Action Mask and working cozmo

Assets/Brains/CozmoLearningBrain.asset

@@ -19,9 +19,9 @@ MonoBehaviour:
     cameraResolutions:
     - width: 80
       height: 30
-      blackAndWhite: 0
+      blackAndWhite: 1
     vectorActionDescriptions:
     - 
     vectorActionSpaceType: 0
-  model: {fileID: 0}
+  model: {fileID: 11400000, guid: 24baaa8c605c1a74785880885cf04847, type: 3}
   inferenceDevice: 0

Assets/Brains/CozmoLearningBrain.nn.meta

@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 24baaa8c605c1a74785880885cf04847
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: Assets/Brains/CozmoLearningBrain.nn
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 83221ad3db87f4b3b91b041047cb2bc5, type: 3}

Assets/Brains/CozmoTrainedBrain.nn.meta

@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: c9717311ba788544a9b6db7dd147300d
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400002: Assets/Brains/CozmoTrainedBrain.nn
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 83221ad3db87f4b3b91b041047cb2bc5, type: 3}

Assets/Prefabs/CozmoBot/Cozmo.prefab

@@ -1,5 +1,168 @@
 %YAML 1.1
 %TAG !u! tag:unity3d.com,2011:
+--- !u!1 &891713638
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 891713639}
+  - component: {fileID: 891713640}
+  - component: {fileID: 891713641}
+  m_Layer: 0
+  m_Name: RenderTextureCamera
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &891713639
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 891713638}
+  m_LocalRotation: {x: 0.30070576, y: 0, z: 0, w: 0.953717}
+  m_LocalPosition: {x: 0, y: 0.037, z: 0.0319}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 7570006595835424293}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 35, y: 0, z: 0}
+--- !u!20 &891713640
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 891713638}
+  m_Enabled: 0
+  serializedVersion: 2
+  m_ClearFlags: 1
+  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_projectionMatrixMode: 1
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_GateFitMode: 2
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0
+    y: 0
+    width: 1
+    height: 1
+  near clip plane: 0.01
+  far clip plane: 2
+  field of view: 60
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 8400000, guid: 196f45b12806aaa449adc2ee1ca3b091, type: 2}
+  m_TargetDisplay: 0
+  m_TargetEye: 3
+  m_HDR: 0
+  m_AllowMSAA: 0
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
+--- !u!114 &891713641
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 891713638}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: b940f59f459dc49479614595d02dcbbc, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  renderTextureCropped: {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29,
+    type: 2}
+  processedImageRenderer: {fileID: 0}
+  processedImageRendererCropped: {fileID: 0}
+--- !u!1 &7536190859451953316
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 6557257430302465736}
+  - component: {fileID: 6829507564963703646}
+  m_Layer: 0
+  m_Name: Camera
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &6557257430302465736
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7536190859451953316}
+  m_LocalRotation: {x: 0.30070576, y: 0, z: 0, w: 0.953717}
+  m_LocalPosition: {x: 0, y: 0.037, z: 0.0319}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 7570006595835424293}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 35, y: 0, z: 0}
+--- !u!20 &6829507564963703646
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7536190859451953316}
+  m_Enabled: 0
+  serializedVersion: 2
+  m_ClearFlags: 1
+  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_projectionMatrixMode: 1
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_GateFitMode: 2
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0
+    y: 0
+    width: 1
+    height: 1
+  near clip plane: 0.01
+  far clip plane: 2
+  field of view: 60
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 0}
+  m_TargetDisplay: 0
+  m_TargetEye: 3
+  m_HDR: 0
+  m_AllowMSAA: 0
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
 --- !u!1 &7570006595835424292
 GameObject:
   m_ObjectHideFlags: 0
@@ -9,6 +172,12 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 7570006595835424293}
+  - component: {fileID: 7570006596986120127}
+  - component: {fileID: 7570006596986120126}
+  - component: {fileID: 7570006596986120125}
+  - component: {fileID: 7570006596986120128}
+  - component: {fileID: 7570006596986120129}
+  - component: {fileID: 7570006596986120130}
   m_Layer: 0
   m_Name: Cozmo
   m_TagString: Untagged
@@ -28,9 +197,105 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1857425275648181110}
+  - {fileID: 891713639}
+  - {fileID: 6557257430302465736}
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!54 &7570006596986120127
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7570006595835424292}
+  serializedVersion: 2
+  m_Mass: 1
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 84
+  m_CollisionDetection: 0
+--- !u!65 &7570006596986120126
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7570006595835424292}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 0.05, y: 0.07, z: 0.08}
+  m_Center: {x: 0, y: 0.035, z: 0}
+--- !u!114 &7570006596986120125
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7570006595835424292}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 234fd6e10ef55ad4b82b3153890ab5d9, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  brain: {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
+  agentParameters:
+    agentCameras: []
+    agentRenderTextures:
+    - {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29, type: 2}
+    maxStep: 5000
+    resetOnDone: 1
+    onDemandDecision: 1
+    numberOfActionsBetweenDecisions: 1
+  renderCamera: {fileID: 891713640}
+  movementController: {fileID: 7570006596986120130}
+  timeBetweenDecisionsAtInference: 0.15
+--- !u!114 &7570006596986120128
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7570006595835424292}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: d2056048a78a0cc4c97e7899ba1c0e31, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Speed: 0.0535
+  m_TurnSpeed: 55
+--- !u!114 &7570006596986120129
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7570006595835424292}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 4265d0764c65d26409f0f920e5293c82, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  testState: 1
+  isTesting: 0
+--- !u!114 &7570006596986120130
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7570006595835424292}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: d3ecda30187828846b48edbee97aebd7, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  currentMovementState: 0
 --- !u!1001 &1857425275647793654
 PrefabInstance:
   m_ObjectHideFlags: 0

Assets/Scenes/CozmoTraining.unity

@@ -122,7 +122,7 @@ GameObject:
   m_Component:
   - component: {fileID: 99578049}
   m_Layer: 0
-  m_Name: Environment
+  m_Name: Environment_0
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
@@ -146,8 +146,9 @@ Transform:
   - {fileID: 2078653368}
   - {fileID: 435986020}
   - {fileID: 712179487}
+  - {fileID: 7570006596986120124}
   m_Father: {fileID: 0}
-  m_RootOrder: 1
+  m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &125995086
 GameObject:
@@ -484,79 +485,6 @@ BoxCollider:
   serializedVersion: 2
   m_Size: {x: 0.1, y: 0.1, z: 0.1}
   m_Center: {x: 0, y: 0, z: 0.030643802}
---- !u!1 &589453881
-GameObject:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  serializedVersion: 6
-  m_Component:
-  - component: {fileID: 589453883}
-  - component: {fileID: 589453882}
-  m_Layer: 0
-  m_Name: Camera
-  m_TagString: MainCamera
-  m_Icon: {fileID: 0}
-  m_NavMeshLayer: 0
-  m_StaticEditorFlags: 0
-  m_IsActive: 1
---- !u!20 &589453882
-Camera:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 589453881}
-  m_Enabled: 1
-  serializedVersion: 2
-  m_ClearFlags: 1
-  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
-  m_projectionMatrixMode: 1
-  m_SensorSize: {x: 36, y: 24}
-  m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
-  m_FocalLength: 50
-  m_NormalizedViewPortRect:
-    serializedVersion: 2
-    x: 0
-    y: 0
-    width: 1
-    height: 1
-  near clip plane: 0.01
-  far clip plane: 2
-  field of view: 60
-  orthographic: 0
-  orthographic size: 5
-  m_Depth: 0
-  m_CullingMask:
-    serializedVersion: 2
-    m_Bits: 4294967295
-  m_RenderingPath: -1
-  m_TargetTexture: {fileID: 0}
-  m_TargetDisplay: 0
-  m_TargetEye: 3
-  m_HDR: 1
-  m_AllowMSAA: 1
-  m_AllowDynamicResolution: 0
-  m_ForceIntoRT: 0
-  m_OcclusionCulling: 1
-  m_StereoConvergence: 10
-  m_StereoSeparation: 0.022
---- !u!4 &589453883
-Transform:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 589453881}
-  m_LocalRotation: {x: 0.30070576, y: 0, z: 0, w: 0.953717}
-  m_LocalPosition: {x: 0, y: 0.037, z: 0.0319}
-  m_LocalScale: {x: 1, y: 1, z: 1}
-  m_Children: []
-  m_Father: {fileID: 7570006596986120124}
-  m_RootOrder: 2
-  m_LocalEulerAnglesHint: {x: 35, y: 0, z: 0}
 --- !u!1 &712179486
 GameObject:
   m_ObjectHideFlags: 0
@@ -780,6 +708,8 @@ MonoBehaviour:
   - {fileID: 774534267}
   - {fileID: 380448016}
   - {fileID: 1159195260}
+  - {fileID: 0}
+  - {fileID: 0}
 --- !u!4 &776834971
 Transform:
   m_ObjectHideFlags: 0
@@ -792,7 +722,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}
-  m_RootOrder: 4
+  m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &827847801
 GameObject:
@@ -886,96 +816,6 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 827847801}
   m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0}
---- !u!1 &891713638
-GameObject:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  serializedVersion: 6
-  m_Component:
-  - component: {fileID: 891713639}
-  - component: {fileID: 891713640}
-  - component: {fileID: 891713641}
-  m_Layer: 0
-  m_Name: RenderTextureCamera
-  m_TagString: Untagged
-  m_Icon: {fileID: 0}
-  m_NavMeshLayer: 0
-  m_StaticEditorFlags: 0
-  m_IsActive: 1
---- !u!4 &891713639
-Transform:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 891713638}
-  m_LocalRotation: {x: 0.30070576, y: 0, z: 0, w: 0.953717}
-  m_LocalPosition: {x: 0, y: 0.037, z: 0.0319}
-  m_LocalScale: {x: 1, y: 1, z: 1}
-  m_Children: []
-  m_Father: {fileID: 7570006596986120124}
-  m_RootOrder: 1
-  m_LocalEulerAnglesHint: {x: 35, y: 0, z: 0}
---- !u!20 &891713640
-Camera:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 891713638}
-  m_Enabled: 1
-  serializedVersion: 2
-  m_ClearFlags: 1
-  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
-  m_projectionMatrixMode: 1
-  m_SensorSize: {x: 36, y: 24}
-  m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
-  m_FocalLength: 50
-  m_NormalizedViewPortRect:
-    serializedVersion: 2
-    x: 0
-    y: 0
-    width: 1
-    height: 1
-  near clip plane: 0.01
-  far clip plane: 2
-  field of view: 60
-  orthographic: 0
-  orthographic size: 5
-  m_Depth: 0
-  m_CullingMask:
-    serializedVersion: 2
-    m_Bits: 4294967295
-  m_RenderingPath: -1
-  m_TargetTexture: {fileID: 8400000, guid: 196f45b12806aaa449adc2ee1ca3b091, type: 2}
-  m_TargetDisplay: 0
-  m_TargetEye: 3
-  m_HDR: 0
-  m_AllowMSAA: 0
-  m_AllowDynamicResolution: 0
-  m_ForceIntoRT: 0
-  m_OcclusionCulling: 1
-  m_StereoConvergence: 10
-  m_StereoSeparation: 0.022
---- !u!114 &891713641
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 891713638}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: b940f59f459dc49479614595d02dcbbc, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  renderTextureCropped: {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29,
-    type: 2}
-  processedImageRenderer: {fileID: 1863707383}
-  processedImageRendererCropped: {fileID: 712179489}
 --- !u!1 &918537782
 GameObject:
   m_ObjectHideFlags: 0
@@ -1102,17 +942,16 @@ MonoBehaviour:
     - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
     _brainsToControl:
     - {fileID: 0}
-    - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
+  maxSteps: 1500
-  maxSteps: 1000
   trainingConfiguration:
     width: 80
     height: 30
     qualityLevel: 1
-    timeScale: 10
+    timeScale: 2
     targetFrameRate: -1
   inferenceConfiguration:
-    width: 320
+    width: 1280
-    height: 120
+    height: 920
     qualityLevel: 5
     timeScale: 1
     targetFrameRate: 60
@@ -1132,7 +971,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}
-  m_RootOrder: 2
+  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1159195260
 GameObject:
@@ -1685,72 +1524,6 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1863707380}
   m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0}
---- !u!1 &1957393249
-GameObject:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  serializedVersion: 6
-  m_Component:
-  - component: {fileID: 1957393252}
-  - component: {fileID: 1957393251}
-  - component: {fileID: 1957393250}
-  m_Layer: 0
-  m_Name: EventSystem
-  m_TagString: Untagged
-  m_Icon: {fileID: 0}
-  m_NavMeshLayer: 0
-  m_StaticEditorFlags: 0
-  m_IsActive: 1
---- !u!114 &1957393250
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1957393249}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 1077351063, guid: f70555f144d8491a825f0804e09c671c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  m_HorizontalAxis: Horizontal
-  m_VerticalAxis: Vertical
-  m_SubmitButton: Submit
-  m_CancelButton: Cancel
-  m_InputActionsPerSecond: 10
-  m_RepeatDelay: 0.5
-  m_ForceModuleActive: 0
---- !u!114 &1957393251
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1957393249}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: -619905303, guid: f70555f144d8491a825f0804e09c671c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  m_FirstSelected: {fileID: 0}
-  m_sendNavigationEvents: 1
-  m_DragThreshold: 10
---- !u!4 &1957393252
-Transform:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1957393249}
-  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 0}
-  m_LocalScale: {x: 1, y: 1, z: 1}
-  m_Children: []
-  m_Father: {fileID: 0}
-  m_RootOrder: 5
-  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &2078653367
 GameObject:
   m_ObjectHideFlags: 0
@@ -1786,28 +1559,13 @@ PrefabInstance:
   m_ObjectHideFlags: 0
   serializedVersion: 2
   m_Modification:
-    m_TransformParent: {fileID: 0}
+    m_TransformParent: {fileID: 99578049}
     m_Modifications:
     - target: {fileID: 7570006595835424292, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_Name
       value: Cozmo
       objectReference: {fileID: 0}
-    - target: {fileID: 7570006595835424292, guid: 0f97dac5215d69a4795763340d82925d,
-        type: 3}
-      propertyPath: m_IsActive
-      value: 1
-      objectReference: {fileID: 0}
-    - target: {fileID: 7570006595835424292, guid: 0f97dac5215d69a4795763340d82925d,
-        type: 3}
-      propertyPath: m_Icon
-      value: 
-      objectReference: {fileID: 0}
-    - target: {fileID: 1857425275647696726, guid: 0f97dac5215d69a4795763340d82925d,
-        type: 3}
-      propertyPath: m_IsActive
-      value: 1
-      objectReference: {fileID: 0}
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_LocalPosition.x
@@ -1826,17 +1584,17 @@ PrefabInstance:
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_LocalRotation.x
-      value: 0
+      value: -0
       objectReference: {fileID: 0}
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_LocalRotation.y
-      value: 0
+      value: -0
       objectReference: {fileID: 0}
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_LocalRotation.z
-      value: 0
+      value: -0
       objectReference: {fileID: 0}
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
@@ -1846,7 +1604,7 @@ PrefabInstance:
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_RootOrder
-      value: 3
+      value: 7
       objectReference: {fileID: 0}
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
@@ -1863,6 +1621,45 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 7570006596986120125, guid: 0f97dac5215d69a4795763340d82925d,
+        type: 3}
+      propertyPath: agentParameters.maxStep
+      value: 1500
+      objectReference: {fileID: 0}
+    - target: {fileID: 7570006596986120125, guid: 0f97dac5215d69a4795763340d82925d,
+        type: 3}
+      propertyPath: timeBetweenDecisionsAtInference
+      value: 0.04
+      objectReference: {fileID: 0}
+    - target: {fileID: 891713638, guid: 0f97dac5215d69a4795763340d82925d, type: 3}
+      propertyPath: m_TagString
+      value: Untagged
+      objectReference: {fileID: 0}
+    - target: {fileID: 891713638, guid: 0f97dac5215d69a4795763340d82925d, type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 891713640, guid: 0f97dac5215d69a4795763340d82925d, type: 3}
+      propertyPath: m_Enabled
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 891713641, guid: 0f97dac5215d69a4795763340d82925d, type: 3}
+      propertyPath: processedImageRenderer
+      value: 
+      objectReference: {fileID: 1863707383}
+    - target: {fileID: 891713641, guid: 0f97dac5215d69a4795763340d82925d, type: 3}
+      propertyPath: processedImageRendererCropped
+      value: 
+      objectReference: {fileID: 712179489}
+    - target: {fileID: 589453881, guid: 0f97dac5215d69a4795763340d82925d, type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 6829507564963703646, guid: 0f97dac5215d69a4795763340d82925d,
+        type: 3}
+      propertyPath: m_Enabled
+      value: 0
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 0f97dac5215d69a4795763340d82925d, type: 3}
 --- !u!1 &7570006596986120123 stripped
@@ -1877,97 +1674,3 @@ Transform:
     type: 3}
   m_PrefabInstance: {fileID: 7570006596986120122}
   m_PrefabAsset: {fileID: 0}
---- !u!114 &7570006596986120125
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7570006596986120123}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 234fd6e10ef55ad4b82b3153890ab5d9, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  brain: {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
-  agentParameters:
-    agentCameras: []
-    agentRenderTextures:
-    - {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29, type: 2}
-    maxStep: 5000
-    resetOnDone: 1
-    onDemandDecision: 1
-    numberOfActionsBetweenDecisions: 1
-  renderCamera: {fileID: 891713640}
-  movementController: {fileID: 7570006596986120130}
-  timeBetweenDecisionsAtInference: 0.15
---- !u!65 &7570006596986120126
-BoxCollider:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7570006596986120123}
-  m_Material: {fileID: 0}
-  m_IsTrigger: 0
-  m_Enabled: 1
-  serializedVersion: 2
-  m_Size: {x: 0.05, y: 0.07, z: 0.08}
-  m_Center: {x: 0, y: 0.035, z: 0}
---- !u!54 &7570006596986120127
-Rigidbody:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7570006596986120123}
-  serializedVersion: 2
-  m_Mass: 1
-  m_Drag: 0
-  m_AngularDrag: 0.05
-  m_UseGravity: 1
-  m_IsKinematic: 0
-  m_Interpolate: 0
-  m_Constraints: 84
-  m_CollisionDetection: 0
---- !u!114 &7570006596986120128
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7570006596986120123}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: d2056048a78a0cc4c97e7899ba1c0e31, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  m_Speed: 0.0535
-  m_TurnSpeed: 55
---- !u!114 &7570006596986120129
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7570006596986120123}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 4265d0764c65d26409f0f920e5293c82, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  testState: 1
-  isTesting: 0
---- !u!114 &7570006596986120130
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7570006596986120123}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: d3ecda30187828846b48edbee97aebd7, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  currentMovementState: 0

Assets/Scripts/ML Cozmo/CozmoAgent.cs

@@ -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);
     }
 

Assets/Textures/RenderTextures/CozmoCannyCroped_0.renderTexture

@@ -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

Assets/Textures/RenderTextures/CozmoCannyCroped_1.renderTexture

@@ -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_Width: 80
-  m_Height: 256
+  m_Height: 30
   m_AntiAliasing: 1
   m_DepthFormat: 2
   m_ColorFormat: 0

Assets/Textures/RenderTextures/CozmoCannyCroped_1.renderTexture.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 7cf95f69a56a16641b7419b518ba13ff
+guid: c2570513b195a074d9ddc7c75b245858
 NativeFormatImporter:
   externalObjects: {}
   mainObjectFileID: 8400000

Assets/Textures/RenderTextures/CozmoCannyTexture_0.renderTexture

@@ -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

Assets/Textures/RenderTextures/CozmoCannyTexture_1.renderTexture

@@ -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

Assets/Textures/RenderTextures/CozmoCannyTexture_1.renderTexture.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 55aff4f34c0a7134eae7f9be35397deb
+NativeFormatImporter:
+  externalObjects: {}
+  mainObjectFileID: 8400000
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

ConfigFiles/trainer_config.yaml

@@ -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

ProjectSettings/QualitySettings.asset

@@ -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

notebooks/.ipynb_checkpoints/Untitled-checkpoint.ipynb

@@ -0,0 +1,6 @@
+{
+ "cells": [],
+ "metadata": {},
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

notebooks/Untitled.ipynb

@@ -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
+}