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Implemented Academy / Set GoalPoint / Bug: Training does not move agents

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This commit is contained in:
Tobi 2019-05-17 19:12:07 +02:00
parent a7dd5527bb
commit e3482a3eab
11 changed files with 7302 additions and 19 deletions
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2
Assets/Materials/GroundMaterial.mat
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@ -40,7 +40,7 @@ Material:
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
- _MainTex:
m_Texture: {fileID: 2800000, guid: 199bbc3b06fa73149b6e1ad35ae6d936, type: 3}
m_Texture: {fileID: 2800000, guid: e2f202a27eca89449af658ee823922fb, type: 3}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
- _MetallicGlossMap:

86
Assets/Scenes/CozmoTraining.unity
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@ -143,6 +143,8 @@ Transform:
- {fileID: 1159195261}
- {fileID: 1863707381}
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m_Father: {fileID: 0}
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@ -437,6 +439,50 @@ Transform:
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m_RootOrder: 3
m_LocalEulerAnglesHint: {x: 90, y: 0, z: 0}
--- !u!1 &435986019
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- component: {fileID: 435986021}
m_Layer: 0
m_Name: GoalPoint
m_TagString: Goal
m_Icon: {fileID: 0}
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@ -960,7 +1006,8 @@ MonoBehaviour:
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_brainsToControl:
- {fileID: 0}
maxSteps: 0
- {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
maxSteps: 1000
trainingConfiguration:
width: 84
height: 84
@ -975,6 +1022,8 @@ MonoBehaviour:
targetFrameRate: 60
resetParameters:
resetParameters: []
cozmo: {fileID: 7570006596986120123}
startPoint: {fileID: 2078653368}
--- !u!4 &998256474
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m_Children: []
m_Father: {fileID: 99578049}
m_RootOrder: 4
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@ -1566,7 +1645,7 @@ PrefabInstance:
- target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
type: 3}
propertyPath: m_LocalPosition.x
value: 0.42
value: 0
objectReference: {fileID: 0}
- target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
type: 3}
@ -1576,7 +1655,7 @@ PrefabInstance:
- target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
type: 3}
propertyPath: m_LocalPosition.z
value: -0.529
value: -0.52
objectReference: {fileID: 0}
- target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
type: 3}
@ -1659,7 +1738,6 @@ MonoBehaviour:
onDemandDecision: 1
numberOfActionsBetweenDecisions: 1
renderCamera: {fileID: 891713640}
academy: {fileID: 998256473}
movement: {fileID: 7570006596986120128}
timeBetweenDecisionsAtInference: 0.15
--- !u!65 &7570006596986120126

4
Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs
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@ -134,10 +134,12 @@ public class ImageProcessor : MonoBehaviour
Moments m = new Moments(processedImage, true);
CenterOfGravity = new Point(m.M10 / m.M00, m.M01 / m.M00);
#if UNITY_EDITOR
// show the image with a point mark at the centroid
Cv2.Circle(processedImage, CenterOfGravity, 5, new Scalar(128, 0, 0), -1);
Cv2.Flip(processedImage, processedImage, FlipMode.X);
Cv2.ImShow("Image with center", processedImage);
//Cv2.WaitKey(0);
#endif
}
}

18
Assets/Scripts/ML Cozmo/CozmoAcademy.cs
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@ -5,5 +5,21 @@ using UnityEngine;
public class CozmoAcademy : Academy
{
public GameObject cozmo;
public Transform startPoint;
//public bool testAcademyReset = false;
public override void AcademyReset()
{
cozmo.transform.position = startPoint.position;
}
//private void Update()
//{
// if (testAcademyReset)
// {
// AcademyReset();
// testAcademyReset = !testAcademyReset;
// }
//}
}

9
Assets/Scripts/ML Cozmo/CozmoAgent.cs
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@ -112,6 +112,15 @@ public class CozmoAgent : Agent
}
private void OnTriggerEnter(Collider other)
{
if (other.transform.CompareTag("Goal"))
{
print("Collission");
Done();
}
}
private void WaitTimeInference()
{
if (renderCamera != null)

BIN
Assets/Textures/Ground/SimpleWay.png Normal file
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88
Assets/Textures/Ground/SimpleWay.png.meta Normal file
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12
Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
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@ -10,7 +10,7 @@ public class GridAgent : Agent
public float timeBetweenDecisionsAtInference;
private float timeSinceDecision;
[Tooltip("Because we want an observation right before making a decision, we can force " +
[Tooltip("Because we want an observation right before making a decision, we can force " +
"a camera to render before making a decision. Place the agentCam here if using " +
"RenderTexture as observations.")]
public Camera renderCamera;
@ -48,8 +48,8 @@ public class GridAgent : Agent
private void SetMask()
{
// Prevents the agent from picking an action that would make it collide with a wall
var positionX = (int) transform.position.x;
var positionZ = (int) transform.position.z;
var positionX = (int)transform.position.x;
var positionZ = (int)transform.position.z;
var maxPosition = academy.gridSize - 1;
if (positionX == 0)
@ -108,17 +108,17 @@ public class GridAgent : Agent
if (blockTest.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
{
Done();
SetReward(1f);
}
if (blockTest.Where(col => col.gameObject.CompareTag("pit")).ToArray().Length == 1)
{
Done();
SetReward(-1f);
}
}
}
// to be implemented by the developer
public override void AgentReset()
{
@ -132,7 +132,7 @@ public class GridAgent : Agent
private void WaitTimeInference()
{
if(renderCamera != null)
if (renderCamera != null)
{
renderCamera.Render();
}

6064
Notebooks/UnitySDK.log
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1035
Notebooks/getting-started.ipynb
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3
ProjectSettings/TagManager.asset
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@ -3,7 +3,8 @@
--- !u!78 &1
TagManager:
serializedVersion: 2
tags: []
tags:
- Goal
layers:
- Default
- TransparentFX