparameters" section above
|
||||
beta: 5.0e-2
|
||||
epsilon: 0.2
|
||||
lambd: 0.95
|
||||
num_epoch: 3
|
||||
|
||||
# Configuration of the neural network (common to PPO/SAC)
|
||||
network_settings:
|
||||
vis_encoder_type: simple
|
||||
normalize: false
|
||||
hidden_units: 128
|
||||
num_layers: 2
|
||||
|
||||
# Trainer configurations common to all trainers
|
||||
max_steps: 5.0e6
|
||||
time_horizon: 64
|
||||
summary_freq: 10000
|
||||
keep_checkpoints: 5
|
||||
checkpoint_interval : 500000
|
||||
threaded: false
|
||||
init_path: null
|
||||
|
||||
# # behavior cloning
|
||||
# behavioral_cloning:
|
||||
# demo_path: 'c:\Users\noahk\Documents\Unity projects\Racesm\Assets\Demonstrations\BensonV3M.demo'
|
||||
# strength: 0.5
|
||||
# # steps: 150000
|
||||
# # batch_size: 512
|
||||
# # num_epoch: 3
|
||||
# # samples_per_update: 0
|
||||
|
||||
reward_signals:
|
||||
# environment reward (default)
|
||||
extrinsic:
|
||||
strength: 1.0
|
||||
gamma: 0.99
|
||||
|
||||
# self_play:
|
||||
# window: 3
|
||||
# play_against_latest_model_ratio: 0.5
|
||||
# save_steps: 100000
|
||||
# swap_steps: 200000
|
||||
# team_change: 1000000
|
||||
|
||||
# # curiosity module
|
||||
# curiosity:
|
||||
# strength: 0.02
|
||||
# gamma: 0.99
|
||||
# encoding_size: 256
|
||||
# learning_rate: 3.0e-4
|
||||
|
||||
# # GAIL
|
||||
# gail:
|
||||
# strength: 0.5
|
||||
# # gamma: 0.99
|
||||
# # encoding_size: 128
|
||||
# demo_path: 'c:\Users\noahk\Documents\Unity projects\Racesm\Assets\Demonstrations\BensonV3M.demo'
|
||||
# # learning_rate: 3.0e-4
|
||||
# # use_actions: false
|
||||
# # use_vail: false
|
||||
BIN
MLAgents/results/BusTrack2/BusTrack2.onnx
Normal file
BIN
MLAgents/results/BusTrack2/BusTrack2.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-12000.onnx
Normal file
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-12000.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-12000.pt
Normal file
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-12000.pt
Normal file
Binary file not shown.
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-52512.onnx
Normal file
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-52512.onnx
Normal file
Binary file not shown.
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-52512.pt
Normal file
BIN
MLAgents/results/BusTrack2/BusTrack2/BusTrack2-52512.pt
Normal file
Binary file not shown.
BIN
MLAgents/results/BusTrack2/BusTrack2/checkpoint.pt
Normal file
BIN
MLAgents/results/BusTrack2/BusTrack2/checkpoint.pt
Normal file
Binary file not shown.
Binary file not shown.
76
MLAgents/results/BusTrack2/configuration.yaml
Normal file
76
MLAgents/results/BusTrack2/configuration.yaml
Normal file
@@ -0,0 +1,76 @@
|
||||
default_settings: null
|
||||
behaviors:
|
||||
BusTrack2:
|
||||
trainer_type: ppo
|
||||
hyperparameters:
|
||||
batch_size: 50
|
||||
buffer_size: 10240
|
||||
learning_rate: 0.0003
|
||||
beta: 0.05
|
||||
epsilon: 0.2
|
||||
lambd: 0.95
|
||||
num_epoch: 3
|
||||
shared_critic: false
|
||||
learning_rate_schedule: linear
|
||||
beta_schedule: linear
|
||||
epsilon_schedule: linear
|
||||
network_settings:
|
||||
normalize: false
|
||||
hidden_units: 128
|
||||
num_layers: 2
|
||||
vis_encode_type: simple
|
||||
memory: null
|
||||
goal_conditioning_type: hyper
|
||||
deterministic: false
|
||||
reward_signals:
|
||||
extrinsic:
|
||||
gamma: 0.99
|
||||
strength: 1.0
|
||||
network_settings:
|
||||
normalize: false
|
||||
hidden_units: 128
|
||||
num_layers: 2
|
||||
vis_encode_type: simple
|
||||
memory: null
|
||||
goal_conditioning_type: hyper
|
||||
deterministic: false
|
||||
init_path: null
|
||||
keep_checkpoints: 5
|
||||
checkpoint_interval: 500000
|
||||
max_steps: 5000000
|
||||
time_horizon: 64
|
||||
summary_freq: 10000
|
||||
threaded: false
|
||||
self_play: null
|
||||
behavioral_cloning: null
|
||||
env_settings:
|
||||
env_path: null
|
||||
env_args: null
|
||||
base_port: 5005
|
||||
num_envs: 1
|
||||
num_areas: 1
|
||||
seed: -1
|
||||
max_lifetime_restarts: 10
|
||||
restarts_rate_limit_n: 1
|
||||
restarts_rate_limit_period_s: 60
|
||||
engine_settings:
|
||||
width: 84
|
||||
height: 84
|
||||
quality_level: 5
|
||||
time_scale: 20
|
||||
target_frame_rate: -1
|
||||
capture_frame_rate: 60
|
||||
no_graphics: false
|
||||
environment_parameters: null
|
||||
checkpoint_settings:
|
||||
run_id: BusTrack2
|
||||
initialize_from: null
|
||||
load_model: false
|
||||
resume: false
|
||||
force: true
|
||||
train_model: false
|
||||
inference: false
|
||||
results_dir: results
|
||||
torch_settings:
|
||||
device: null
|
||||
debug: false
|
||||
313
MLAgents/results/BusTrack2/run_logs/timers.json
Normal file
313
MLAgents/results/BusTrack2/run_logs/timers.json
Normal file
@@ -0,0 +1,313 @@
|
||||
{
|
||||
"name": "root",
|
||||
"gauges": {
|
||||
"BusTrack2.Policy.Entropy.mean": {
|
||||
"value": 2.1863579750061035,
|
||||
"min": 2.1749253273010254,
|
||||
"max": 2.1947851181030273,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Policy.Entropy.sum": {
|
||||
"value": 21968.525390625,
|
||||
"min": 21644.857421875,
|
||||
"max": 22053.201171875,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Step.mean": {
|
||||
"value": 49984.0,
|
||||
"min": 9984.0,
|
||||
"max": 49984.0,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Step.sum": {
|
||||
"value": 49984.0,
|
||||
"min": 9984.0,
|
||||
"max": 49984.0,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Policy.ExtrinsicValueEstimate.mean": {
|
||||
"value": 0.0749274343252182,
|
||||
"min": 0.0749274343252182,
|
||||
"max": 0.2529940903186798,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Policy.ExtrinsicValueEstimate.sum": {
|
||||
"value": 11.98838996887207,
|
||||
"min": 11.98838996887207,
|
||||
"max": 40.22605895996094,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Environment.EpisodeLength.mean": {
|
||||
"value": 499.0,
|
||||
"min": 499.0,
|
||||
"max": 499.0,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Environment.EpisodeLength.sum": {
|
||||
"value": 7984.0,
|
||||
"min": 7984.0,
|
||||
"max": 11976.0,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Environment.CumulativeReward.mean": {
|
||||
"value": -0.30098484913126894,
|
||||
"min": -0.7619615873187761,
|
||||
"max": -0.19303640429825464,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Environment.CumulativeReward.sum": {
|
||||
"value": -5.116742435231572,
|
||||
"min": -17.52511650833185,
|
||||
"max": -3.088582468772074,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Policy.ExtrinsicReward.mean": {
|
||||
"value": -0.30098484913126894,
|
||||
"min": -0.7619615873187761,
|
||||
"max": -0.19303640429825464,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Policy.ExtrinsicReward.sum": {
|
||||
"value": -5.116742435231572,
|
||||
"min": -17.52511650833185,
|
||||
"max": -3.088582468772074,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.IsTraining.mean": {
|
||||
"value": 1.0,
|
||||
"min": 1.0,
|
||||
"max": 1.0,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.IsTraining.sum": {
|
||||
"value": 1.0,
|
||||
"min": 1.0,
|
||||
"max": 1.0,
|
||||
"count": 5
|
||||
},
|
||||
"BusTrack2.Losses.PolicyLoss.mean": {
|
||||
"value": 0.11586630168607447,
|
||||
"min": 0.11050240805861049,
|
||||
"max": 0.11743067037271877,
|
||||
"count": 4
|
||||
},
|
||||
"BusTrack2.Losses.PolicyLoss.sum": {
|
||||
"value": 0.11586630168607447,
|
||||
"min": 0.11050240805861049,
|
||||
"max": 0.11743067037271877,
|
||||
"count": 4
|
||||
},
|
||||
"BusTrack2.Losses.ValueLoss.mean": {
|
||||
"value": 0.0026205912706508275,
|
||||
"min": 0.0026205912706508275,
|
||||
"max": 0.01049612028478976,
|
||||
"count": 4
|
||||
},
|
||||
"BusTrack2.Losses.ValueLoss.sum": {
|
||||
"value": 0.0026205912706508275,
|
||||
"min": 0.0026205912706508275,
|
||||
"max": 0.01049612028478976,
|
||||
"count": 4
|
||||
},
|
||||
"BusTrack2.Policy.LearningRate.mean": {
|
||||
"value": 0.00029747712084095994,
|
||||
"min": 0.00029747712084095994,
|
||||
"max": 0.0002993664002111999,
|
||||
"count": 4
|
||||
},
|
||||
"BusTrack2.Policy.LearningRate.sum": {
|
||||
"value": 0.00029747712084095994,
|
||||
"min": 0.00029747712084095994,
|
||||
"max": 0.0002993664002111999,
|
||||
"count": 4
|
||||
},
|
||||
"BusTrack2.Policy.Epsilon.mean": {
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||||
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||||
29
MLAgents/results/BusTrack2/run_logs/training_status.json
Normal file
29
MLAgents/results/BusTrack2/run_logs/training_status.json
Normal file
@@ -0,0 +1,29 @@
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||||
{
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||||
"BusTrack2": {
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||||
"checkpoints": [
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||||
{
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]
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],
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"final_checkpoint": {
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}
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@@ -1,2 +1,2 @@
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||||
@REM mlagents-learn config/BensonV7.yaml --run-id=BensonV7 --resume
|
||||
mlagents-learn config/BensonV7.yaml --run-id=BensonV7 --resume --env="C:\Users\noahk\Desktop\Benson slepe\Racesm_L.exe" --no-graphics --num-envs=1
|
||||
mlagents-learn config/BusTrack2.yaml --run-id=BusTrack2 --force
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||||
@REM mlagents-learn config/BensonV7.yaml --run-id=BensonV7 --resume --env="C:\Users\noahk\Desktop\Benson slepe\Racesm_L.exe" --no-graphics --num-envs=1
|
||||
Reference in New Issue
Block a user