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我已经使用 ML-Agents 几个月了，并且一直在研究一双自平衡的腿。不过，从我开始工作的那天起，我就有一个问题一直困扰着我:我如何知道代理正在一起工作？我所做的只是复制并粘贴区域预制件 9 次。这就是让智能体更有效地学习所需要做的一切吗？还是我还缺少其他东西？谢谢。
代理脚本>>>(除了这个之外，我真的不需要使用任何其他脚本。区域和学院中什么也没有。)
using MLAgents;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using MLAgents.Sensor;
using Random = UnityEngine.Random;
public class BalanceAgent : Agent {
private BalancingArea area;
public GameObject floor;
public GameObject finishBall;
public GameObject waist;
public GameObject wFront; //Used to check balance of waist.
public GameObject wBack; //Used to check balance of waist.
public GameObject hipR;
public GameObject hipL;
public GameObject buttR;
public GameObject buttL;
public GameObject thighR;
public GameObject thighL;
public GameObject legR;
public GameObject legL;
public GameObject footR;
public GameObject footL;
public BehaviorParameters behavePar;
public GameObject sensorFront;
public GameObject sensorBack;
public GameObject sensorLeft;
public GameObject sensorRight;
public float bodyMoveSensitivity = 0.5f;
public GameObject[] bodyParts = new GameObject[11];
HingeJoint[] hingeParts = new HingeJoint[11];
JointLimits[] jntLimParts = new JointLimits[11];
Vector3[] posStart = new Vector3[11];
Vector3[] eulerStart = new Vector3[11];
public Vector3 waistRot;
public float waistVec = 0;
public float buttRVec = 0;
public float buttLVec = 0;
public float thighRVec = 0;
public float thighLVec = 0;
public float legRVec = 0;
public float legLVec = 0;
public float footRVec = 0;
public float footLVec = 0;
public float hipRVec = 0;
public float hipLVec = 0;
public float waistPushXVec = 0;
public float waistPushZVec = 0;
float waistDir = 0;
float buttRDir = 0;
float buttLDir = 0;
float thighRDir = 0;
float thighLDir = 0;
float legRDir = 0;
float legLDir = 0;
float footRDir = 0;
float footLDir = 0;
float hipRDir = 0;
float hipLDir = 0;
float waistPushDirX = 0;
float waistPushDirZ = 0;
public void Start() {
bodyParts = new GameObject[] { waist /*0*/, buttR /*1*/, buttL /*2*/, thighR /*3*/, thighL /*4*/, legR /*5*/, legL /*6*/, footR /*7*/, footL /*8*/, hipR /*9*/, hipL /*10*/};
for (int i = 0; i < bodyParts.Length; i++) {
posStart[i] = bodyParts[i].transform.position;
eulerStart[i] = bodyParts[i].transform.eulerAngles;
if (bodyParts[i].GetComponent<HingeJoint>() != null) {
hingeParts[i] = bodyParts[i].GetComponent<HingeJoint>();
hingeParts[i].limits = jntLimParts[i];
}
}
}
public override void InitializeAgent() {
base.InitializeAgent();
area = GetComponentInParent<BalancingArea>();
}
public override void AgentReset() {
//floor.transform.eulerAngles = new Vector3(Random.Range(-10, 10), 0, Random.Range(-10, 10)); //Floor random rotation
//finishBall.transform.localPosition = new Vector3(Random.Range(-7, 7), .65f, Random.Range(-7, 7)); //Ball random position
jntLimParts[1].max = 0;
jntLimParts[1].min = jntLimParts[1].max - 1;
hingeParts[1].limits = jntLimParts[1];
jntLimParts[2].max = 0;
jntLimParts[2].min = jntLimParts[2].max - 1;
hingeParts[2].limits = jntLimParts[2];
jntLimParts[3].max = -15;
jntLimParts[3].min = jntLimParts[3].max - 1;
hingeParts[3].limits = jntLimParts[3];
jntLimParts[4].max = -15;
jntLimParts[4].min = jntLimParts[4].max - 1;
hingeParts[4].limits = jntLimParts[4];
jntLimParts[5].max = 15;
jntLimParts[5].min = jntLimParts[5].max - 1;
hingeParts[5].limits = jntLimParts[5];
jntLimParts[6].max = 15;
jntLimParts[6].min = jntLimParts[6].max - 1;
hingeParts[6].limits = jntLimParts[6];
jntLimParts[7].max = -15;
jntLimParts[7].min = jntLimParts[7].max - 1;
hingeParts[7].limits = jntLimParts[7];
jntLimParts[8].max = -15;
jntLimParts[8].min = jntLimParts[8].max - 1;
hingeParts[8].limits = jntLimParts[8];
jntLimParts[9].max = 0;
jntLimParts[9].min = jntLimParts[9].max - 1;
hingeParts[9].limits = jntLimParts[9];
jntLimParts[10].max = 0;
jntLimParts[10].min = jntLimParts[10].max - 1;
hingeParts[10].limits = jntLimParts[10];
for (int i = 0; i < bodyParts.Length; i++) {
bodyParts[i].transform.position = posStart[i];
bodyParts[i].transform.eulerAngles = eulerStart[i];
bodyParts[i].GetComponent<Rigidbody>().velocity = Vector3.zero;
bodyParts[i].GetComponent<Rigidbody>().angularVelocity = Vector3.zero;
if (bodyParts[i].GetComponent<HingeJoint>() != null) {
hingeParts[i] = bodyParts[i].GetComponent<HingeJoint>();
hingeParts[i].limits = jntLimParts[i];
}
}
//waist.transform.eulerAngles = new Vector3(0, Random.Range(0, 360), 0); //Random player direction
waistRot = waist.transform.eulerAngles;
}
public override void AgentAction(float[] vectorAction) {
waistVec = (int)vectorAction[0];
switch (waistVec) {
case 0:
waistDir = 0;
break;
case 1:
waistDir = bodyMoveSensitivity;
break;
case 2:
waistDir = -bodyMoveSensitivity;
break;
case 3:
waistDir = bodyMoveSensitivity * 2;
break;
case 4:
waistDir = -bodyMoveSensitivity * 2;
break;
case 5:
waistDir = bodyMoveSensitivity * 4;
break;
case 6:
waistDir = -bodyMoveSensitivity * 4;
break;
}
bodyParts[0].transform.Rotate(0, waistDir, 0);
buttRVec = (int)vectorAction[1];
switch (buttRVec) {
case 0:
buttRDir = 0;
break;
case 1:
buttRDir = bodyMoveSensitivity;
break;
case 2:
buttRDir = -bodyMoveSensitivity;
break;
case 3:
buttRDir = bodyMoveSensitivity * 2;
break;
case 4:
buttRDir = -bodyMoveSensitivity * 2;
break;
case 5:
buttRDir = bodyMoveSensitivity * 4;
break;
case 6:
buttRDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[1].max < 60 && jntLimParts[1].min > -5) {
jntLimParts[1].max += buttRDir;
jntLimParts[1].min = jntLimParts[1].max - 1;
hingeParts[1].limits = jntLimParts[1];
}
else { //If joint is at limit,
if (jntLimParts[1].min <= -5) {
jntLimParts[1].max = -4;
}
else if (jntLimParts[1].max >= 60) {
jntLimParts[1].max = 59;
}
jntLimParts[1].min = jntLimParts[1].max - 1;
}
buttLVec = (int)vectorAction[2];
switch (buttLVec) {
case 0:
buttLDir = 0;
break;
case 1:
buttLDir = bodyMoveSensitivity;
break;
case 2:
buttLDir = -bodyMoveSensitivity;
break;
case 3:
buttLDir = bodyMoveSensitivity * 2;
break;
case 4:
buttLDir = -bodyMoveSensitivity * 2;
break;
case 5:
buttLDir = bodyMoveSensitivity * 4;
break;
case 6:
buttLDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[2].max < 5 && jntLimParts[2].min > -60) {
jntLimParts[2].max += buttLDir;
jntLimParts[2].min = jntLimParts[2].max - 1;
hingeParts[2].limits = jntLimParts[2];
}
else { //If joint is at limit,
if (jntLimParts[2].min <= -60) {
jntLimParts[2].max = -58;
}
else if (jntLimParts[2].max >= 5) {
jntLimParts[2].max = 4;
}
jntLimParts[2].min = jntLimParts[2].max - 1;
}
thighRVec = (int)vectorAction[3];
switch (thighRVec) {
case 0:
thighRDir = 0;
break;
case 1:
thighRDir = bodyMoveSensitivity;
break;
case 2:
thighRDir = -bodyMoveSensitivity;
break;
case 3:
thighRDir = bodyMoveSensitivity * 2;
break;
case 4:
thighRDir = -bodyMoveSensitivity * 2;
break;
case 5:
thighRDir = bodyMoveSensitivity * 4;
break;
case 6:
thighRDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[3].max < 80 && jntLimParts[3].min > -80) {
jntLimParts[3].max += thighRDir;
jntLimParts[3].min = jntLimParts[3].max - 1;
hingeParts[3].limits = jntLimParts[3];
}
else { //If joint is at limit,
if (jntLimParts[3].min <= -80) {
jntLimParts[3].max = -78;
}
else if (jntLimParts[3].max >= 80) {
jntLimParts[3].max = 79;
}
jntLimParts[3].min = jntLimParts[3].max - 1;
}
thighLVec = (int)vectorAction[4];
switch (thighLVec) {
case 0:
thighLDir = 0;
break;
case 1:
thighLDir = bodyMoveSensitivity;
break;
case 2:
thighLDir = -bodyMoveSensitivity;
break;
case 3:
thighLDir = bodyMoveSensitivity * 2;
break;
case 4:
thighLDir = -bodyMoveSensitivity * 2;
break;
case 5:
thighLDir = bodyMoveSensitivity * 4;
break;
case 6:
thighLDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[4].max < 80 && jntLimParts[4].min > -80) {
jntLimParts[4].max += thighLDir;
jntLimParts[4].min = jntLimParts[4].max - 1;
hingeParts[4].limits = jntLimParts[4];
}
else { //If joint is at limit,
if (jntLimParts[4].min <= -80) {
jntLimParts[4].max = -78;
}
else if (jntLimParts[4].max >= 80) {
jntLimParts[4].max = 79;
}
jntLimParts[4].min = jntLimParts[4].max - 1;
}
legRVec = (int)vectorAction[5];
switch (legRVec) {
case 0:
legRDir = 0;
break;
case 1:
legRDir = bodyMoveSensitivity;
break;
case 2:
legRDir = -bodyMoveSensitivity;
break;
case 3:
legRDir = bodyMoveSensitivity * 2;
break;
case 4:
legRDir = -bodyMoveSensitivity * 2;
break;
case 5:
legRDir = bodyMoveSensitivity * 4;
break;
case 6:
legRDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[5].max < -3 && jntLimParts[5].min > 80) {
jntLimParts[5].max += legRDir;
jntLimParts[5].min = jntLimParts[5].max - 1;
hingeParts[5].limits = jntLimParts[5];
}
else { //If joint is at limit,
if (jntLimParts[5].min <= -3) {
jntLimParts[5].max = -1;
}
else if (jntLimParts[5].max >= 80) {
jntLimParts[5].max = 79;
}
jntLimParts[5].min = jntLimParts[5].max - 1;
}
legLVec = (int)vectorAction[6];
switch (legLVec) {
case 0:
legLDir = 0;
break;
case 1:
legLDir = bodyMoveSensitivity;
break;
case 2:
legLDir = -bodyMoveSensitivity;
break;
case 3:
legLDir = bodyMoveSensitivity * 2;
break;
case 4:
legLDir = -bodyMoveSensitivity * 2;
break;
case 5:
legLDir = bodyMoveSensitivity * 4;
break;
case 6:
legLDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[6].max < 80 && jntLimParts[6].min > -3) {
jntLimParts[6].max += legLDir;
jntLimParts[6].min = jntLimParts[6].max - 1;
hingeParts[6].limits = jntLimParts[6];
}
else { //If joint is at limit,
if (jntLimParts[6].min <= -3) {
jntLimParts[6].max = -1;
}
else if (jntLimParts[6].max >= 80) {
jntLimParts[6].max = 79;
}
jntLimParts[6].min = jntLimParts[6].max - 1;
}
footRVec = (int)vectorAction[7];
switch (footRVec) {
case 0:
footRDir = 0;
break;
case 1:
footRDir = bodyMoveSensitivity;
break;
case 2:
footRDir = -bodyMoveSensitivity;
break;
case 3:
footRDir = bodyMoveSensitivity * 2;
break;
case 4:
footRDir = -bodyMoveSensitivity * 2;
break;
case 5:
footRDir = bodyMoveSensitivity * 4;
break;
case 6:
footRDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[7].max < 50 && jntLimParts[7].min > -50) {
jntLimParts[7].max += footRDir;
jntLimParts[7].min = jntLimParts[7].max - 1;
hingeParts[7].limits = jntLimParts[7];
}
else { //If joint is at limit,
if (jntLimParts[7].min <= -50) {
jntLimParts[7].max = -48;
}
else if (jntLimParts[7].max >= 50) {
jntLimParts[7].max = 49;
}
jntLimParts[7].min = jntLimParts[7].max - 1;
}
footLVec = (int)vectorAction[8];
switch (footLVec) {
case 0:
footLDir = 0;
break;
case 1:
footLDir = bodyMoveSensitivity;
break;
case 2:
footLDir = -bodyMoveSensitivity;
break;
case 3:
footLDir = bodyMoveSensitivity * 2;
break;
case 4:
footLDir = -bodyMoveSensitivity * 2;
break;
case 5:
footLDir = bodyMoveSensitivity * 4;
break;
case 6:
footLDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[8].max < 50 && jntLimParts[8].min > -50) {
jntLimParts[8].max += footLDir;
jntLimParts[8].min = jntLimParts[8].max - 1;
hingeParts[8].limits = jntLimParts[8];
}
else { //If joint is at limit,
if (jntLimParts[8].min <= -50) {
jntLimParts[8].max = -48;
}
else if (jntLimParts[8].max >= 50) {
jntLimParts[8].max = 49;
}
jntLimParts[8].min = jntLimParts[8].max - 1;
}
hipRVec = (int)vectorAction[9];
switch (hipRVec) {
case 0:
hipRDir = 0;
break;
case 1:
hipRDir = bodyMoveSensitivity;
break;
case 2:
hipRDir = -bodyMoveSensitivity;
break;
case 3:
hipRDir = bodyMoveSensitivity * 2;
break;
case 4:
hipRDir = -bodyMoveSensitivity * 2;
break;
case 5:
hipRDir = bodyMoveSensitivity * 4;
break;
case 6:
hipRDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[9].max < 45 && jntLimParts[9].min > -15) {
jntLimParts[9].max += hipRDir;
jntLimParts[9].min = jntLimParts[9].max - 1;
hingeParts[9].limits = jntLimParts[9];
}
else { //If joint is at limit,
if (jntLimParts[9].min <= -15) {
jntLimParts[9].max = -13;
}
else if (jntLimParts[9].max >= 45) {
jntLimParts[9].max = 44;
}
jntLimParts[9].min = jntLimParts[9].max - 1;
}
hipLVec = (int)vectorAction[10];
switch (hipLVec) {
case 0:
hipLDir = 0;
break;
case 1:
hipLDir = bodyMoveSensitivity;
break;
case 2:
hipLDir = -bodyMoveSensitivity;
break;
case 3:
hipLDir = bodyMoveSensitivity * 2;
break;
case 4:
hipLDir = -bodyMoveSensitivity * 2;
break;
case 5:
hipLDir = bodyMoveSensitivity * 4;
break;
case 6:
hipLDir = -bodyMoveSensitivity * 4;
break;
}
if (jntLimParts[10].max < 15 && jntLimParts[10].min > -45) {
jntLimParts[10].max += hipLDir;
jntLimParts[10].min = jntLimParts[10].max - 1;
hingeParts[10].limits = jntLimParts[10];
}
else { //If joint is at limit,
if (jntLimParts[10].min <= -45) {
jntLimParts[10].max = -43;
}
else if (jntLimParts[10].max >= 15) {
jntLimParts[10].max = 14;
}
jntLimParts[10].min = jntLimParts[10].max - 1;
}
waistPushXVec = (int)vectorAction[11];
switch (waistPushXVec) {
case 0:
waistPushDirX = 0;
break;
case 1:
waistPushDirX = -1;
break;
case 2:
waistPushDirX = 1;
break;
}
waistPushZVec = (int)vectorAction[12];
switch (waistPushZVec) {
case 0:
waistPushDirZ = 0;
break;
case 1:
waistPushDirZ = -1;
break;
case 2:
waistPushDirZ = 1;
break;
}
waist.GetComponent<Rigidbody>().AddForce(waistPushDirX, 0, waistPushDirZ); //Try to help move waist
//waist.transform.eulerAngles = new Vector3(0, waistRot.y, 0);
sensorFront.transform.eulerAngles = new Vector3(0, waist.transform.eulerAngles.y - 90, 0); //Forces sensor to look down constantly.
sensorBack.transform.eulerAngles = new Vector3(0, waist.transform.eulerAngles.y + 90, 0); //Forces sensor to look down constantly.
sensorLeft.transform.eulerAngles = new Vector3(0, waist.transform.eulerAngles.y - 180, 0); //Forces sensor to look down constantly.
sensorRight.transform.eulerAngles = new Vector3(0, waist.transform.eulerAngles.y, 0); //Forces sensor to look down constantly.
//Reward SYSTEM #####################################################################################################################################################################
AddReward(.1f); //Survival reward.
if (Mathf.Abs(finishBall.transform.position.x - waist.transform.position.x) > .25f && Mathf.Abs(finishBall.transform.position.z - waist.transform.position.z) > .25f) { //Maintain waist position to ball
AddReward(-.1f * Mathf.Abs(finishBall.transform.position.x - waist.transform.position.x));
}
if (waist.GetComponent<Rigidbody>().velocity.magnitude >= 20f) { //Maintain waist slow velocity.
AddReward(-.1f);
Done();
}
if (waist.transform.position.y < -2 || waist.transform.position.y > 6) { //Maintain waist height.
AddReward(-.1f * Mathf.Abs(finishBall.transform.position.y - waist.transform.position.y));
Done();
}
if (waist.transform.eulerAngles.y > waistRot.y + 25) { //Maintain waist rotation on Y
AddReward(-.1f * Mathf.Abs(waist.transform.eulerAngles.y - waistRot.y));
Done();
}
if (waist.transform.eulerAngles.y < waistRot.y - 25) { //Maintain waist rotation on Y
AddReward(-.1f * Mathf.Abs(waistRot.y - waist.transform.eulerAngles.y));
Done();
}
if (wFront.transform.position.y < wBack.transform.position.y - 25) { //Maintain waist rotation forward and backwards.
AddReward(-.1f * Mathf.Abs(wBack.transform.position.y - wFront.transform.position.y));
Done();
}
if (wFront.transform.position.y > wBack.transform.position.y + 25) { //Maintain waist rotation forward and backwards.
AddReward(-.1f * Mathf.Abs(wFront.transform.position.y - wBack.transform.position.y));
Done();
}
if (buttR.transform.position.y < buttL.transform.position.y - 25) { //Maintain waist rotation left and right.
AddReward(-.1f * Mathf.Abs(buttL.transform.position.y - buttR.transform.position.y));
Done();
}
if (buttR.transform.position.y > buttL.transform.position.y + 25) { //Maintain waist rotation left and right.
AddReward(-.1f * Mathf.Abs(buttR.transform.position.y - buttL.transform.position.y));
Done();
}
/*
if (waist.transform.position.x > posStart[0].x + 10 || waist.transform.position.x < posStart[0].x - 10 || waist.transform.position.z > posStart[0].z + 10 || waist.transform.position.z < posStart[0].z - 10) { //Maintain waist position.
AddReward(-.01f);
Done();
}
*/
//Reward SYSTEM #####################################################################################################################################################################
}
public override void CollectObservations() {
for (int i = 0; i < bodyParts.Length; i++) {
AddVectorObs(bodyParts[i].transform.position);
AddVectorObs(bodyParts[i].transform.eulerAngles);
AddVectorObs(bodyParts[i].GetComponent<Rigidbody>().velocity);
AddVectorObs(bodyParts[i].GetComponent<Rigidbody>().angularVelocity);
AddVectorObs(jntLimParts[i].max);
AddVectorObs(jntLimParts[i].min);
}
AddVectorObs(wFront.transform.position.y);
AddVectorObs(wFront.transform.eulerAngles);
AddVectorObs(wBack.transform.position.y);
AddVectorObs(wBack.transform.eulerAngles);
AddVectorObs(waistRot); //Waist rotation value after randomization.
AddVectorObs(finishBall.transform.position); //Waist rotation value after randomization.
}
}
最佳答案
我相信是的，您所需要做的就是拥有预制件的多个实例。只要场景中有多个区域，它们就应该能够协调批处理进行学习。
如果你想衡量多个区域如何改变事情，我会选择一个区域并让它玩一段时间，然后查看累积奖励与剧集数量的图表，看看它能达到多高，然后执行许多区域都是相同的东西，看看同一张图表看起来如何。
关于unity-game-engine - 我如何知道代理正在协同工作？，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/60142521/
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我像往常一样使用 appcfg.py 更新我的应用程序，但收到一条错误消息。我试过 appcfg.py 回滚，两次尝试之间等了十分钟，但我仍然收到相同的错误消息。我该怎么办？ 无法对 apps/dev
我想在 Google Compute Engine 上放置一个 Redis 服务器，并通过 AppEngine 的套接字支持与其对话。唯一的问题是似乎没有特定的防火墙规则说“此 AppEngine 应
我想知道 App Engine 和 Compute Engine 之间有什么区别。任何人都可以向我解释其中的区别吗？ 最佳答案 App Engine 是一种平台即服务。这意味着您只需部署代码，平台会为
我正在编写一个在 App Engine 的 Go 运行时上运行的 Go 应用程序。 我注意到几乎所有使用 App Engine 服务(例如 Datastore、Mail 甚至 Capabilities
是否有人有在 Grid Engine/Sun Grid Engine/Son of Grid Engine 上运行 Docker 的经验，并且能够 monitor the resource used
我读了很多论坛，因为 grails app-engine 插件多年来没有更新，所以不可能将 grails 应用程序部署到谷歌应用程序引擎。当我准备放弃时，我发现使用 intellij 部署项目是可能的
当前设置， 运行 Windows Server 2012 (GCE Server 2012) 的谷歌计算引擎 运行 Debian Wheezy(GCE 服务器 Wheezy)的 Google 计算引擎
特定于基于 Docker 的部署，这两者之间有什么区别？由于 Google App Engine Flexible 现在也支持基于 Dockerfile 的部署，并且它也是完全托管的服务，因此它似乎比
我相信 Google Kubernetes Engine (GKE) 在 Google Compute Engine (GCE) 上运行。那么，在服务器管理方面使用 Google Kubernetes
TLDR；关于这个问题有任何更新吗？ Google App Engine communicate with Compute Engine over internal network -- 是否可以在同
我正在尝试使用 Go SDK 为 App Engine 编写应用程序，但它似乎与单元测试有一种有趣的关系。人有written libraries左右this original, outdated一组工
在 App Engine 中，我想对在同一个 Google 云项目中创建的 Compute Engine 实例上运行的网络服务器进行 http fetch 调用，我想知道是否可以在不启用的情况下对实例
在编写 Go App Engine 标准应用程序时，过去的情况是您必须使用 App Engine SDK访问数据存储。然而，最近(从 Go 1.11 开始？)，如果你只使用 Cloud Datasto
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