V2.9 取消归一化，追加StateUI，改进代码

取消坐标归一化，朝向归一化算法改为transform.eulerAngles.y / 36f

Assets/ML-Agents/Timers/InGame_timers.json

@@ -1 +1 @@
-{"count":1,"self":47.2882752,"total":50.6455875,"children":{"InitializeActuators":{"count":16,"self":0.0015004999999999999,"total":0.0015004999999999999,"children":null},"InitializeSensors":{"count":16,"self":0.0009998,"total":0.0009998,"children":null},"AgentSendState":{"count":2291,"self":0.0310393,"total":0.1206959,"children":{"CollectObservations":{"count":18328,"self":0.060121299999999996,"total":0.060121299999999996,"children":null},"WriteActionMask":{"count":18328,"self":0.0080016,"total":0.0080016,"children":null},"RequestDecision":{"count":18328,"self":0.0215337,"total":0.0215337,"children":null}}},"DecideAction":{"count":2291,"self":0.0295373,"total":0.0295373,"children":null},"AgentAct":{"count":2291,"self":3.2040772,"total":3.2040770999999997,"children":null}},"gauges":{"AKMAgent.CumulativeReward":{"count":9,"max":2563.29736,"min":-11622.02,"runningAverage":-9344.109,"value":2563.29736,"weightedAverage":-7458.709}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1676265049","unity_version":"2021.3.14f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2021.3.14f1\\Editor\\Unity.exe -projectpath C:\\Users\\UCUNI\\OneDrive\\Unity\\ML-Agents\\Aimbot-ParallelEnv -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-UCUNI -hubSessionId 09b1c250-aa7a-11ed-aae2-f5dbff6fb9ed -accessToken JZS3G7ukCMBqSLPYz0eBmgNgTUsctzdWLHiwknJRB1I00ef","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"InGame","end_time_seconds":"1676265100"}}
+{"count":1,"self":103.6390464,"total":114.3152982,"children":{"InitializeActuators":{"count":16,"self":0.0024974999999999997,"total":0.0024974999999999997,"children":null},"InitializeSensors":{"count":16,"self":0.0020104999999999997,"total":0.0020104999999999997,"children":null},"AgentSendState":{"count":5455,"self":0.0948132,"total":0.9806398,"children":{"CollectObservations":{"count":43640,"self":0.82321499999999992,"total":0.82321499999999992,"children":null},"WriteActionMask":{"count":43640,"self":0.013517999999999999,"total":0.013517999999999999,"children":null},"RequestDecision":{"count":43640,"self":0.0490936,"total":0.0490936,"children":null}}},"DecideAction":{"count":5455,"self":0.099675699999999992,"total":0.099675699999999992,"children":null},"AgentAct":{"count":5455,"self":9.5909199999999988,"total":9.5909201,"children":null}},"gauges":{"AKMAgent.CumulativeReward":{"count":26,"max":6761.257,"min":-5718.909,"runningAverage":-2722.07129,"value":6761.257,"weightedAverage":878.3678}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1677964013","unity_version":"2021.3.14f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2021.3.14f1\\Editor\\Unity.exe -projectpath C:\\Users\\UCUNI\\OneDrive\\Unity\\ML-Agents\\Aimbot-ParallelEnv -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-UCUNI -hubSessionId d67c88a0-ba02-11ed-a3ce-33b55950a3a4 -accessToken WdVReGPmmCLBbN81ypuBAiDvpIGsP4S76e58UuC3fpo00ef","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"InGame","end_time_seconds":"1677964127"}}

Assets/Script/InGame/AgentWithGun.cs

@@ -73,6 +73,15 @@ public class AgentWithGun : Agent
     private TargetController targetCon;
     private HUDController hudController;
 
+    // observation
+    float[] myObserve = new float[4];
+    float[] rayTagResult;
+    float[] rayTagResultOnehot;
+    float[] rayDisResult;
+    float[] targetStates;
+    float remainTime;
+    float inAreaState;
+
     [System.NonSerialized] public int finishedState;
 
     private void Start()
@@ -438,19 +447,26 @@ public override void CollectObservations(VectorSensor sensor)
     {
         //List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
         //List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
-
+        /**myObserve[0] = transform.localPosition.x / raySensors.viewDistance;
-        float[] myObserve = { transform.localPosition.x/raySensors.viewDistance, transform.localPosition.y / raySensors.viewDistance, transform.localPosition.z / raySensors.viewDistance, transform.eulerAngles.y/360f };
+        myObserve[1] = transform.localPosition.y / raySensors.viewDistance;
-        float[] rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
+        myObserve[2] = transform.localPosition.z / raySensors.viewDistance;
-        float[] rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
+        myObserve[3] = transform.eulerAngles.y / 360f;**/
-        float[] rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
+        myObserve[0] = transform.localPosition.x;
-        float[] targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
+        myObserve[1] = transform.localPosition.y;
-        float remainTime = targetCon.leftTime;
+        myObserve[2] = transform.localPosition.z;
+        myObserve[3] = transform.eulerAngles.y / 36f;
+        rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
+        rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
+        rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
+        targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
+        remainTime = targetCon.leftTime;
+        inAreaState = targetCon.getInAreaState();
         gunReadyToggle = gunReady();
         //float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
 
         //sensor.AddObservation(allEnemyNum); // 敌人数量 int
         sensor.AddObservation(targetStates);// (6) targettype, target x,y,z, firebasesAreaDiameter
-        sensor.AddObservation(targetCon.getInAreaState()); // (1)
+        sensor.AddObservation(inAreaState); // (1)
         sensor.AddObservation(remainTime); // (1)
         sensor.AddObservation(gunReadyToggle); //(1) save gun is ready?
         sensor.AddObservation(myObserve); // (4)自机位置xyz+朝向 float[](4,1)
@@ -463,6 +479,7 @@ public override void CollectObservations(VectorSensor sensor)
             sensor.AddObservation(rayTagResult);
         }
         sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
+        EnvUICon.updateStateText(targetStates, inAreaState, remainTime, gunReadyToggle, myObserve, rayTagResultOnehot, rayDisResult);
         /*foreach(float aaa in rayDisResult)
         {
             Debug.Log(aaa);

Assets/Script/InGame/EnvironmentUIControl.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Text;
 using TMPro;
 using UnityEngine;
 using UnityEngine.UI;
@@ -16,9 +17,11 @@ public class EnvironmentUIControl : MonoBehaviour
     public TextMeshProUGUI remainTimeText;
     public TextMeshProUGUI targetTypeText;
     public TextMeshProUGUI winLoseText;
+    public TextMeshProUGUI stateText;
     public float resultTimeout = 1f;
     public GameObject gaugeImgObj;
 
+    private StringBuilder stateBuilder = new StringBuilder();
     private LineChart realTimeRewardChart = null;
     private TargetController targetController;
     private ParameterContainer paramContainer;
@@ -153,4 +156,39 @@ public void updateTargetType(int targetInt)
                 break;
         }
     }
+
+    // update state text
+    // public TextMeshProUGUI stateText;
+    // targetState[0] = targetTypeInt;
+    // targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
+    // targetState[2] = targetPosition.y / raySensors.viewDistance;
+    // targetState[3] = targetPosition.z / raySensors.viewDistance;
+    // targetState[4] = blockCont.thisBlock.firebasesAreaDiameter / raySensors.viewDistance;
+    // targetState[5] = blockCont.thisBlock.belongRatio;
+    // float[] myObserve = { transform.localPosition.x/raySensors.viewDistance, transform.localPosition.y / raySensors.viewDistance, transform.localPosition.z / raySensors.viewDistance, transform.eulerAngles.y/360f }
+    // ??????????string??"targetType: 1.0 \r\n targetX: 2.0 \r\n"
+    public void updateStateText(float[] targetStates,float inAreaState,float remainTime, bool gunReadyToggle, float[] myObserve, float[] rayTagResultOnehot, float[] rayDisResult)
+    {
+        stateBuilder.Clear();
+
+        stateBuilder.Append($"States:\r\nTType:{targetStates[0]}");
+        stateBuilder.Append("\r\nTPosition:");
+        stateBuilder.Append(targetStates[1]).Append(targetStates[2]).Append(targetStates[3]);
+        stateBuilder.Append("\r\nTDiameter:");
+        stateBuilder.Append(targetStates[4]);
+        stateBuilder.Append("\r\nTRatio:");
+        stateBuilder.Append(targetStates[5]);
+        stateBuilder.Append("\r\nInArea:");
+        stateBuilder.Append(inAreaState);
+        stateBuilder.Append("\r\nRemainTime:");
+        stateBuilder.Append(remainTime);
+        stateBuilder.Append("\r\nGunReady:");
+        stateBuilder.Append(gunReadyToggle);
+        stateBuilder.Append("\r\nMyPosition:");
+        stateBuilder.Append(myObserve[0]).Append(myObserve[1]).Append(myObserve[2]);
+        stateBuilder.Append("\r\nMyRotation:");
+        stateBuilder.Append(myObserve[3]);
+
+        stateText.text = stateBuilder.ToString();
+    }
 }

Assets/Script/InGame/TargetController.cs

@@ -209,9 +209,12 @@ public void updateTargetStates()
         else
         {
             targetState[0] = targetTypeInt;
-            targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
+            /* targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
             targetState[2] = targetPosition.y / raySensors.viewDistance;
-            targetState[3] = targetPosition.z / raySensors.viewDistance;
+            targetState[3] = targetPosition.z / raySensors.viewDistance;*/
+            targetState[1] = targetPosition.x; // normalization
+            targetState[2] = targetPosition.y;
+            targetState[3] = targetPosition.z;
             targetState[4] = blockCont.thisBlock.firebasesAreaDiameter / raySensors.viewDistance;
             targetState[5] = blockCont.thisBlock.belongRatio;
         }
@@ -396,6 +399,8 @@ public float getDistanceReward(float nowDistance,int inarea)
         }
         else
         {
+            // out of area
+            // thisSceneReward = paramCon.distanceReward * Math.Clamp(lastDistance - nowDistance, 0, 100);
             thisSceneReward = paramCon.distanceReward * (lastDistance - nowDistance);
         }
         lastDistance = nowDistance;

UserSettings/Layouts/default-2021.dwlt

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+    height: 989
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+  controlID: 69
 --- !u!114 &9
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@@ -324,7 +324,7 @@ MonoBehaviour:
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@@ -516,10 +516,10 @@ MonoBehaviour:
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@@ -549,10 +549,10 @@ MonoBehaviour:
   m_LockTracker:
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   m_FolderTreeState:
-    scrollPos: {x: 0, y: 104}
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+    m_ExpandedIDs: 00000000e0780000e2780000e4780000e6780000e87800001c79000000ca9a3b
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@@ -580,7 +580,7 @@ MonoBehaviour:
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     m_LastClickedID: 0
-    m_ExpandedIDs: 00000000a0780000a2780000a4780000a6780000a8780000
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       m_ResourceFile: 
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@@ -992,9 +992,9 @@ MonoBehaviour:
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+    m_Target: {x: -193.44568, y: -432.5919, z: 284.7471}
     speed: 2
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@@ -1041,13 +1041,13 @@ MonoBehaviour:
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