From 73a6b071ce31da5fd6afa79cd291d729872e7d2a Mon Sep 17 00:00:00 2001 From: Ciakon Date: Wed, 24 Apr 2024 10:43:26 +0200 Subject: [PATCH 1/9] Benson on DragRace --- .../Character_BusinessMan_Shirt_01.prefab | 2 +- Assets/ML-Agents/Timers/DragRace_timers.json | 1 + .../Timers/DragRace_timers.json.meta | 7 + .../Cars/Hotrod (Benson) Variant.prefab | 98 +- Assets/Scenes/DragRace.unity | 1607 +++++++++++++++++ Assets/Scenes/DragRace.unity.meta | 7 + Assets/Scenes/Racetrack mini.unity | 192 +- 7 files changed, 1791 insertions(+), 123 deletions(-) create mode 100644 Assets/ML-Agents/Timers/DragRace_timers.json create mode 100644 Assets/ML-Agents/Timers/DragRace_timers.json.meta create mode 100644 Assets/Scenes/DragRace.unity create mode 100644 Assets/Scenes/DragRace.unity.meta diff --git a/Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab b/Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab index 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{fileID: 1348978421} + - {fileID: 1852564514} + - {fileID: 1532760503} diff --git a/Assets/Scripts/PlayerController.cs b/Assets/Scripts/PlayerController.cs index 26b41dc..8bbf084 100644 --- a/Assets/Scripts/PlayerController.cs +++ b/Assets/Scripts/PlayerController.cs @@ -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) { From 185205ceea437e87dd089f4f3229d9460e7c859f Mon Sep 17 00:00:00 2001 From: Ciakon Date: Wed, 24 Apr 2024 11:37:48 +0200 Subject: [PATCH 5/9] hotrod probably broken --- .../Character_BusinessMan_Shirt_01.prefab | 2 +- .../ML-Agents/Timers/AI training_timers.json | 2 +- .../Timers/Racetrack mini_timers.json | 6 +- .../Cars/Hotrod (Benson) Variant.prefab | 547 - Assets/Prefabs/Cars/Hotrod.prefab | 1683 +- Assets/Prefabs/Tracks/racetrack2.prefab | 1044 + .../Prefabs/Training Areas/TrainingV5.prefab | 133114 +++++++++++++++ .../TrainingV5.prefab.meta} | 2 +- Assets/Scenes/AI Training.unity | 1046 +- Assets/Scenes/Racetrack mini.unity | 4 +- Assets/Scripts/AgentControllerV7.cs | 31 +- .../Scripts/Car Customization/Car Loader.cs | 2 +- 12 files changed, 136243 insertions(+), 1240 deletions(-) delete mode 100644 Assets/Prefabs/Cars/Hotrod (Benson) Variant.prefab create mode 100644 Assets/Prefabs/Training Areas/TrainingV5.prefab rename Assets/Prefabs/{Cars/Hotrod (Benson) Variant.prefab.meta => Training Areas/TrainingV5.prefab.meta} (74%) diff --git a/Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab b/Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab index 58ef437..b9fbf16 100644 --- a/Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab +++ b/Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab @@ -1758,7 +1758,7 @@ Transform: m_GameObject: {fileID: 153506} serializedVersion: 2 m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} - m_LocalPosition: {x: -936.6627, y: 0, z: 100.35948} + m_LocalPosition: {x: -1034.6165, y: 0, z: 100.35948} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: diff --git a/Assets/ML-Agents/Timers/AI training_timers.json b/Assets/ML-Agents/Timers/AI training_timers.json index 86d117e..2175ca8 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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--- a/Assets/Scenes/Racetrack mini.unity +++ b/Assets/Scenes/Racetrack mini.unity @@ -27134,7 +27134,7 @@ PrefabInstance: objectReference: {fileID: 454865285} - target: {fileID: 4615150776958234185, guid: dc3e6243ce610df4c845a9fa5df754a7, type: 3} propertyPath: Cars.Array.size - value: 2 + value: 3 objectReference: {fileID: 0} - target: {fileID: 4615150776958234185, guid: dc3e6243ce610df4c845a9fa5df754a7, type: 3} propertyPath: Cars.Array.data[0] @@ -27154,7 +27154,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 5365138393421743302, guid: dc3e6243ce610df4c845a9fa5df754a7, type: 3} propertyPath: players.Array.size - value: 2 + value: 3 objectReference: {fileID: 0} - target: {fileID: 5365138393421743302, guid: dc3e6243ce610df4c845a9fa5df754a7, type: 3} propertyPath: players.Array.data[0] diff --git a/Assets/Scripts/AgentControllerV7.cs b/Assets/Scripts/AgentControllerV7.cs index 3299dd5..97ed939 100644 --- a/Assets/Scripts/AgentControllerV7.cs +++ b/Assets/Scripts/AgentControllerV7.cs @@ -47,8 +47,8 @@ public class AgentController: Agent // Find all child GameObjects that have the WheelControl script attached wheels = GetComponentsInChildren(); - 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; diff --git a/Assets/Scripts/Car Customization/Car Loader.cs b/Assets/Scripts/Car Customization/Car Loader.cs index e2c19ad..beabb6f 100644 --- a/Assets/Scripts/Car Customization/Car Loader.cs +++ b/Assets/Scripts/Car Customization/Car Loader.cs @@ -22,7 +22,7 @@ public class CarLoader : MonoBehaviour } catch (System.Exception) { - carType = "Racecar"; + carType = "Bulldozer"; carColor = "Default"; print("no loading"); } From 346570c3571ad9ea31c1eab6b1404b9f2ff51cae Mon Sep 17 00:00:00 2001 From: magn9775 Date: Wed, 24 Apr 2024 11:46:17 +0200 Subject: [PATCH 6/9] idk --- Assets/Scenes/Racetrack.unity | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/Assets/Scenes/Racetrack.unity b/Assets/Scenes/Racetrack.unity index 3004b51..61c534a 100644 --- 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propertyPath: m_IsActive - value: 0 + value: 1 objectReference: {fileID: 0} m_RemovedComponents: [] m_RemovedGameObjects: [] @@ -1500,16 +1505,15 @@ PrefabInstance: propertyPath: m_Name value: MuscleCar objectReference: {fileID: 0} + - target: {fileID: 2106440785211624687, guid: 21578c15f92da4b4d96697315edfc546, type: 3} + propertyPath: m_IsActive + value: 0 + objectReference: {fileID: 0} m_RemovedComponents: [] m_RemovedGameObjects: [] m_AddedGameObjects: [] m_AddedComponents: [] m_SourcePrefab: {fileID: 100100000, guid: 21578c15f92da4b4d96697315edfc546, type: 3} ---- !u!1 &1774155204 stripped -GameObject: - m_CorrespondingSourceObject: {fileID: 2106440785211624687, guid: 21578c15f92da4b4d96697315edfc546, type: 3} - m_PrefabInstance: {fileID: 1774155203} - m_PrefabAsset: {fileID: 0} --- !u!1001 &1952287231 PrefabInstance: m_ObjectHideFlags: 0 @@ -1847,5 +1851,5 @@ SceneRoots: - {fileID: 1952287231} - {fileID: 949405388} - {fileID: 1729844489} - - {fileID: 4833200516469304011} - {fileID: 1774155203} + - {fileID: 4833200516469304011} From 9c7a5809d1ec3de3e81625e3c81634bc56fdd99c Mon Sep 17 00:00:00 2001 From: Ciakon Date: Wed, 24 Apr 2024 12:26:15 +0200 Subject: [PATCH 7/9] updatet car prefabs for AI --- Assets/Prefabs/Cars/Hotrod.prefab | 203 ++-------- Assets/Prefabs/Cars/Icecream.prefab | 221 ++++++++++- Assets/Prefabs/Cars/MuscleCar.prefab | 221 ++++++++++- Assets/Prefabs/Cars/Pickup.prefab | 223 ++++++++++- Assets/Prefabs/Cars/RaceCar.prefab | 249 ++++++++++++- Assets/Prefabs/Cars/SchoolBus.prefab | 221 ++++++++++- Assets/Prefabs/Cars/Sportcar.prefab | 223 ++++++++++- Assets/Prefabs/Cars/StreetRacist.prefab | 343 +++++++++-------- Assets/Scenes/AI Training.unity | 348 +++--------------- ...gentControllerV7.cs => AgentController.cs} | 0 ...llerV7.cs.meta => AgentController.cs.meta} | 0 11 files changed, 1609 insertions(+), 643 deletions(-) rename Assets/Scripts/{AgentControllerV7.cs => AgentController.cs} (100%) rename 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++++++++++++++++++ .../BusTrack2/run_logs/training_status.json | 29 ++ MLAgents/train.bat | 4 +- 12 files changed, 492 insertions(+), 2 deletions(-) create mode 100644 MLAgents/config/BusTrack2.yaml create mode 100644 MLAgents/results/BusTrack2/BusTrack2.onnx create mode 100644 MLAgents/results/BusTrack2/BusTrack2/BusTrack2-12000.onnx create mode 100644 MLAgents/results/BusTrack2/BusTrack2/BusTrack2-12000.pt create mode 100644 MLAgents/results/BusTrack2/BusTrack2/BusTrack2-52512.onnx create mode 100644 MLAgents/results/BusTrack2/BusTrack2/BusTrack2-52512.pt create mode 100644 MLAgents/results/BusTrack2/BusTrack2/checkpoint.pt create mode 100644 MLAgents/results/BusTrack2/BusTrack2/events.out.tfevents.1713956588.Noahs-Episke-PC.26720.0 create mode 100644 MLAgents/results/BusTrack2/configuration.yaml create mode 100644 MLAgents/results/BusTrack2/run_logs/timers.json create mode 100644 MLAgents/results/BusTrack2/run_logs/training_status.json diff --git a/MLAgents/config/BusTrack2.yaml b/MLAgents/config/BusTrack2.yaml new file mode 100644 index 0000000..49b7e68 --- /dev/null +++ b/MLAgents/config/BusTrack2.yaml @@ -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 \ No newline at end of file diff --git a/MLAgents/results/BusTrack2/BusTrack2.onnx b/MLAgents/results/BusTrack2/BusTrack2.onnx new file mode 100644 index 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