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- using MLAgents;
- using OpenCvSharp;
- using System;
- using System.Collections;
- using System.Collections.Generic;
- using UnityEngine;
-
- public class CozmoAgent : Agent
- {
- // Possible Actions
- private const int STOP = 0;
- private const int FORWARD = 1;
- private const int RIGHT = 2;
- private const int LEFT = 3;
-
- // Used to determine different areas in the image (near to the center, far away)
- private const float NEAR_AREA_PERCENTAGE_OFFSET = 0.2f;
- private const float FAR_AREA_PERCENTAGE_OFFSET = 0.3f;
-
- [Tooltip("The virtual Cozmo camera")]
- public Camera renderCamera;
- //[Tooltip("Final cropped and scaled rendertexture")]
- //public RenderTexture renderTextureScaled;
- [Tooltip("Reference to the CozmoMovement script")]
- public CozmoMovementController movementController;
- public float timeBetweenDecisionsAtInference;
-
- private Academy academy; // CozmoAcademy
- private float timeSinceDecision; // time since last decision
- private ImageProcessor imageProcessor; // reference to the ImageProcessor
- private int nearAreaLimit = 0; // X coordinate limit for the near to the imagecenter area
- private int farAreaLimit = 0; // X coordinate limit for the far away to the imagecenter area
-
-
-
- private void Start()
- {
- academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
- imageProcessor = renderCamera.GetComponent<ImageProcessor>();
- nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
- farAreaLimit = (int)(renderCamera.targetTexture.width / 2 * FAR_AREA_PERCENTAGE_OFFSET);
- }
-
-
- public void FixedUpdate()
- {
- WaitTimeInference();
- }
-
-
- // to be implemented by the developer
- public override void AgentAction(float[] vectorAction, string textAction)
- {
- //print("Action before FloorToInt: " + vectorAction[0]);
- int action = Mathf.FloorToInt(vectorAction[0]);
- Point centerOfGravity = imageProcessor.CenterOfGravity;
- //Vector3 targetPos = transform.position;
-
- //print("Action after FloorToInt: " + action);
-
- AddReward(-0.01f);
-
- switch (action)
- {
- case STOP:
- movementController.currentMovementState = MovementState.Stop;
- break;
- case FORWARD:
- movementController.currentMovementState = MovementState.Forward;
- break;
- case RIGHT:
- movementController.currentMovementState = MovementState.Right;
- break;
- case LEFT:
- movementController.currentMovementState = MovementState.Left;
- break;
- default:
- //movement.Move(0);
- throw new ArgumentException("Invalid action value. Stop movement.");
- }
-
- // Render new image after movement in order to update the centerOfGravity
- if (renderCamera != null)
- {
- renderCamera.Render();
- }
-
- RewardAgent();
- imageProcessor.enabled = false;
- }
-
- /// <summary>
- /// TODO: Cleanup code
- /// </summary>
- private void RewardAgent()
- {
- float centerOfImageX = renderCamera.targetTexture.width / 2;
- float centerOfGravityX = imageProcessor.CenterOfGravity.X;
- float reward = 0;
-
- // Center of gravity is far left of the center
- if (centerOfGravityX <= centerOfImageX - farAreaLimit)
- {
- reward = -1;
- }
- // Center of gravity is between far and near left of the center
- else if (centerOfGravityX <= centerOfImageX - nearAreaLimit)
- {
- float range = (centerOfImageX - nearAreaLimit) - (centerOfImageX - farAreaLimit);
- float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - farAreaLimit);
- reward = -(1 - (distanceToLeftFarBorder / range));
- }
- // Center of gravity is near left of the center
- else if (centerOfGravityX <= centerOfImageX)
- {
- float range = centerOfImageX - (centerOfImageX - nearAreaLimit);
- float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
- reward = (distanceToLeftFarBorder / range);
- }
- // Center of gravity is far right of the center
- else if (centerOfGravityX >= centerOfImageX + farAreaLimit)
- {
- reward = -1;
- }
- // Center of gravity is between far and near right of the center
- else if (centerOfGravityX >= centerOfImageX + nearAreaLimit)
- {
- float range = (centerOfImageX + farAreaLimit) - (centerOfImageX + nearAreaLimit);
- float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX + nearAreaLimit);
- reward = -(distanceToLeftFarBorder / range);
- }
- // Center of gravity is near right of the center
- else if (centerOfGravityX >= centerOfImageX)
- {
- float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
- float distanceToLeftFarBorder = centerOfGravityX - centerOfImageX;
- reward = (1 - distanceToLeftFarBorder / range);
- }
-
- SetReward(reward);
- }
-
- // to be implemented by the developer
- public override void AgentReset()
- {
- academy.AcademyReset();
- }
-
-
- private void OnTriggerEnter(Collider other)
- {
- if (other.transform.CompareTag("Goal"))
- {
- print("Collission");
- Done();
- }
- }
-
- private void WaitTimeInference()
- {
- if (renderCamera != null)
- {
- renderCamera.Render();
- }
-
- if (!academy.GetIsInference())
- {
- RequestDecision();
- }
- else
- {
- if (timeSinceDecision >= timeBetweenDecisionsAtInference)
- {
- timeSinceDecision = 0f;
- RequestDecision();
- }
- else
- {
- timeSinceDecision += Time.fixedDeltaTime;
- }
- }
- }
-
- }
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