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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<GameObject> 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<Rigidbody>();
+        // Find all child GameObjects that have the WheelControl script attached
+        wheels = GetComponentsInChildren<WheelControl>();
+
+        startPosition = transform.localPosition;
+        startRotation = transform.localRotation;
         
     }
 
-    // Update is called once per frame
+    public override void OnEpisodeBegin()
-    void Update()
     {
+        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<Checkpoint>().isCollected = false;
+        }
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        Transform currentCheckpoint = checkpoints[0].transform;
+        foreach (GameObject checkpoint in checkpoints)
+        {
+            bool isCollected = checkpoint.GetComponent<Checkpoint>().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<Checkpoint>().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<Checkpoint>().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<Collider>().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;
+    }
+}

MLAgents/config/BensonV6.yaml

@@ -1,5 +1,5 @@
 behaviors:
-  BensonV5:
+  BensonV6:
     trainer_type: ppo
 
     hyperparameters:

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: false
+  inference: false
+  results_dir: results
+torch_settings:
+  device: null
+debug: false

MLAgents/results/BensonV6/run_logs/timers.json

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+}

MLAgents/results/BensonV6/run_logs/training_status.json

@@ -0,0 +1,29 @@
+{
+    "BensonV6": {
+        "checkpoints": [
+            {
+                "steps": 334006,
+                "file_path": "results\\BensonV6\\BensonV6\\BensonV6-334006.onnx",
+                "reward": 17.643121887110173,
+                "creation_time": 1713623853.1815405,
+                "auxillary_file_paths": [
+                    "results\\BensonV6\\BensonV6\\BensonV6-334006.pt"
+                ]
+            }
+        ],
+        "final_checkpoint": {
+            "steps": 334006,
+            "file_path": "results\\BensonV6\\BensonV6.onnx",
+            "reward": 17.643121887110173,
+            "creation_time": 1713623853.1815405,
+            "auxillary_file_paths": [
+                "results\\BensonV6\\BensonV6\\BensonV6-334006.pt"
+            ]
+        }
+    },
+    "metadata": {
+        "stats_format_version": "0.3.0",
+        "mlagents_version": "0.30.0",
+        "torch_version": "2.2.2+cu118"
+    }
+}

MLAgents/train.bat

@@ -1,2 +1,2 @@
-mlagents-learn config/BensonV6.yaml --run-id=BensonV6 --resume
+mlagents-learn config/BensonV6.yaml --run-id=BensonV6.1 --force
 @REM mlagents-learn config/BensonV5.yaml --run-id=BensonV5 --resume --env="C:\Users\noahk\Desktop\BensonV5\Racesm_L.exe" --no-graphics --num-envs=1