diff --git a/Assets/Demonstrations/BensonV2.demo b/Assets/Demonstrations/BensonV2.demo new file mode 100644 index 0000000..18a7c72 Binary files /dev/null and b/Assets/Demonstrations/BensonV2.demo differ diff --git a/Assets/Demonstrations/BensonV2.demo.meta b/Assets/Demonstrations/BensonV2.demo.meta new file mode 100644 index 0000000..d5907fe --- /dev/null +++ b/Assets/Demonstrations/BensonV2.demo.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 8a674f32ba2941841a913e70ddedd950 +ScriptedImporter: + internalIDToNameTable: [] + externalObjects: {} + serializedVersion: 2 + userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)' + assetBundleName: + assetBundleVariant: + script: {fileID: 11500000, guid: 7bd65ce151aaa4a41a45312543c56be1, type: 3} diff --git a/Assets/ML-Agents/Timers/AI training_timers.json b/Assets/ML-Agents/Timers/AI training_timers.json index f1e5c6b..626c9de 100644 --- a/Assets/ML-Agents/Timers/AI training_timers.json +++ b/Assets/ML-Agents/Timers/AI training_timers.json @@ -1 +1 @@ -{"count":1,"self":23.780632,"total":24.4344005,"children":{"InitializeActuators":{"count":1,"self":0,"total":0,"children":null},"InitializeSensors":{"count":1,"self":0.0020087,"total":0.0020087,"children":null},"AgentSendState":{"count":985,"self":0.0431282,"total":0.0743809,"children":{"CollectObservations":{"count":985,"self":0.0124481,"total":0.0124481,"children":null},"WriteActionMask":{"count":985,"self":0,"total":0,"children":null},"RequestDecision":{"count":985,"self":0.018804599999999998,"total":0.018804599999999998,"children":null}}},"DecideAction":{"count":985,"self":0.53636909999999993,"total":0.5470193,"children":{"RayPerceptionSensor.Perceive":{"count":1970,"self":0.0106502,"total":0.0106502,"children":null}}},"AgentAct":{"count":985,"self":0.0293568,"total":0.0293568,"children":null}},"gauges":{"BensonImitationV2.CumulativeReward":{"count":1,"max":3.3979888,"min":3.3979888,"runningAverage":3.3979888,"value":3.3979888,"weightedAverage":3.3979888}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1712842214","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 6a5e8087-82e2-4dd3-a01c-49b3c989d73e -accessToken chlU5dfKTeph6j6SihcCbOxnUfdwrGUUXMOo1OFcjIc005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1712842239"}} \ No newline at end of file +{"count":1,"self":117.1050368,"total":117.9595712,"children":{"InitializeActuators":{"count":1,"self":0.0010003,"total":0.0010003,"children":null},"InitializeSensors":{"count":1,"self":0.0010130999999999999,"total":0.0010130999999999999,"children":null},"AgentSendState":{"count":5662,"self":0.53332099999999993,"total":0.7090889,"children":{"CollectObservations":{"count":5662,"self":0.11961619999999999,"total":0.11961619999999999,"children":null},"WriteActionMask":{"count":5662,"self":0.0074195,"total":0.0074195,"children":null},"RequestDecision":{"count":5662,"self":0.0229089,"total":0.0410506,"children":{"RayPerceptionSensor.Perceive":{"count":11324,"self":0.0181417,"total":0.0181417,"children":null}}},"RayPerceptionSensor.Perceive":{"count":11322,"self":0.0076815999999999994,"total":0.0076815999999999994,"children":null}}},"DecideAction":{"count":5662,"self":0.0312906,"total":0.0312906,"children":null},"AgentAct":{"count":5662,"self":0.1111467,"total":0.1111467,"children":{"RayPerceptionSensor.Perceive":{"count":16,"self":0,"total":0,"children":null}}}},"gauges":{"BensonImitationV2.CumulativeReward":{"count":4,"max":25.0901718,"min":10.9251223,"runningAverage":15.2664089,"value":13.0821838,"weightedAverage":17.5869465}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1712910056","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 36cd304d-8333-4e13-9400-40712c29b116 -accessToken V38nPLIXDhAumRkhp_UQDiAFhJHlz31FOZlSjW8et9U005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1712910174"}} \ No newline at end of file diff --git a/Assets/Scenes/AI Training.unity b/Assets/Scenes/AI Training.unity index 6d1d211..03f3237 100644 --- a/Assets/Scenes/AI Training.unity +++ b/Assets/Scenes/AI Training.unity @@ -489,7 +489,7 @@ MonoBehaviour: m_RaysPerDirection: 0 m_MaxRayDegrees: 70 m_SphereCastRadius: 0 - m_RayLength: 30 + m_RayLength: 50 m_RayLayerMask: serializedVersion: 2 m_Bits: 4294967291 @@ -548,7 +548,7 @@ MonoBehaviour: m_RaysPerDirection: 3 m_MaxRayDegrees: 70 m_SphereCastRadius: 0 - m_RayLength: 30 + m_RayLength: 50 m_RayLayerMask: serializedVersion: 2 m_Bits: 4294967291 @@ -567,7 +567,7 @@ PrefabInstance: m_Modifications: - target: {fileID: 320316327550477191, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3} propertyPath: m_LocalPosition.x - value: 28.615808 + value: 53.51581 objectReference: {fileID: 0} - target: {fileID: 320316327550477191, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3} propertyPath: m_LocalPosition.y @@ -615,7 +615,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 1387890555408215438, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3} propertyPath: m_IsActive - value: 1 + value: 0 objectReference: {fileID: 0} - target: {fileID: 2100622393876020061, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3} propertyPath: CameraSide @@ -687,7 +687,7 @@ PrefabInstance: objectReference: {fileID: 1673238739} - target: {fileID: 8890610309520933432, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3} propertyPath: m_LocalPosition.x - value: 28.615808 + value: 53.51581 objectReference: {fileID: 0} - target: {fileID: 8890610309520933432, guid: 80c5f8bcfe7e033419638b39d9a278c4, type: 3} propertyPath: m_LocalPosition.y @@ -796,10 +796,22 @@ PrefabInstance: propertyPath: m_LocalEulerAnglesHint.z value: 0 objectReference: {fileID: 0} + - target: {fileID: 4361687674892069559, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} + propertyPath: m_LocalPosition.x + value: 61.9 + objectReference: {fileID: 0} + - target: {fileID: 4884757086340990788, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} + propertyPath: m_LocalScale.x + value: 0.25 + objectReference: {fileID: 0} - target: {fileID: 5284110061588260334, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} propertyPath: m_Name value: TrainingArea objectReference: {fileID: 0} + - target: {fileID: 5501784256737884761, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} + propertyPath: m_LocalScale.x + value: 1.66666 + objectReference: {fileID: 0} - target: {fileID: 6288636727627254098, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} propertyPath: m_MaxRayDegrees value: 90 @@ -816,10 +828,18 @@ PrefabInstance: propertyPath: m_DetectableTags.Array.data[0] value: Wall objectReference: {fileID: 0} + - target: {fileID: 8031066805216850976, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} + propertyPath: Record + value: 1 + objectReference: {fileID: 0} + - target: {fileID: 8031066805216850976, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} + propertyPath: DemonstrationName + value: BensonV2 + objectReference: {fileID: 0} - target: {fileID: 8242215082626919376, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} propertyPath: m_Model value: - objectReference: {fileID: 5022602860645237092, guid: d73d9507da69449499dd93eff3d8134a, type: 3} + objectReference: {fileID: 0} - target: {fileID: 8242215082626919376, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3} propertyPath: m_BehaviorName value: BensonImitationV2 diff --git a/Assets/Scripts/AgentController.cs b/Assets/Scripts/AgentController.cs index 3076460..76c509e 100644 --- a/Assets/Scripts/AgentController.cs +++ b/Assets/Scripts/AgentController.cs @@ -269,10 +269,10 @@ public class AgentController : Agent return distanceToCheckpoint; } - private void OnCollisionEnter(Collision other) { + private void OnCollisionStay(Collision other) { if (other.gameObject.tag == "Wall") { - AddReward(-0.03f); + AddReward(-0.01f); } } } \ No newline at end of file