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Add commetns and refactoring

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This commit is contained in:
Tobi
2019-07-29 16:29:21 +02:00
parent 0cfb60bea0
commit 021662632e
7 changed files with 673 additions and 586 deletions
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Assets/Scripts/ML Cozmo/CozmoAcademy.cs
+30 -20
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@@ -1,26 +1,36 @@
using MLAgents;
using System.Collections;
using System.Collections.Generic;
///-----------------------------------------------------------------
/// Namespace: <Cozmo>
/// Class: <CozmoAcademy>
/// Description: <The academy used for cozmo. Sets cozmo back to its starting position if the academy gets reset.>
/// Author: <Tobias Hassel> Date: <29.07.2019>
/// Notes: <>
///-----------------------------------------------------------------
///
using MLAgents;
using UnityEngine;
public class CozmoAcademy : Academy
namespace Cozmo
{
public GameObject cozmo;
public Transform startPoint;
//public bool testAcademyReset = false;
public override void AcademyReset()
public class CozmoAcademy : Academy
{
cozmo.transform.position = startPoint.position;
cozmo.transform.rotation = startPoint.rotation;
}
[Tooltip("Reference to the cozmo gameobject in the scene.")]
public GameObject cozmo;
[Tooltip("Reference to the transform which represents the starting position for cozmo.")]
public Transform startPoint;
//private void Update()
//{
// if (testAcademyReset)
// {
// AcademyReset();
// testAcademyReset = !testAcademyReset;
// }
//}
public override void AcademyReset()
{
SetCozmoBackToStartingPosition();
}
// Resets Cozmos position and rotation to match its starting position
private void SetCozmoBackToStartingPosition()
{
cozmo.transform.position = startPoint.position;
cozmo.transform.rotation = startPoint.rotation;
}
}
}
Assets/Scripts/ML Cozmo/CozmoAgent.cs
+193 -182
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@@ -1,221 +1,232 @@
using MLAgents;
///-----------------------------------------------------------------
/// Namespace: <Cozmo>
/// Class: <CozmoAgent>
/// Description: <The actual agent in the scene. Collects observations and executes the actions.
/// Also rewards the agent and sets an actionmask.>
/// Author: <Tobias Hassel> Date: <29.07.2019>
/// Notes: <>
///-----------------------------------------------------------------
///
using MLAgents;
using OpenCvSharp;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class CozmoAgent : Agent
namespace Cozmo
{
// Possible Actions
private const int STOP = 0;
private const int FORWARD = 1;
private const int RIGHT = 2;
private const int LEFT = 3;
// Used to determine different areas in the image (near to the center, far away)
private const float NEAR_AREA_PERCENTAGE_OFFSET = 0.3f;
[Tooltip("The virtual Cozmo camera")]
public Camera renderCamera;
[Tooltip("Reference to the CozmoMovement script")]
public CozmoMovementController movementController;
public float timeBetweenDecisionsAtInference;
private Academy academy; // CozmoAcademy
private float timeSinceDecision; // time since last decision
private ImageProcessor imageProcessor; // reference to the ImageProcessor
private int nearAreaLimit = 0; // X coordinate limit for the near to the imagecenter area
private int centerOfImageX = 0; // Middle of the image in x direction
private MovementState lastChosenMovement = MovementState.Stop; // The last action/movement that was executed
private double startTime = Time.time;
private void Start()
public class CozmoAgent : Agent
{
academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
imageProcessor = renderCamera.GetComponent<ImageProcessor>();
nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
centerOfImageX = renderCamera.targetTexture.width / 2;
}
// Possible Actions
private const int STOP = 0;
private const int FORWARD = 1;
private const int RIGHT = 2;
private const int LEFT = 3;
// Used to determine different areas in the image (near to the center, far away)
private const float NEAR_AREA_PERCENTAGE_OFFSET = 0.3f;
public void FixedUpdate()
{
WaitTimeInference();
}
[Tooltip("The virtual Cozmo camera")]
public Camera renderCamera;
[Tooltip("Reference to the CozmoMovement script")]
public CozmoMovementController movementController;
public float timeBetweenDecisionsAtInference;
private Academy academy; // CozmoAcademy
private float timeSinceDecision; // time since last decision
private ImageProcessor imageProcessor; // reference to the ImageProcessor
private int nearAreaLimit = 0; // X coordinate limit for the near to the imagecenter area
private int centerOfImageX = 0; // Middle of the image in x direction
private MovementState lastChosenMovement = MovementState.Stop; // The last action/movement that was executed
public override void CollectObservations()
{
SetMask();
}
private double startTime = Time.time;
// Set ActionMask for training
private void SetMask()
{
switch (lastChosenMovement)
private void Start()
{
// Do not allow stop decision after a stop
case (MovementState.Stop):
SetActionMask(STOP);
break;
// Do not allow stop after forward
case (MovementState.Forward):
SetActionMask(STOP);
break;
// Do not allow stop & left after right
case (MovementState.Right):
SetActionMask(STOP);
SetActionMask(LEFT);
break;
// Do not allow stop & right after left
case (MovementState.Left):
SetActionMask(STOP);
SetActionMask(RIGHT);
break;
default:
throw new ArgumentException("Invalid MovementState.");
}
}
// to be implemented by the developer
public override void AgentAction(float[] vectorAction, string textAction)
{
double elapsedTime = Time.time - startTime;
print("Elapsed time: " + elapsedTime);
startTime = Time.time;
int action = Mathf.FloorToInt(vectorAction[0]);
Point centerOfGravity = imageProcessor.CenterOfGravity;
AddReward(-0.01f);
switch (action)
{
case STOP:
movementController.currentMovementState = MovementState.Stop;
lastChosenMovement = MovementState.Stop;
//Test
SetReward(-0.1f);
break;
case FORWARD:
movementController.currentMovementState = MovementState.Forward;
lastChosenMovement = MovementState.Forward;
//Test
SetReward(0.01f);
break;
case RIGHT:
movementController.currentMovementState = MovementState.Right;
lastChosenMovement = MovementState.Right;
//Test
SetReward(-0.02f);
break;
case LEFT:
movementController.currentMovementState = MovementState.Left;
lastChosenMovement = MovementState.Left;
//Test
SetReward(-0.02f);
break;
default:
//movement.Move(0);
throw new ArgumentException("Invalid action value. Stop movement.");
academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
imageProcessor = renderCamera.GetComponent<ImageProcessor>();
nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
centerOfImageX = renderCamera.targetTexture.width / 2;
}
// Render new image after movement in order to update the centerOfGravity
if (renderCamera != null)
public void FixedUpdate()
{
renderCamera.Render();
WaitTimeInference();
}
RewardAgent();
}
// Set the reward for the agent based on how far away the center of gravity is from the center of the image
private void RewardAgent()
{
float centerOfGravityX = imageProcessor.CenterOfGravity.X;
float reward = 0;
// Center of gravity is far away from the center (left)
if (centerOfGravityX <= centerOfImageX - nearAreaLimit && centerOfGravityX >= 0)
public override void CollectObservations()
{
float range = centerOfImageX - nearAreaLimit;
reward = -(1 - (centerOfGravityX / range));
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
reward = Mathf.Clamp(reward, -1, 0) / 2;
}
// Center of gravity is near left of the center
else if ((centerOfGravityX <= centerOfImageX) && (centerOfGravityX >= (centerOfImageX - nearAreaLimit)))
{
float range = centerOfImageX - (centerOfImageX - nearAreaLimit);
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
reward = (distanceToLeftFarBorder / range);
}
// Center of gravity is far away from the center (right)
else if ((centerOfGravityX >= (centerOfImageX + nearAreaLimit)) && (centerOfGravityX <= renderCamera.targetTexture.width))
{
float range = renderCamera.targetTexture.width - (centerOfImageX + nearAreaLimit);
reward = -(((centerOfGravityX - (centerOfImageX + nearAreaLimit)) / range));
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
reward = Mathf.Clamp(reward, -1, 0) / 2;
}
// Center of gravity is near right of the center
else if ((centerOfGravityX >= centerOfImageX) && (centerOfGravityX <= (centerOfImageX + nearAreaLimit)))
{
float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
float distanceToCenterOfImage = centerOfGravityX - centerOfImageX;
reward = (1 - distanceToCenterOfImage / range);
}
else
{
SetReward(-1);
AgentReset();
Debug.Log("Out of image range");
SetMask();
}
Debug.Log("Reward: " + reward);
SetReward(reward);
}
// to be implemented by the developer
public override void AgentReset()
{
academy.AcademyReset();
}
private void OnTriggerEnter(Collider other)
{
if (other.transform.CompareTag("Goal"))
// Set ActionMask for training
private void SetMask()
{
Done();
switch (lastChosenMovement)
{
// Do not allow stop decision after a stop
case (MovementState.Stop):
SetActionMask(STOP);
break;
// Do not allow stop after forward
case (MovementState.Forward):
SetActionMask(STOP);
break;
// Do not allow stop & left after right
case (MovementState.Right):
SetActionMask(STOP);
SetActionMask(LEFT);
break;
// Do not allow stop & right after left
case (MovementState.Left):
SetActionMask(STOP);
SetActionMask(RIGHT);
break;
default:
throw new ArgumentException("Invalid MovementState.");
}
}
}
private void WaitTimeInference()
{
if (renderCamera != null)
// to be implemented by the developer
public override void AgentAction(float[] vectorAction, string textAction)
{
renderCamera.Render();
double elapsedTime = Time.time - startTime;
print("Elapsed time: " + elapsedTime);
startTime = Time.time;
int action = Mathf.FloorToInt(vectorAction[0]);
Point centerOfGravity = imageProcessor.CenterOfGravity;
AddReward(-0.01f);
switch (action)
{
case STOP:
movementController.currentMovementState = MovementState.Stop;
lastChosenMovement = MovementState.Stop;
//Test
SetReward(-0.1f);
break;
case FORWARD:
movementController.currentMovementState = MovementState.Forward;
lastChosenMovement = MovementState.Forward;
//Test
SetReward(0.01f);
break;
case RIGHT:
movementController.currentMovementState = MovementState.Right;
lastChosenMovement = MovementState.Right;
//Test
SetReward(-0.02f);
break;
case LEFT:
movementController.currentMovementState = MovementState.Left;
lastChosenMovement = MovementState.Left;
//Test
SetReward(-0.02f);
break;
default:
//movement.Move(0);
throw new ArgumentException("Invalid action value. Stop movement.");
}
// Render new image after movement in order to update the centerOfGravity
if (renderCamera != null)
{
renderCamera.Render();
}
RewardAgent();
}
// Set the reward for the agent based on how far away the center of gravity is from the center of the image
private void RewardAgent()
{
float centerOfGravityX = imageProcessor.CenterOfGravity.X;
float reward = 0;
// Center of gravity is far away from the center (left)
if (centerOfGravityX <= centerOfImageX - nearAreaLimit && centerOfGravityX >= 0)
{
float range = centerOfImageX - nearAreaLimit;
reward = -(1 - (centerOfGravityX / range));
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
reward = Mathf.Clamp(reward, -1, 0) / 2;
}
// Center of gravity is near left of the center
else if ((centerOfGravityX <= centerOfImageX) && (centerOfGravityX >= (centerOfImageX - nearAreaLimit)))
{
float range = centerOfImageX - (centerOfImageX - nearAreaLimit);
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
reward = (distanceToLeftFarBorder / range);
}
// Center of gravity is far away from the center (right)
else if ((centerOfGravityX >= (centerOfImageX + nearAreaLimit)) && (centerOfGravityX <= renderCamera.targetTexture.width))
{
float range = renderCamera.targetTexture.width - (centerOfImageX + nearAreaLimit);
reward = -(((centerOfGravityX - (centerOfImageX + nearAreaLimit)) / range));
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
reward = Mathf.Clamp(reward, -1, 0) / 2;
}
// Center of gravity is near right of the center
else if ((centerOfGravityX >= centerOfImageX) && (centerOfGravityX <= (centerOfImageX + nearAreaLimit)))
{
float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
float distanceToCenterOfImage = centerOfGravityX - centerOfImageX;
reward = (1 - distanceToCenterOfImage / range);
}
else
{
SetReward(-1);
AgentReset();
Debug.Log("Out of image range");
}
Debug.Log("Reward: " + reward);
SetReward(reward);
}
// to be implemented by the developer
public override void AgentReset()
{
academy.AcademyReset();
}
if (!academy.GetIsInference())
private void OnTriggerEnter(Collider other)
{
RequestDecision();
if (other.transform.CompareTag("Goal"))
{
Done();
}
}
else
private void WaitTimeInference()
{
if (timeSinceDecision >= timeBetweenDecisionsAtInference)
if (renderCamera != null)
{
renderCamera.Render();
}
if (!academy.GetIsInference())
{
timeSinceDecision = 0f;
RequestDecision();
}
else
{
timeSinceDecision += Time.fixedDeltaTime;
if (timeSinceDecision >= timeBetweenDecisionsAtInference)
{
timeSinceDecision = 0f;
RequestDecision();
}
else
{
timeSinceDecision += Time.fixedDeltaTime;
}
}
}
}
}
}