New Reward function --> only near and far area now instead if three areas

Assets/Scripts/ML Cozmo/CozmoAgent.cs

@@ -14,13 +14,10 @@ public class CozmoAgent : Agent
     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 = 0.2f;
+    private const float NEAR_AREA_PERCENTAGE_OFFSET = 0.3f;
-    private const float FAR_AREA_PERCENTAGE_OFFSET = 0.3f;
 
     [Tooltip("The virtual Cozmo camera")]
     public Camera renderCamera;
-    //[Tooltip("Final cropped and scaled rendertexture")]
-    //public RenderTexture renderTextureScaled;
     [Tooltip("Reference to the CozmoMovement script")]
     public CozmoMovementController movementController;
     public float timeBetweenDecisionsAtInference;
@@ -29,16 +26,14 @@ public class CozmoAgent : Agent
     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 farAreaLimit = 0;                   // X coordinate limit for the far away to the imagecenter area
+    private int centerOfImageX = 0;                 // Middle of the image in x direction
-
-
 
     private void Start()
     {
         academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
         imageProcessor = renderCamera.GetComponent<ImageProcessor>();
         nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
-        farAreaLimit = (int)(renderCamera.targetTexture.width / 2 * FAR_AREA_PERCENTAGE_OFFSET);
+        centerOfImageX = renderCamera.targetTexture.width / 2;
     }
 
 
@@ -51,12 +46,8 @@ public class CozmoAgent : Agent
     // to be implemented by the developer
     public override void AgentAction(float[] vectorAction, string textAction)
     {
-        //print("Action before FloorToInt: " + vectorAction[0]);
         int action = Mathf.FloorToInt(vectorAction[0]);
         Point centerOfGravity = imageProcessor.CenterOfGravity;
-        //Vector3 targetPos = transform.position;
-
-        //print("Action after FloorToInt: " + action);
 
         AddReward(-0.01f);
 
@@ -86,29 +77,21 @@ public class CozmoAgent : Agent
         }
 
         RewardAgent();
-        imageProcessor.enabled = false;
     }
 
-    /// <summary>
+    // Set the reward for the agent based on how far away the center of gravity is from the center of the image
-    /// TODO: Cleanup code
-    /// </summary>
     private void RewardAgent()
     {
-        float centerOfImageX = renderCamera.targetTexture.width / 2;
         float centerOfGravityX = imageProcessor.CenterOfGravity.X;
         float reward = 0;
 
-        // Center of gravity is far left of the center
+        // Center of gravity is far away from the center (left)
-        if (centerOfGravityX <= centerOfImageX - farAreaLimit)
+        if (centerOfGravityX <= centerOfImageX - nearAreaLimit)
         {
-            reward = -1;
+            float range = centerOfImageX - nearAreaLimit;
-        }
+            reward = -(1 - (centerOfGravityX / range));
-        // Center of gravity is between far and near left of the center
+            // Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
-        else if (centerOfGravityX <= centerOfImageX - nearAreaLimit)
+            reward = Mathf.Clamp(reward, -1, 0);
-        {
-            float range = (centerOfImageX - nearAreaLimit) - (centerOfImageX - farAreaLimit);
-            float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - farAreaLimit);
-            reward = -(1 - (distanceToLeftFarBorder / range));
         }
         // Center of gravity is near left of the center
         else if (centerOfGravityX <= centerOfImageX)
@@ -117,24 +100,20 @@ public class CozmoAgent : Agent
             float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
             reward = (distanceToLeftFarBorder / range);
         }
-        // Center of gravity is far right of the center
+        // Center of gravity is far away from the center (right)
-        else if (centerOfGravityX >= centerOfImageX + farAreaLimit)
-        {
-            reward = -1;
-        }
-        // Center of gravity is between far and near right of the center
         else if (centerOfGravityX >= centerOfImageX + nearAreaLimit)
         {
-            float range = (centerOfImageX + farAreaLimit) - (centerOfImageX + nearAreaLimit);
+            float range = renderCamera.targetTexture.width - (centerOfImageX + nearAreaLimit);
-            float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX + nearAreaLimit);
+            reward = -(((centerOfGravityX - (centerOfImageX + nearAreaLimit)) / range));
-            reward = -(distanceToLeftFarBorder / 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);
         }
         // Center of gravity is near right of the center
         else if (centerOfGravityX >= centerOfImageX)
         {
             float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
-            float distanceToLeftFarBorder = centerOfGravityX - centerOfImageX;
+            float distanceToCenterOfImage = centerOfGravityX - centerOfImageX;
-            reward = (1 - distanceToLeftFarBorder / range);
+            reward = (1 - distanceToCenterOfImage / range);
         }
 
         SetReward(reward);
@@ -151,7 +130,6 @@ public class CozmoAgent : Agent
     {
         if (other.transform.CompareTag("Goal"))
         {
-            print("Collission");
             Done();
         }
     }