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@ -27,6 +27,9 @@ public class CozmoAgent : Agent
|
|||||||
private ImageProcessor imageProcessor; // reference to the ImageProcessor
|
private ImageProcessor imageProcessor; // reference to the ImageProcessor
|
||||||
private int nearAreaLimit = 0; // X coordinate limit for the near to the imagecenter area
|
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 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()
|
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
|
// to be implemented by the developer
|
||||||
public override void AgentAction(float[] vectorAction, string textAction)
|
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]);
|
int action = Mathf.FloorToInt(vectorAction[0]);
|
||||||
Point centerOfGravity = imageProcessor.CenterOfGravity;
|
Point centerOfGravity = imageProcessor.CenterOfGravity;
|
||||||
|
|
||||||
@ -55,15 +95,27 @@ public class CozmoAgent : Agent
|
|||||||
{
|
{
|
||||||
case STOP:
|
case STOP:
|
||||||
movementController.currentMovementState = MovementState.Stop;
|
movementController.currentMovementState = MovementState.Stop;
|
||||||
|
lastChosenMovement = MovementState.Stop;
|
||||||
|
//Test
|
||||||
|
SetReward(-0.1f);
|
||||||
break;
|
break;
|
||||||
case FORWARD:
|
case FORWARD:
|
||||||
movementController.currentMovementState = MovementState.Forward;
|
movementController.currentMovementState = MovementState.Forward;
|
||||||
|
lastChosenMovement = MovementState.Forward;
|
||||||
|
//Test
|
||||||
|
SetReward(0.01f);
|
||||||
break;
|
break;
|
||||||
case RIGHT:
|
case RIGHT:
|
||||||
movementController.currentMovementState = MovementState.Right;
|
movementController.currentMovementState = MovementState.Right;
|
||||||
|
lastChosenMovement = MovementState.Right;
|
||||||
|
//Test
|
||||||
|
SetReward(-0.02f);
|
||||||
break;
|
break;
|
||||||
case LEFT:
|
case LEFT:
|
||||||
movementController.currentMovementState = MovementState.Left;
|
movementController.currentMovementState = MovementState.Left;
|
||||||
|
lastChosenMovement = MovementState.Left;
|
||||||
|
//Test
|
||||||
|
SetReward(-0.02f);
|
||||||
break;
|
break;
|
||||||
default:
|
default:
|
||||||
//movement.Move(0);
|
//movement.Move(0);
|
||||||
@ -86,36 +138,43 @@ public class CozmoAgent : Agent
|
|||||||
float reward = 0;
|
float reward = 0;
|
||||||
|
|
||||||
// Center of gravity is far away from the center (left)
|
// Center of gravity is far away from the center (left)
|
||||||
if (centerOfGravityX <= centerOfImageX - nearAreaLimit)
|
if (centerOfGravityX <= centerOfImageX - nearAreaLimit && centerOfGravityX >= 0)
|
||||||
{
|
{
|
||||||
float range = centerOfImageX - nearAreaLimit;
|
float range = centerOfImageX - nearAreaLimit;
|
||||||
reward = -(1 - (centerOfGravityX / range));
|
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
|
// 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
|
// 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 range = centerOfImageX - (centerOfImageX - nearAreaLimit);
|
||||||
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
|
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
|
||||||
reward = (distanceToLeftFarBorder / range);
|
reward = (distanceToLeftFarBorder / range);
|
||||||
}
|
}
|
||||||
// Center of gravity is far away from the center (right)
|
// 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);
|
float range = renderCamera.targetTexture.width - (centerOfImageX + nearAreaLimit);
|
||||||
reward = -(((centerOfGravityX - (centerOfImageX + nearAreaLimit)) / range));
|
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
|
// 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
|
// 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 range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
|
||||||
float distanceToCenterOfImage = centerOfGravityX - centerOfImageX;
|
float distanceToCenterOfImage = centerOfGravityX - centerOfImageX;
|
||||||
reward = (1 - distanceToCenterOfImage / range);
|
reward = (1 - distanceToCenterOfImage / range);
|
||||||
}
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
SetReward(-1);
|
||||||
|
AgentReset();
|
||||||
|
Debug.Log("Out of image range");
|
||||||
|
}
|
||||||
|
|
||||||
|
Debug.Log("Reward: " + reward);
|
||||||
SetReward(reward);
|
SetReward(reward);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -6,7 +6,7 @@ RenderTexture:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_Name: CozmoCannyCroped
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m_Name: CozmoCannyCroped_0
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m_ImageContentsHash:
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m_ImageContentsHash:
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serializedVersion: 2
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serializedVersion: 2
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Hash: 00000000000000000000000000000000
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_Name: TestVisualBanana
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m_Name: CozmoCannyCroped_1
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m_ImageContentsHash:
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serializedVersion: 2
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externalObjects: {}
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_Name: CozmoCannyTexture
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m_Name: CozmoCannyTexture_0
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m_ImageContentsHash:
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m_ImageContentsHash:
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serializedVersion: 2
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serializedVersion: 2
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@ -0,0 +1,34 @@
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%YAML 1.1
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%TAG !u! tag:unity3d.com,2011:
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--- !u!84 &8400000
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_Name: CozmoCannyTexture_1
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m_ImageContentsHash:
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serializedVersion: 2
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@ -8,7 +8,7 @@ default:
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@ -4,7 +4,7 @@
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PS4: 5
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PSP2: 2
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PSP2: 2
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Standalone: 5
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Tizen: 2
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Tizen: 2
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WebGL: 3
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WebGL: 3
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WiiU: 5
|
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 @@
|
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|
{
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|
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"metadata": {},
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"nbformat": 4,
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|
"nbformat_minor": 2
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|
}
|
79
notebooks/Untitled.ipynb
Normal file
79
notebooks/Untitled.ipynb
Normal file
@ -0,0 +1,79 @@
|
|||||||
|
{
|
||||||
|
"cells": [
|
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|
{
|
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|
"cell_type": "code",
|
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|
"execution_count": 33,
|
||||||
|
"metadata": {},
|
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|
"outputs": [
|
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|
{
|
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|
"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",
|
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|
"execution_count": null,
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": []
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": []
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"cell_type": "code",
|
||||||
|
"execution_count": null,
|
||||||
|
"metadata": {},
|
||||||
|
"outputs": [],
|
||||||
|
"source": []
|
||||||
|
}
|
||||||
|
],
|
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|
"metadata": {
|
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|
"kernelspec": {
|
||||||
|
"display_name": "Python 3",
|
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|
"language": "python",
|
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|
"name": "python3"
|
||||||
|
},
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|
"language_info": {
|
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|
"codemirror_mode": {
|
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|
"name": "ipython",
|
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|
"version": 3
|
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|
},
|
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|
"file_extension": ".py",
|
||||||
|
"mimetype": "text/x-python",
|
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|
"name": "python",
|
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|
"nbconvert_exporter": "python",
|
||||||
|
"pygments_lexer": "ipython3",
|
||||||
|
"version": "3.6.7"
|
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|
}
|
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|
},
|
||||||
|
"nbformat": 4,
|
||||||
|
"nbformat_minor": 2
|
||||||
|
}
|
Loading…
x
Reference in New Issue
Block a user