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a/Assets/Scripts/AgentControllerV5.cs b/Assets/Scripts/AgentControllerV5 (old).cs similarity index 100% rename from Assets/Scripts/AgentControllerV5.cs rename to Assets/Scripts/AgentControllerV5 (old).cs diff --git a/Assets/Scripts/AgentControllerV5.cs.meta b/Assets/Scripts/AgentControllerV5 (old).cs.meta similarity index 100% rename from Assets/Scripts/AgentControllerV5.cs.meta rename to Assets/Scripts/AgentControllerV5 (old).cs.meta diff --git a/Assets/Scripts/AgentControllerV6.cs b/Assets/Scripts/AgentControllerV6.cs index 2bc8af4..50ee9f9 100644 --- a/Assets/Scripts/AgentControllerV6.cs +++ b/Assets/Scripts/AgentControllerV6.cs @@ -1,18 +1,317 @@ using System.Collections; using System.Collections.Generic; using UnityEngine; +using Unity.MLAgents; +using Unity.MLAgents.Sensors; +using Unity.MLAgents.Actuators; +using UnityEngine.UIElements; +using System.Linq; +using Unity.Mathematics; +using Unity.VisualScripting; +using System.Reflection; +using System; -public class AgentControllerV6 : MonoBehaviour +public class AgentControllerV6 : Agent { + public float motorTorque = 300; + public float brakeTorque = 500; + public float maxSpeed = 400; + public float steeringRange = 9; + public float steeringRangeAtMaxSpeed = 7; + public float autoBrake = 100; + WheelControl[] wheels; + Rigidbody rigidBody; + public List checkpoints; + Vector3 startPosition; + Quaternion startRotation; + int currentStep = 0; + float totalReward = 0; + float totalMentalPain = 0; + int stepsSinceCheckpoint = 0; + int checkpointsReached = 0; + public int maxStepsPerCheckpoint = 300; + public int distanceBetweenCheckpoints = 5; + public bool ignoreMentalPain = false; + // Start is called before the first frame update void Start() { + rigidBody = GetComponent(); + // Find all child GameObjects that have the WheelControl script attached + wheels = GetComponentsInChildren(); + + startPosition = transform.localPosition; + startRotation = transform.localRotation; } - // Update is called once per frame - void Update() + public override void OnEpisodeBegin() { - + stepsSinceCheckpoint = 0; + checkpointsReached = 0; + totalReward = 0; + totalMentalPain = 0; + + // reset wheels + foreach (var wheel in wheels) + { + wheel.WheelCollider.brakeTorque = 0; + wheel.WheelCollider.motorTorque = 0; + wheel.WheelCollider.steerAngle = 0; + } + + + // reset car + transform.localPosition = startPosition; + transform.localRotation = startRotation; + rigidBody.velocity = Vector3.zero; + rigidBody.angularVelocity = Vector3.zero; + + // reset checkpoints + foreach (GameObject checkpoint in checkpoints) + { + checkpoint.GetComponent().isCollected = false; + } } -} + + public override void CollectObservations(VectorSensor sensor) + { + Transform currentCheckpoint = checkpoints[0].transform; + foreach (GameObject checkpoint in checkpoints) + { + bool isCollected = checkpoint.GetComponent().isCollected; + + if (!isCollected) + { + currentCheckpoint = checkpoint.transform; + break; + } + } + + // distance to next checkpoint + sensor.AddObservation(distanceToCheckpoint(currentCheckpoint)); + + // relative angle to checkpoint + sensor.AddObservation(angleToCheckpoint(currentCheckpoint)); + + // relative vector pointing to checkpoint + Vector3 position = transform.localPosition; + Vector3 checkpointPosition = currentCheckpoint.localPosition; + + Vector3 toCheckpoint = new Vector3( + checkpointPosition.x - position.x, + 0, + checkpointPosition.z - position.z + ); + + float carAngle = transform.localEulerAngles.y; + + toCheckpoint = Quaternion.Euler(0, -carAngle, 0) * toCheckpoint.normalized; + + sensor.AddObservation(toCheckpoint.x); + sensor.AddObservation(toCheckpoint.z); + + + // relative Velocity + Vector3 velocity = new Vector3( + rigidBody.velocity.x, + 0, + rigidBody.velocity.z + ); + + Vector3 relativeVelocity = Quaternion.Euler(0, -carAngle, 0) * velocity; + + sensor.AddObservation(relativeVelocity.x); + sensor.AddObservation(relativeVelocity.z); + } + + public override void OnActionReceived(ActionBuffers actions) + { + // Actions size = 2 [vertical speed, horizontal speed] = [-1..1, -1..1] // discrete = [{0, 1, 2}, {0, 1, 2}] = [{-1, 0, 1}...] + float vInput = 0; + float hInput = 0; + + if (actions.DiscreteActions[0] == 0) + vInput = -1f; + if (actions.DiscreteActions[0] == 1) + vInput = 1f; + + if (actions.DiscreteActions[1] == 0) + hInput = -1f; + if (actions.DiscreteActions[1] == 1) + hInput = 1f; + + // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still) + // AddReward(-0.002f); + AddReward(-0.0018f); // less pain because of V4 + totalMentalPain -= 0.0018f; + + if (ignoreMentalPain) + totalReward -= 0.0018f; + + float forwardSpeed = Vector3.Dot(transform.forward, rigidBody.velocity); + // Calculate how close the car is to top speed + // as a number from zero to one + float speedFactor = Mathf.InverseLerp(0, maxSpeed / 4, forwardSpeed); + + // Use that to calculate how much torque is available + // (zero torque at top speed) + float currentMotorTorque = Mathf.Lerp(motorTorque, 0, speedFactor); + + // …and to calculate how much to steer + // (the car steers more gently at top speed) + + float currentSteerRange = Mathf.Lerp(steeringRange, steeringRangeAtMaxSpeed, speedFactor); + + // Check whether the user input is in the same direction + // as the car's velocity + bool isAccelerating = Mathf.Sign(vInput) == Mathf.Sign(forwardSpeed); + + bool isStopping = vInput == 0; // range + + bool isBraking = (vInput < 0 && forwardSpeed > 0) || (vInput > 0 && forwardSpeed < 0); + + if (vInput > 0 && forwardSpeed < 0) + { + isAccelerating = false; + } + + foreach (var wheel in wheels) + { + // Apply steering to Wheel colliders that have "Steerable" enabled + if (wheel.steerable) + { + wheel.WheelCollider.steerAngle = hInput * currentSteerRange; + } + + if (isBraking) + { + wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque; + //wheel.WheelCollider.motorTorque = 0; + } + + if (isAccelerating) + { + // Apply torque to Wheel colliders that have "Motorized" enabled + if (wheel.motorized) + { + wheel.WheelCollider.motorTorque = vInput * currentMotorTorque; + } + wheel.WheelCollider.brakeTorque = 0; + } + + if (isStopping) + { + // If the user is trying to go in the opposite direction + // apply brakes to all wheels + wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque + autoBrake; + + if (forwardSpeed < 0) + { + wheel.WheelCollider.brakeTorque = (Mathf.Abs(vInput) * brakeTorque + autoBrake) * 5; + } + + } + } + + // rewards + Transform currentCheckpoint = checkpoints[0].transform; + foreach (GameObject checkpoint in checkpoints) + { + bool isCollected = checkpoint.GetComponent().isCollected; + + if (!isCollected) + { + currentCheckpoint = checkpoint.transform; + break; + } + } + + float checkpintDistance = distanceToCheckpoint(currentCheckpoint); + float reward = (1 - Mathf.InverseLerp(0, distanceBetweenCheckpoints, checkpintDistance)) / 500; + + totalReward += reward; + AddReward(reward); + + float checkpointAngle = angleToCheckpoint(currentCheckpoint); + + if (checkpointAngle > 0) + reward = (1 - Mathf.InverseLerp(0, 60, checkpointAngle)) / 2000; + else + reward = Mathf.InverseLerp(-60, 0, checkpointAngle) / 2000; + + AddReward(reward); + + + + + + if (checkpintDistance < 0.1f) + { + currentCheckpoint.GetComponent().isCollected = true; + stepsSinceCheckpoint = 0; + checkpointsReached += 1; + + // If last checkpoint + if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform) + { + AddReward(10f); + EndEpisode(); + } + + //TODO fix variable names + + AddReward(1f); + AddReward(-totalReward); + + totalReward = 0; + + print("checkpoint"); + } + + currentStep += 1; + stepsSinceCheckpoint += 1; + + if (stepsSinceCheckpoint >= maxStepsPerCheckpoint) + { + stepsSinceCheckpoint = 0; + EndEpisode(); + } + + // print(GetCumulativeReward()); + } + + public override void Heuristic(in ActionBuffers actionsOut) + { + var discreteActionsOut = actionsOut.DiscreteActions; + + discreteActionsOut[0] = 2; + discreteActionsOut[1] = 2; + + if (Input.GetAxis("Vertical") < -0.5) + discreteActionsOut[0] = 0; + if (Input.GetAxis("Vertical") > 0.5) + discreteActionsOut[0] = 1; + + if (Input.GetAxis("Horizontal") < -0.5) + discreteActionsOut[1] = 0; + if (Input.GetAxis("Horizontal") > 0.5) + discreteActionsOut[1] = 1; + } + + // finds distance from agent to closest point on the checkpoint line + float distanceToCheckpoint(Transform checkpoint) + { + var closestPoint = checkpoint.GetComponent().ClosestPointOnBounds(transform.position); + var distanceToCheckpoint = Vector3.Distance(transform.position, closestPoint); + return distanceToCheckpoint; + } + + float angleToCheckpoint(Transform checkpoint) + { + Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition; + + float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up); + return angle; + } +} \ No newline at end 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a/MLAgents/results/BensonV6/BensonV6/events.out.tfevents.1713623145.Noahs-Episke-PC.31832.0 b/MLAgents/results/BensonV6/BensonV6/events.out.tfevents.1713623145.Noahs-Episke-PC.31832.0 new file mode 100644 index 0000000..819026a Binary files /dev/null and b/MLAgents/results/BensonV6/BensonV6/events.out.tfevents.1713623145.Noahs-Episke-PC.31832.0 differ diff --git a/MLAgents/results/BensonV6/configuration.yaml b/MLAgents/results/BensonV6/configuration.yaml new file mode 100644 index 0000000..2d5c6a6 --- /dev/null +++ b/MLAgents/results/BensonV6/configuration.yaml @@ -0,0 +1,76 @@ +default_settings: null +behaviors: + BensonV6: + 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: 3000000 + 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: BensonV6 + initialize_from: null + load_model: false + resume: false + force: true + train_model: 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