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Assets/Scripts/ML Cozmo/CozmoAgent.cs

     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 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;
 
         {
             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);
         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);
     }
 

Assets/Textures/RenderTextures/CozmoCannyCroped.renderTexture → Assets/Textures/RenderTextures/CozmoCannyCroped_0.renderTexture

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   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_Name: CozmoCannyCroped
+  m_Name: CozmoCannyCroped_0
   m_ImageContentsHash:
     serializedVersion: 2
     Hash: 00000000000000000000000000000000

Assets/Textures/RenderTextures/TestVisualBanana.renderTexture → Assets/Textures/RenderTextures/CozmoCannyCroped_1.renderTexture

   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
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   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

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   mainObjectFileID: 8400000

Assets/Textures/RenderTextures/CozmoCannyTexture.renderTexture → Assets/Textures/RenderTextures/CozmoCannyTexture_0.renderTexture

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   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_Name: CozmoCannyTexture
+  m_Name: CozmoCannyTexture_0
   m_ImageContentsHash:
     serializedVersion: 2
     Hash: 00000000000000000000000000000000

Assets/Textures/RenderTextures/CozmoCannyTexture_1.renderTexture

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ConfigFiles/trainer_config.yaml

     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

ProjectSettings/QualitySettings.asset

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   m_ObjectHideFlags: 0
   serializedVersion: 5
-  m_CurrentQuality: 4
+  m_CurrentQuality: 0
   m_QualitySettings:
   - serializedVersion: 2
     name: Very Low
     softVegetation: 0
     realtimeReflectionProbes: 0
     billboardsFaceCameraPosition: 0
-    vSyncCount: 0
+    vSyncCount: 1
     lodBias: 0.3
     maximumLODLevel: 0
     streamingMipmapsActive: 0
     Nintendo Switch: 5
     PS4: 5
     PSP2: 2
-    Standalone: 5
+    Standalone: 0
     Tizen: 2
     WebGL: 3
     WiiU: 5

notebooks/.ipynb_checkpoints/Untitled-checkpoint.ipynb

+{
+ "cells": [],
+ "metadata": {},
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

notebooks/Untitled.ipynb

+{
+ "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
+}