hasselto66176/BachelorarbeitCozmo
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Change CozmoAgent to give him custom memory size ad other model brain

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This commit is contained in:
Tobi
2019-08-24 16:24:40 +02:00
parent 021662632e
commit d96e23e8c2
5 changed files with 97 additions and 26 deletions
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Assets/Scripts/ML Cozmo/CozmoAgent.cs
+70 -25
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@@ -11,6 +11,7 @@
using MLAgents;
using OpenCvSharp;
using System;
using System.Collections.Generic;
using UnityEngine;
namespace Cozmo
@@ -31,6 +32,7 @@ namespace Cozmo
[Tooltip("Reference to the CozmoMovement script")]
public CozmoMovementController movementController;
public float timeBetweenDecisionsAtInference;
public int maxStoredMovementStates = 1;
private Academy academy; // CozmoAcademy
private float timeSinceDecision; // time since last decision
@@ -39,6 +41,8 @@ namespace Cozmo
private int centerOfImageX = 0; // Middle of the image in x direction
private MovementState lastChosenMovement = MovementState.Stop; // The last action/movement that was executed
private Queue<MovementState> lastActions = new Queue<MovementState>();
private double startTime = Time.time;
private void Start()
@@ -64,29 +68,48 @@ namespace Cozmo
// Set ActionMask for training
private void SetMask()
{
switch (lastChosenMovement)
// Do not allow stop decision after a stop
if (lastChosenMovement == MovementState.Stop)
{
// 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.");
SetActionMask(STOP);
}
// Do not allow left decision if right was in the last actions
if (lastActions.Contains(MovementState.Right))
{
SetActionMask(LEFT);
}
// Do not allow right decision if left was in the last actions
if (lastActions.Contains(MovementState.Left))
{
SetActionMask(RIGHT);
}
//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);
// if (lastActions.Contains(MovementState.))
// 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
@@ -107,31 +130,33 @@ namespace Cozmo
movementController.currentMovementState = MovementState.Stop;
lastChosenMovement = MovementState.Stop;
//Test
SetReward(-0.1f);
SetReward(-0.02f);
break;
case FORWARD:
movementController.currentMovementState = MovementState.Forward;
lastChosenMovement = MovementState.Forward;
//Test
SetReward(0.01f);
SetReward(0.02f);
break;
case RIGHT:
movementController.currentMovementState = MovementState.Right;
lastChosenMovement = MovementState.Right;
//Test
SetReward(-0.02f);
SetReward(0.01f);
break;
case LEFT:
movementController.currentMovementState = MovementState.Left;
lastChosenMovement = MovementState.Left;
//Test
SetReward(-0.02f);
SetReward(0.01f);
break;
default:
//movement.Move(0);
throw new ArgumentException("Invalid action value. Stop movement.");
}
CollectLastMovementStates(lastChosenMovement);
// Render new image after movement in order to update the centerOfGravity
if (renderCamera != null)
{
@@ -188,6 +213,26 @@ namespace Cozmo
SetReward(reward);
}
// Store the last movementStates in a Queue
private void CollectLastMovementStates(MovementState movementState)
{
// Check if Queue exists and values should be stored
if ((lastActions != null) && (maxStoredMovementStates > 0))
{
// maxStoredMovementStates is reached
if (lastActions.Count >= maxStoredMovementStates)
{
// deque first value(s) when maxStoredMovementStates is reached
for (int i = 0; i <= (lastActions.Count - maxStoredMovementStates); i++)
{
lastActions.Dequeue();
}
}
// add last action to queue
lastActions.Enqueue(movementState);
}
}
// to be implemented by the developer
public override void AgentReset()
{