V2.4 Add new reward function

add new reward function in attack mode calculate distance between closest enemy and facing center line. let agent could spawn in whole map area. add penalty while mouseX is moving.
2022-12-08 06:24:51 +09:00 · 2022-12-08 06:24:51 +09:00 · f9b806de02
commit f9b806de02
parent b2f80287d5
7 changed files with 30521 additions and 30276 deletions
--- a/Assets/ML-Agents/Timers/InGame_timers.json
+++ b/Assets/ML-Agents/Timers/InGame_timers.json
@ -1 +1 @@
-{"count":1,"self":27.078879999999998,"total":27.587156999999998,"children":{"InitializeActuators":{"count":2,"self":0.0020005,"total":0.0020005,"children":null},"InitializeSensors":{"count":2,"self":0.0005046,"total":0.0005046,"children":null},"AgentSendState":{"count":1131,"self":0.0065818,"total":0.4350072,"children":{"CollectObservations":{"count":1131,"self":0.42089679999999996,"total":0.42089679999999996,"children":null},"WriteActionMask":{"count":1131,"self":0.0015006,"total":0.0015006,"children":null},"RequestDecision":{"count":1131,"self":0.0060279999999999995,"total":0.0060279999999999995,"children":null}}},"DecideAction":{"count":1131,"self":0.0085232,"total":0.0085232,"children":null},"AgentAct":{"count":1131,"self":0.0607297,"total":0.0607297,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1670220557","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 17fd75c0-73f2-11ed-ae93-8b2766ae699b -accessToken xyv47LyYfxjrKoKJF2JxRySrgVkeGaEV5onFZkcJqLE00ef","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"InGame","end_time_seconds":"1670220585"}}
+{"count":1,"self":68.6533376,"total":73.8963627,"children":{"InitializeActuators":{"count":16,"self":0.0020016,"total":0.0020016,"children":null},"InitializeSensors":{"count":16,"self":0.0015004999999999999,"total":0.0015004999999999999,"children":null},"AgentSendState":{"count":3437,"self":0.0406625,"total":0.1679606,"children":{"CollectObservations":{"count":27496,"self":0.0937596,"total":0.0937596,"children":null},"WriteActionMask":{"count":27496,"self":0.0085214,"total":0.0085214,"children":null},"RequestDecision":{"count":27496,"self":0.0250171,"total":0.0250171,"children":null}}},"DecideAction":{"count":3437,"self":0.051228499999999996,"total":0.051228499999999996,"children":null},"AgentAct":{"count":3437,"self":5.0198247999999994,"total":5.0198249,"children":null}},"gauges":{"AKMAgent.CumulativeReward":{"count":18,"max":2136.51074,"min":-6861.4585,"runningAverage":-3835.49414,"value":2136.51074,"weightedAverage":-1836.73022}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1670446861","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 65c82a90-7486-11ed-899f-f7f93bed2228 -accessToken K6WsTHUI33yXzJI3wDtPXzHPZq5eLKSYBLKbLhzh7nc00ef","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"InGame","end_time_seconds":"1670446934"}}
--- a/Assets/Scenes/InGame.unity
+++ b/Assets/Scenes/InGame.unity
--- a/Assets/Script/InGame/AgentWithGun.cs
+++ b/Assets/Script/InGame/AgentWithGun.cs
@ -12,6 +12,7 @@
 using System.Linq;
 using System.Drawing;
 using Color = UnityEngine.Color;
+using static TargetController;

 /*TODO:
 √tag 攻击排他
@ -289,6 +290,7 @@ float ballistic()
    float facingReward()
    {
        float thisReward = 0;
+        bool isFacingtoEnemy = false;
        Ray ray = thisCam.ScreenPointToRay(new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0));
        if (targetCon.targetTypeInt == (int)TargetController.Targets.Free)
        {
@ -296,14 +298,37 @@ float facingReward()
            RaycastHit hit;
            if (Physics.Raycast(ray, out hit, 100))
            {
+                // facing to an enemy
                if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
                {
                    thisReward = paramContainer.facingReward;
+                    isFacingtoEnemy = true;
                }
            }
+            if (rayScript.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
+                // have enemy in view
+                List<float> projectionDis = new List<float>();
+                foreach (GameObject thisEnemy in rayScript.inViewEnemies)
+                {
+                    // for each enemy in view
+                    Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
+                    Vector3 verticalToRay = transform.position + projection - thisEnemy.transform.position;
+                    projectionDis.Add(verticalToRay.magnitude);
+                    // Debug.Log("enemy!" + verticalToRay.magnitude);
+                    // Debug.DrawRay(transform.position, (ray.direction * 100), Color.cyan);
+                    // Debug.DrawRay(transform.position, thisEnemy.transform.position - transform.position, Color.yellow);
+                    // Debug.DrawRay(transform.position, projection, Color.blue);
+                    // Debug.DrawRay(thisEnemy.transform.position, verticalToRay, Color.magenta);
+                }
+                // enemy in view Reward
+                thisReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF* projectionDis.Min()+0.00001f);
+                if (thisReward >= paramContainer.facingReward) thisReward = paramContainer.facingReward; // limit
+                Debug.Log("ninimum = " + thisReward);
+            }
        }
        else if(targetCon.targetTypeInt == (int)TargetController.Targets.Attack)
        {
+            // attack mode
            float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
            if(targetDis <= rayScript.viewDistance)
            {
@ -388,6 +413,10 @@ public float rewardCalculate(float sceneReward,float mouseX)
        {
            epreward -= spinPenaltyReward;
        }
+        else
+        {
+            epreward -= Math.Abs(mouseX) * paramContainer.mousePenalty;
+        }
        return epreward;
    }

@ -418,7 +447,6 @@ public override void CollectObservations(VectorSensor sensor)
        //List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
        //List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances

-        rayScript.updateRayInfo();
        float[] myObserve = { transform.localPosition.x, transform.localPosition.y, transform.localPosition.z, transform.eulerAngles.y };
        float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
        float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
@ -456,6 +484,7 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
        shoot = mouseShoot;
        cameraControl(Mouse_X, 0);
        moveAgent(vertical, horizontal);
+        rayScript.updateRayInfo(); // update raycast

        //判断结束
        float sceneReward = 0f;
--- a/Assets/Script/InGame/ParameterContainer.cs
+++ b/Assets/Script/InGame/ParameterContainer.cs
@ -22,8 +22,10 @@ public class ParameterContainer : MonoBehaviour
    public bool lockCameraX = false;
    public bool lockCameraY = true;
    public bool chartOn = false;
+    public bool spawnAgentInAllMap = false;
    public int spinRecordMax = 20;
    public float spinPenaltyThreshold = 50;
+    public float facingInviewEnemyDisCOEF = 0.5f;


    [Header("Dynamic Defaut Rewards")]
@ -78,8 +80,10 @@ public class ParameterContainer : MonoBehaviour
    [Header("Penalty Rewards")]
    [Tooltip("Speed Penalty Reward")]
    public float speedPenalty = 0f;
-    [Tooltip("view Panalty Reward")]
+    [Tooltip("spiiiiiiin Panalty Reward")]
    public float spinPenalty = 0f;
+    [Tooltip("while move mouse a little bit's penalty")]
+    public float mousePenalty = 0f;

    [Header("Dynamic Rewards")]
    [Tooltip("Free mode Hit Enemy reward")]
--- a/Assets/Script/InGame/RaySensors.cs
+++ b/Assets/Script/InGame/RaySensors.cs
@ -36,6 +36,7 @@ public class RaySensors : MonoBehaviour
    GameObject[] rayInfoOBJ;
    LineRenderer[] lineRenderers;
    rayInfoUI[] rayInfoUIs;
+    public List<GameObject> inViewEnemies = new List<GameObject>();
    

    private void Start()
@ -102,6 +103,7 @@ private void singleRaycastUpdate(Ray ray,LineRenderer thisLineRenderer,rayInfoUI
                    break;
                case 2: // Enemy
                    rayColor = Color.red;
+                    inViewEnemies.Add(thisHit.transform.gameObject);
                    break;
                case -1: // Hit Nothing
                    rayColor = Color.gray;
@ -162,7 +164,7 @@ public void updateRayInfo()
        float focusLEdge = agentCam.pixelWidth * (1 - focusRange) / 2;
        float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2;
        float thisCamPixelHeight = agentCam.pixelHeight;
-
+        inViewEnemies.Clear();
        for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge
        {
            Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), thisCamPixelHeight / 2, 0);
--- a/Assets/Script/InGame/TargetController.cs
+++ b/Assets/Script/InGame/TargetController.cs
@ -215,8 +215,19 @@ public void updateTargetStates()
    // move Agent into Agent Spawn Area
    public void moveAgentToSpwanArea()
    {
-        float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX);
-        float randZ = UnityEngine.Random.Range(minAgentAreaZ, maxAgentAreaZ);
+        float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX); ;
+        float randZ = 0f;
+        if (paramCon.spawnAgentInAllMap)
+        {
+            // spawn agent in all around map
+            randZ = UnityEngine.Random.Range(minAgentAreaZ, maxEnemyAreaZ);
+        }
+        else
+        {
+            // spawn agent in only agent spawn area
+            randZ = UnityEngine.Random.Range(minAgentAreaZ, maxAgentAreaZ);
+        }
+
        int Y = 1;
        Vector3 initAgentLoc = new Vector3(randX, Y, randZ);
        moveAgentTo(initAgentLoc);
@ -369,6 +380,7 @@ public float getDistanceReward(float nowDistance,int inarea)
    {
        if (firstRewardFlag)
        {
+            // first distance record
            (lastDistance, _) = blockCont.getAgentTargetDistanceAndInside(AgentObj.transform.position);
            firstRewardFlag = false;
        }
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