Action Mask and working cozmo
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|
||||
m_EditorClassIdentifier:
|
||||
currentMovementState: 0
|
||||
|
||||
@ -27,6 +27,9 @@ public class CozmoAgent : Agent
|
||||
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()
|
||||
{
|
||||
@ -43,9 +46,46 @@ public class CozmoAgent : Agent
|
||||
}
|
||||
|
||||
|
||||
public override void CollectObservations()
|
||||
{
|
||||
SetMask();
|
||||
}
|
||||
|
||||
// Set ActionMask for training
|
||||
private void SetMask()
|
||||
{
|
||||
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.");
|
||||
}
|
||||
}
|
||||
|
||||
// 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;
|
||||
|
||||
@ -55,15 +95,27 @@ public class CozmoAgent : Agent
|
||||
{
|
||||
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);
|
||||
@ -86,36 +138,43 @@ public class CozmoAgent : Agent
|
||||
float reward = 0;
|
||||
|
||||
// Center of gravity is far away from the center (left)
|
||||
if (centerOfGravityX <= centerOfImageX - nearAreaLimit)
|
||||
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);
|
||||
reward = Mathf.Clamp(reward, -1, 0) / 2;
|
||||
}
|
||||
// Center of gravity is near left of the center
|
||||
else if (centerOfGravityX <= centerOfImageX)
|
||||
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)
|
||||
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);
|
||||
reward = Mathf.Clamp(reward, -1, 0) / 2;
|
||||
}
|
||||
// Center of gravity is near right of the center
|
||||
else if (centerOfGravityX >= centerOfImageX)
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
@ -6,7 +6,7 @@ RenderTexture:
|
||||
m_CorrespondingSourceObject: {fileID: 0}
|
||||
m_PrefabInstance: {fileID: 0}
|
||||
m_PrefabAsset: {fileID: 0}
|
||||
m_Name: CozmoCannyCroped
|
||||
m_Name: CozmoCannyCroped_0
|
||||
m_ImageContentsHash:
|
||||
serializedVersion: 2
|
||||
Hash: 00000000000000000000000000000000
|
||||
@ -6,14 +6,14 @@ RenderTexture:
|
||||
m_CorrespondingSourceObject: {fileID: 0}
|
||||
m_PrefabInstance: {fileID: 0}
|
||||
m_PrefabAsset: {fileID: 0}
|
||||
m_Name: TestVisualBanana
|
||||
m_Name: CozmoCannyCroped_1
|
||||
m_ImageContentsHash:
|
||||
serializedVersion: 2
|
||||
Hash: 00000000000000000000000000000000
|
||||
m_ForcedFallbackFormat: 4
|
||||
m_DownscaleFallback: 0
|
||||
m_Width: 256
|
||||
m_Height: 256
|
||||
m_Width: 80
|
||||
m_Height: 30
|
||||
m_AntiAliasing: 1
|
||||
m_DepthFormat: 2
|
||||
m_ColorFormat: 0
|
||||
@ -1,5 +1,5 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 7cf95f69a56a16641b7419b518ba13ff
|
||||
guid: c2570513b195a074d9ddc7c75b245858
|
||||
NativeFormatImporter:
|
||||
externalObjects: {}
|
||||
mainObjectFileID: 8400000
|
||||
@ -6,7 +6,7 @@ RenderTexture:
|
||||
m_CorrespondingSourceObject: {fileID: 0}
|
||||
m_PrefabInstance: {fileID: 0}
|
||||
m_PrefabAsset: {fileID: 0}
|
||||
m_Name: CozmoCannyTexture
|
||||
m_Name: CozmoCannyTexture_0
|
||||
m_ImageContentsHash:
|
||||
serializedVersion: 2
|
||||
Hash: 00000000000000000000000000000000
|
||||
@ -0,0 +1,34 @@
|
||||
%YAML 1.1
|
||||
%TAG !u! tag:unity3d.com,2011:
|
||||
--- !u!84 &8400000
|
||||
RenderTexture:
|
||||
m_ObjectHideFlags: 0
|
||||
m_CorrespondingSourceObject: {fileID: 0}
|
||||
m_PrefabInstance: {fileID: 0}
|
||||
m_PrefabAsset: {fileID: 0}
|
||||
m_Name: CozmoCannyTexture_1
|
||||
m_ImageContentsHash:
|
||||
serializedVersion: 2
|
||||
Hash: 00000000000000000000000000000000
|
||||
m_ForcedFallbackFormat: 4
|
||||
m_DownscaleFallback: 0
|
||||
m_Width: 320
|
||||
m_Height: 240
|
||||
m_AntiAliasing: 1
|
||||
m_DepthFormat: 2
|
||||
m_ColorFormat: 0
|
||||
m_MipMap: 0
|
||||
m_GenerateMips: 1
|
||||
m_SRGB: 0
|
||||
m_UseDynamicScale: 0
|
||||
m_BindMS: 0
|
||||
m_TextureSettings:
|
||||
serializedVersion: 2
|
||||
m_FilterMode: 1
|
||||
m_Aniso: 0
|
||||
m_MipBias: 0
|
||||
m_WrapU: 1
|
||||
m_WrapV: 1
|
||||
m_WrapW: 1
|
||||
m_Dimension: 2
|
||||
m_VolumeDepth: 1
|
||||
@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 55aff4f34c0a7134eae7f9be35397deb
|
||||
NativeFormatImporter:
|
||||
externalObjects: {}
|
||||
mainObjectFileID: 8400000
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@ -8,7 +8,7 @@ default:
|
||||
hidden_units: 128
|
||||
lambd: 0.95
|
||||
learning_rate: 3.0e-4
|
||||
max_steps: 5.0e4
|
||||
max_steps: 50.0e4
|
||||
memory_size: 256
|
||||
normalize: false
|
||||
num_epoch: 3
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
QualitySettings:
|
||||
m_ObjectHideFlags: 0
|
||||
serializedVersion: 5
|
||||
m_CurrentQuality: 4
|
||||
m_CurrentQuality: 0
|
||||
m_QualitySettings:
|
||||
- serializedVersion: 2
|
||||
name: Very Low
|
||||
@ -26,7 +26,7 @@ QualitySettings:
|
||||
softVegetation: 0
|
||||
realtimeReflectionProbes: 0
|
||||
billboardsFaceCameraPosition: 0
|
||||
vSyncCount: 0
|
||||
vSyncCount: 1
|
||||
lodBias: 0.3
|
||||
maximumLODLevel: 0
|
||||
streamingMipmapsActive: 0
|
||||
@ -222,7 +222,7 @@ QualitySettings:
|
||||
Nintendo Switch: 5
|
||||
PS4: 5
|
||||
PSP2: 2
|
||||
Standalone: 5
|
||||
Standalone: 0
|
||||
Tizen: 2
|
||||
WebGL: 3
|
||||
WiiU: 5
|
||||
|
||||
24682
UnitySDK.log
Normal file
24682
UnitySDK.log
Normal file
File diff suppressed because it is too large
Load Diff
6
notebooks/.ipynb_checkpoints/Untitled-checkpoint.ipynb
Normal file
6
notebooks/.ipynb_checkpoints/Untitled-checkpoint.ipynb
Normal file
@ -0,0 +1,6 @@
|
||||
{
|
||||
"cells": [],
|
||||
"metadata": {},
|
||||
"nbformat": 4,
|
||||
"nbformat_minor": 2
|
||||
}
|
||||
79
notebooks/Untitled.ipynb
Normal file
79
notebooks/Untitled.ipynb
Normal file
@ -0,0 +1,79 @@
|
||||
{
|
||||
"cells": [
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 33,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"[0 1]\n",
|
||||
"[1 0]\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"import numpy as np\n",
|
||||
"\n",
|
||||
"y_out = [[[-0.52742714, -0.8918941 , -0.53989583, -0.874211 ]]]\n",
|
||||
"\n",
|
||||
"outputs = y_out[0][0]\n",
|
||||
"\n",
|
||||
"prob_action1 = outputs[:2]\n",
|
||||
"prob_action2 = outputs[2:]\n",
|
||||
"\n",
|
||||
"norm_action1 = [float(i)/sum(prob_action1) for i in prob_action1]\n",
|
||||
"norm_action2 = [float(i)/sum(prob_action2) for i in prob_action2]\n",
|
||||
"\n",
|
||||
"action1 = np.random.multinomial(1,norm_action1)\n",
|
||||
"action2 = np.random.multinomial(1,norm_action2)\n",
|
||||
"print(action1)\n",
|
||||
"print(action2)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": null,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": []
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": null,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": []
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": null,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": []
|
||||
}
|
||||
],
|
||||
"metadata": {
|
||||
"kernelspec": {
|
||||
"display_name": "Python 3",
|
||||
"language": "python",
|
||||
"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": "3.6.7"
|
||||
}
|
||||
},
|
||||
"nbformat": 4,
|
||||
"nbformat_minor": 2
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user