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.gitignore
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.gitignore
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# This .gitignore file should be placed at the root of your Unity project directory
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#
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||||||
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# Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore
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||||||
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#
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||||||
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/[Ll]ibrary/
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/[Tt]emp/
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/[Oo]bj/
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/[Bb]uild/
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/[Bb]uilds/
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||||||
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/[Ll]ogs/
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/[Mm]emoryCaptures/
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# Never ignore Asset meta data
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!/[Aa]ssets/**/*.meta
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# Uncomment this line if you wish to ignore the asset store tools plugin
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# /[Aa]ssets/AssetStoreTools*
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# TextMesh Pro files
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[Aa]ssets/TextMesh*Pro/
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# Autogenerated Jetbrains Rider plugin
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[Aa]ssets/Plugins/Editor/JetBrains*
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# Visual Studio cache directory
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.vs/
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# Gradle cache directory
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.gradle/
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# Autogenerated VS/MD/Consulo solution and project files
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ExportedObj/
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.consulo/
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*.csproj
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*.unityproj
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*.sln
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*.suo
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*.tmp
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*.user
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*.userprefs
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*.pidb
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*.booproj
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*.svd
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*.pdb
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*.mdb
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*.opendb
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*.VC.db
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# Unity3D generated meta files
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*.pidb.meta
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*.pdb.meta
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*.mdb.meta
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# Unity3D generated file on crash reports
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sysinfo.txt
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# Builds
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*.apk
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*.unitypackage
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# Crashlytics generated file
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crashlytics-build.properties
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.vsconfig
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.vsconfig
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{
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]
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8
Assets/Script/Python.meta
Normal file
8
Assets/Script/Python.meta
Normal file
@ -0,0 +1,8 @@
|
|||||||
|
fileFormatVersion: 2
|
||||||
|
guid: ba4ec306400aafb4083615ca8c9d2ad2
|
||||||
|
folderAsset: yes
|
||||||
|
DefaultImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
38
Assets/Script/Python/DQN.ipynb
Normal file
38
Assets/Script/Python/DQN.ipynb
Normal file
@ -0,0 +1,38 @@
|
|||||||
|
{
|
||||||
|
"cells": [
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": 1,
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": [
|
||||||
|
"import mlagents\n",
|
||||||
|
"import gym_unity"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"metadata": {
|
||||||
|
"interpreter": {
|
||||||
|
"hash": "c62a1b52b24525839a95f7ca2b53f501cc329096d80c6be9aea5c814c594ecdd"
|
||||||
|
},
|
||||||
|
"kernelspec": {
|
||||||
|
"display_name": "Python 3.9.7 64-bit",
|
||||||
|
"name": "python3"
|
||||||
|
},
|
||||||
|
"language_info": {
|
||||||
|
"codemirror_mode": {
|
||||||
|
"name": "ipython",
|
||||||
|
"version": 3
|
||||||
|
},
|
||||||
|
"file_extension": ".py",
|
||||||
|
"mimetype": "text/x-python",
|
||||||
|
"name": "python",
|
||||||
|
"nbconvert_exporter": "python",
|
||||||
|
"pygments_lexer": "ipython3",
|
||||||
|
"version": "3.9.7"
|
||||||
|
},
|
||||||
|
"orig_nbformat": 4
|
||||||
|
},
|
||||||
|
"nbformat": 4,
|
||||||
|
"nbformat_minor": 2
|
||||||
|
}
|
||||||
7
Assets/Script/Python/DQN.ipynb.meta
Normal file
7
Assets/Script/Python/DQN.ipynb.meta
Normal file
@ -0,0 +1,7 @@
|
|||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 459e9567ac1c1a344af83899c81323ef
|
||||||
|
DefaultImporter:
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||||||
|
externalObjects: {}
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||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
194
Assets/Script/RollerAgent.cs
Normal file
194
Assets/Script/RollerAgent.cs
Normal file
@ -0,0 +1,194 @@
|
|||||||
|
using System.Collections.Generic;
|
||||||
|
using UnityEngine;
|
||||||
|
using Unity.MLAgents;
|
||||||
|
using Unity.MLAgents.Sensors;
|
||||||
|
using Unity.MLAgents.Actuators;
|
||||||
|
|
||||||
|
public class RollerAgent : Agent
|
||||||
|
{
|
||||||
|
|
||||||
|
public Transform Target;
|
||||||
|
public Transform MinLocation;
|
||||||
|
public GameObject UPArrow;
|
||||||
|
public GameObject DownArrow;
|
||||||
|
public GameObject LArrow;
|
||||||
|
public GameObject RPArrow;
|
||||||
|
|
||||||
|
public int timeLimit = 8;
|
||||||
|
public float forceMultiplier = 10;
|
||||||
|
public float WINREWARD = 10.0f;
|
||||||
|
public float FAILREWARD = -10.0f;
|
||||||
|
private float minDistance = 0f;
|
||||||
|
|
||||||
|
|
||||||
|
Rigidbody rBody;
|
||||||
|
private float startTime = 0;
|
||||||
|
|
||||||
|
void Start()
|
||||||
|
{
|
||||||
|
rBody = GetComponent<Rigidbody>();
|
||||||
|
}
|
||||||
|
|
||||||
|
//Episode开始时执行
|
||||||
|
public override void OnEpisodeBegin()
|
||||||
|
{
|
||||||
|
startTime = Time.time;//Reset StartTime as now time
|
||||||
|
// If the Agent fell, zero its momentum
|
||||||
|
if (this.transform.localPosition.y < 0)
|
||||||
|
{
|
||||||
|
this.rBody.angularVelocity = Vector3.zero;
|
||||||
|
this.rBody.velocity = Vector3.zero;
|
||||||
|
this.transform.localPosition = new Vector3(0, 0.5f, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Random Target Position
|
||||||
|
Vector3 NewTargetPosition = new Vector3(Random.value * 8 - 4,0.5f,Random.value * 8 - 4);
|
||||||
|
float dist = Vector3.Distance(this.transform.localPosition, NewTargetPosition);
|
||||||
|
while (dist <= 1.45f){
|
||||||
|
NewTargetPosition = new Vector3(Random.value * 8 - 4,0.5f,Random.value * 8 - 4);
|
||||||
|
dist = Vector3.Distance(this.transform.localPosition, NewTargetPosition);
|
||||||
|
}
|
||||||
|
Target.localPosition = NewTargetPosition;
|
||||||
|
minDistance = dist;
|
||||||
|
MinLocation.localPosition = this.transform.localPosition;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 观察情报
|
||||||
|
public override void CollectObservations(VectorSensor sensor)
|
||||||
|
{
|
||||||
|
// Target and Agent positions
|
||||||
|
sensor.AddObservation(Target.localPosition.x);
|
||||||
|
sensor.AddObservation(Target.localPosition.z);
|
||||||
|
sensor.AddObservation(this.transform.localPosition.x);
|
||||||
|
sensor.AddObservation(this.transform.localPosition.z);
|
||||||
|
|
||||||
|
// Agent velocity
|
||||||
|
sensor.AddObservation(rBody.velocity.x);
|
||||||
|
sensor.AddObservation(rBody.velocity.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 移动
|
||||||
|
public void MoveBall(int action_x, int action_z)
|
||||||
|
{
|
||||||
|
// action = [0,0]
|
||||||
|
Vector3 controlSignal = Vector3.zero;
|
||||||
|
controlSignal.x = action_x;
|
||||||
|
controlSignal.z = action_z;
|
||||||
|
|
||||||
|
GameObject[] Arrows = GameObject.FindGameObjectsWithTag("Arrow");
|
||||||
|
foreach (GameObject gameObject in Arrows)
|
||||||
|
{
|
||||||
|
Destroy(gameObject, 0);
|
||||||
|
}
|
||||||
|
if (action_x == 1)
|
||||||
|
{
|
||||||
|
Instantiate(UPArrow, new Vector3(this.transform.localPosition.x + 1.0f, this.transform.localPosition.y + 0.5f, this.transform.localPosition.z+0.0f), Quaternion.Euler(0, 0, 0));
|
||||||
|
}else if(action_x == -1)
|
||||||
|
{
|
||||||
|
Instantiate(DownArrow, new Vector3(this.transform.localPosition.x - 1.0f, this.transform.localPosition.y + 0.5f, this.transform.localPosition.z + 0.0f), Quaternion.Euler(0, 180, 0));
|
||||||
|
}
|
||||||
|
if (action_z == 1)
|
||||||
|
{
|
||||||
|
Instantiate(LArrow, new Vector3(this.transform.localPosition.x + 0.0f, this.transform.localPosition.y + 0.5f, this.transform.localPosition.z + 1.0f), Quaternion.Euler(0, 270, 0));
|
||||||
|
}
|
||||||
|
else if (action_z == -1)
|
||||||
|
{
|
||||||
|
Instantiate(RPArrow, new Vector3(this.transform.localPosition.x - 0.0f, this.transform.localPosition.y + 0.5f, this.transform.localPosition.z - 1.0f), Quaternion.Euler(0, 90, 0));
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
rBody.AddForce(controlSignal * forceMultiplier);
|
||||||
|
}
|
||||||
|
|
||||||
|
// agent 输入处理
|
||||||
|
public override void OnActionReceived(ActionBuffers actionBuffers)
|
||||||
|
{
|
||||||
|
// Actions, size = 2
|
||||||
|
int inpX = 0;
|
||||||
|
int inpZ = 0;
|
||||||
|
inpX = actionBuffers.DiscreteActions[0];
|
||||||
|
inpZ = actionBuffers.DiscreteActions[1];
|
||||||
|
//Debug.Log(actionBuffers.DiscreteActions[0]);
|
||||||
|
MoveBall(inpX, inpZ);
|
||||||
|
// Rewards
|
||||||
|
// 向target靠近则会获取reward，step靠近target的距离。
|
||||||
|
float nowDistanceToTarget = Vector3.Distance(this.transform.localPosition, Target.localPosition);
|
||||||
|
|
||||||
|
|
||||||
|
if (Time.time - startTime >= timeLimit || this.transform.localPosition.y < 0)
|
||||||
|
{
|
||||||
|
// Time UP or Fall from game area
|
||||||
|
SetReward(FAILREWARD);
|
||||||
|
//Debug.Log("Rewards = " + thisReward);
|
||||||
|
EndEpisode();
|
||||||
|
}
|
||||||
|
else if(nowDistanceToTarget < 1.42f)
|
||||||
|
{
|
||||||
|
// Got the target
|
||||||
|
SetReward(WINREWARD);
|
||||||
|
//Debug.Log("Rewards = " + thisReward);
|
||||||
|
EndEpisode();
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
float thisReward = 0f;
|
||||||
|
if (nowDistanceToTarget < minDistance)
|
||||||
|
{
|
||||||
|
thisReward = minDistance - nowDistanceToTarget;
|
||||||
|
minDistance = nowDistanceToTarget;
|
||||||
|
MinLocation.localPosition = this.transform.localPosition;
|
||||||
|
SetReward(thisReward);
|
||||||
|
//Debug.Log("Rewards = " + thisReward);
|
||||||
|
}
|
||||||
|
else if (nowDistanceToTarget > minDistance)
|
||||||
|
{
|
||||||
|
thisReward = minDistance - nowDistanceToTarget;
|
||||||
|
SetReward(thisReward);
|
||||||
|
//Debug.Log("Rewards = " + thisReward);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
thisReward = 0f;
|
||||||
|
SetReward(thisReward);
|
||||||
|
//Debug.Log("Rewards = " + thisReward);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 键盘控制调试
|
||||||
|
public override void Heuristic(in ActionBuffers actionsOut)
|
||||||
|
{
|
||||||
|
//ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
|
||||||
|
ActionSegment<int> discreteActions = actionsOut.DiscreteActions;
|
||||||
|
|
||||||
|
int inpX = 0;
|
||||||
|
int inpY = 0;
|
||||||
|
if (Input.GetKey(KeyCode.W))
|
||||||
|
{
|
||||||
|
inpX = 1;
|
||||||
|
}
|
||||||
|
else if (Input.GetKey(KeyCode.S))
|
||||||
|
{
|
||||||
|
inpX = -1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
inpX = 0;
|
||||||
|
}
|
||||||
|
if (Input.GetKey(KeyCode.A))
|
||||||
|
{
|
||||||
|
inpY = 1;
|
||||||
|
}
|
||||||
|
else if (Input.GetKey(KeyCode.D))
|
||||||
|
{
|
||||||
|
inpY = -1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
inpY = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
discreteActions[0] = inpX;
|
||||||
|
discreteActions[1] = inpY;
|
||||||
|
}
|
||||||
|
}
|
||||||
11
Assets/Script/RollerAgent.cs.meta
Normal file
11
Assets/Script/RollerAgent.cs.meta
Normal file
@ -0,0 +1,11 @@
|
|||||||
|
fileFormatVersion: 2
|
||||||
|
guid: c76cbcf0bd8edb346b372986bec61e97
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
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||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
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||||||
|
assetBundleName:
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|
assetBundleVariant:
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||||||
8
Assets/StreamingAssets.meta
Normal file
8
Assets/StreamingAssets.meta
Normal file
@ -0,0 +1,8 @@
|
|||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 66fcbdfa7dbe6a94396febe54180de28
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|
folderAsset: yes
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||||||
|
DefaultImporter:
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externalObjects: {}
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userData:
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||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
1
Assets/StreamingAssets/build_info
Normal file
1
Assets/StreamingAssets/build_info
Normal file
@ -0,0 +1 @@
|
|||||||
|
Build from KOHA9-MAIN at 3/5/2024 6:57:40 PM
|
||||||
7
Assets/StreamingAssets/build_info.meta
Normal file
7
Assets/StreamingAssets/build_info.meta
Normal file
@ -0,0 +1,7 @@
|
|||||||
|
fileFormatVersion: 2
|
||||||
|
guid: f50ccc21d0c58864ba5189d851c30c12
|
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|
DefaultImporter:
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|
externalObjects: {}
|
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|
userData:
|
||||||
|
assetBundleName:
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||||||
|
assetBundleVariant:
|
||||||
8
Assets/Tiling Material Pack_Free.meta
Normal file
8
Assets/Tiling Material Pack_Free.meta
Normal file
@ -0,0 +1,8 @@
|
|||||||
|
fileFormatVersion: 2
|
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|
guid: 0cc0c2f63b4d1fb49a34fb5cb9dd158f
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folderAsset: yes
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externalObjects: {}
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|
assetBundleName:
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|
assetBundleVariant:
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9
Assets/Tiling Material Pack_Free/Materials.meta
Normal file
9
Assets/Tiling Material Pack_Free/Materials.meta
Normal file
@ -0,0 +1,9 @@
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|||||||
|
fileFormatVersion: 2
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|
guid: 2bc154b03f91b644694b39c2ff0cbe53
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userData:
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assetBundleName:
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|
assetBundleVariant:
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9
Assets/Tiling Material Pack_Free/Materials/Ground.meta
Normal file
9
Assets/Tiling Material Pack_Free/Materials/Ground.meta
Normal file
@ -0,0 +1,9 @@
|
|||||||
|
fileFormatVersion: 2
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|
guid: 4e72e13474b6942409eb073535e76249
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|
folderAsset: yes
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|
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|
licenseType: Store
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userData:
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|
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|
folderAsset: yes
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||||||
|
timeCreated: 1498197264
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|
licenseType: Store
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DefaultImporter:
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|
userData:
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assetBundleName:
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assetBundleVariant:
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|
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|
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|
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|
linearTexture: 0
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||||||
|
fadeOut: 0
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|
mipMapsPreserveCoverage: 0
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||||||
|
alphaTestReferenceValue: 0.5
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||||||
|
mipMapFadeDistanceStart: 1
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||||||
|
mipMapFadeDistanceEnd: 3
|
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|
bumpmap:
|
||||||
|
convertToNormalMap: 0
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|
externalNormalMap: 0
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|
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normalMapFilter: 0
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|
isReadable: 0
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grayScaleToAlpha: 0
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|
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|
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|
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|
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|
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|
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|
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|
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|
aniso: -1
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||||||
|
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||||||
|
wrapU: -1
|
||||||
|
wrapV: -1
|
||||||
|
wrapW: -1
|
||||||
|
nPOTScale: 1
|
||||||
|
lightmap: 0
|
||||||
|
compressionQuality: 50
|
||||||
|
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|
||||||
|
spriteExtrude: 1
|
||||||
|
spriteMeshType: 1
|
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|
alignment: 0
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||||||
|
spritePivot: {x: 0.5, y: 0.5}
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spriteBorder: {x: 0, y: 0, z: 0, w: 0}
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spritePixelsToUnits: 100
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|
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