Cog/striker

.github/workflows/build.yml

@@ -34,6 +34,6 @@ jobs:
           buildMethod: BuildScript.PerformBuild
       - uses: actions/upload-artifact@v2
         with:
-          name: ${{ matrix.targetPlatform }}
+          name: Build-${{ steps.date.outputs.date }}
           path: builds
 

Assets/ML-Agents/Goalkeeper/GoalkeeperEnvironmentParameters.cs

@@ -7,19 +7,20 @@ public class GoalkeeperEnvironmentParameters
     {
         public GoalkeeperEnvironmentParameters()
         {
-            difficulty = 1;
+            seed = -1;
+            difficulty = 0;
             initialBoost = 32;
             canBoost = 1;
             canDoubleJump = 1;
             canDrift = 1;
-            canDoubleJump = 1;
             useBulletImpulse = 1;
             usePsyonixImpulse = 1;
             useSuspension = 1;
             useCustomBounce = 1;
             useWallStabilization = 1;
             useGroundStabilization = 1;
-        }    
+        }
+        public float seed;
         public float difficulty;
         public float initialBoost;
         public float canDoubleJump;

Assets/ML-Agents/Goalkeeper/GoalkeeperEvironmentHandler.cs

@@ -8,14 +8,29 @@ namespace ML_Agents.Goalkeeper
     [Serializable]
     public class GoalkeeperEvironmentHandler: EnvironmentHandler<GoalkeeperEnvironmentParameters>
     {
+        public int activeSeed = -1;
+        public float boost_amount = 32.0f;
         public GoalkeeperEvironmentHandler(GameObject env, GoalkeeperEnvironmentParameters defaultParameter) : base(env, defaultParameter)
         {
         }
 
         public override void ResetParameter()
         {
             UpdateEnvironmentParameters();
+            if (currentParameter.seed >= 0)
+            {
+                activeSeed = (int)currentParameter.seed;
+                UnityEngine.Random.InitState((int)currentParameter.seed);
+            }
+            else
+            {
+                System.Random rand = new System.Random();
+                // Sample a seed from the range 0 to 999
+                activeSeed = rand.Next(1000);
+                UnityEngine.Random.InitState(activeSeed);
+            }
             //TODO after merge with difficulty, add difficulty parameter
+            //environment.GetComponentInChildren<GoalKeeperAgent>().difficulty = currentParameter.difficulty;
             if (currentParameter.canDoubleJump == 0)
             {
                 environment.GetComponentInChildren<CubeJumping>().disableDoubleJump = true;
@@ -27,6 +42,7 @@ public override void ResetParameter()
             else
             {
                 environment.GetComponentInChildren<CubeBoosting>().boostAmount = currentParameter.initialBoost;
+                boost_amount = currentParameter.initialBoost;
             }
             if (currentParameter.canDrift == 0)
             {

Assets/ML-Agents/Goalkeeper/SaveTraining_single.unity

@@ -1057,6 +1057,10 @@ PrefabInstance:
   m_Modification:
     m_TransformParent: {fileID: 1469899324}
     m_Modifications:
+    - target: {fileID: 883974180034025411, guid: 0a3f86ef81cf99f46b33e7f9e661ee20, type: 3}
+      propertyPath: defaultParameter.difficulty
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 883974180034025414, guid: 0a3f86ef81cf99f46b33e7f9e661ee20, type: 3}
       propertyPath: m_Name
       value: GoalKeeperAgent

Assets/ML-Agents/PGBaseAgent.cs

@@ -51,16 +51,6 @@ protected virtual void Start()
         mapData = transform.parent.Find("World").Find("Rocket_Map").GetComponent<MapData>();
     }
 
-    protected Vector3 NormalizePosition(Transform objTransform)
-    {
-        var vec = new Vector3(objTransform.localPosition.x, objTransform.localPosition.y, objTransform.localPosition.z);
-
-        vec.x = (vec.x + 60f) / 120f;
-        vec.y = vec.y / 20f;
-        vec.z = (vec.z + 41f) / 82f;
-        return vec;
-    }
-
     protected void AddRelativePositionNormalized(VectorSensor sensor, Transform otherTransform)
     {
         sensor.AddObservation((transform.localPosition - otherTransform.localPosition) / mapData.diag);
@@ -232,26 +222,98 @@ private ActionSpaceType DetermineActionSpaceType(ActionSpec actionSpec)
             return ActionSpaceType.Mixed;
         }
     }
+    protected Vector3 NormalizeVec(Rigidbody rb, VectorType vecType, EntityType entity)
+    {
+        switch (vecType)
+        {
+            case VectorType.Position:
+                return NormalizePosition(rb.transform);
+            case VectorType.Velocity:
+                return NormalizeVelocity(rb, entity);
+            case VectorType.AngularVelocity:
+                return NormalizeAngularVelocity(rb, entity);
+            default:
+                return Vector3.zero;
+        }
+    }
 
-    protected bool checkVec(Vector3 vec, string name, float defaultValue)
+    protected Vector3 NormalizePosition(Transform objTransform)
+    {
+        var vec = new Vector3(objTransform.localPosition.x, objTransform.localPosition.y, objTransform.localPosition.z);
+
+        vec.x = (vec.x + 60f) / 120f;
+        vec.y = vec.y / 20f;
+        vec.z = (vec.z + 41f) / 82f;
+        return vec;
+    }
+
+
+    protected Vector3 NormalizeVelocity(Rigidbody rb, EntityType entity)
+    {
+        switch (entity)
+        {
+            case EntityType.Ball:
+                return rb.velocity.normalized * (rb.velocity.magnitude / 60f);
+            case EntityType.Car:
+                return rb.velocity.normalized * (rb.velocity.magnitude / 23f);
+            default:
+                return Vector3.zero;
+        }
+    }
+
+    protected Vector3 NormalizeAngularVelocity(Rigidbody rb, EntityType entity)
+    {
+        switch (entity)
+        {
+            case EntityType.Ball:
+                return rb.angularVelocity.normalized * (rb.angularVelocity.magnitude / 6f);
+            case EntityType.Car:
+                return rb.angularVelocity.normalized * (rb.angularVelocity.magnitude / 5.5f);
+            default:
+                return Vector3.zero;
+        }
+    }
+
+    protected bool checkNormalizedVec(Vector3 vec, string name, VectorType type)
+    {
+        switch (type)
+        {
+            case VectorType.Position:
+                return checkVec(vec, name, -1f, true, false, 0f, 1f);
+            case VectorType.Velocity:
+                return checkVec(vec, name, -1f, false, true, -1f, 1f, 0f, 1f);
+            case VectorType.AngularVelocity:
+                return checkVec(vec, name, -1f, false, true, -1f, 1f, 0f, 1f);
+            default:
+                return true;
+        }
+    }
+
+
+    protected bool checkVec(Vector3 vec, string name, float defaultValue, bool legalValueInterval=true, bool legalMagnitudeInterval = true, float minLegalValue=-5f, float maxLegalValue=5f, float minLegalMagnitude=-1f, float maxLegalMagnitude=5f)
     {
         bool reset = false;
         for (int i = 0; i < 3; i++)
         {
-            if (float.IsNaN(vec[i]) || float.IsInfinity(vec[i]))
+            if (float.IsNaN(vec[i]))
             {
-                Debug.Log($"{name}[{i}] is NaN or Infinity");
+                Debug.Log($"{name}[{i}] is NaN");
                 vec[i] = defaultValue;
             }
-            if (vec[i] < -5f || vec[i] > 5f)
+            if (float.IsInfinity(vec[i]))
             {
-                Debug.LogWarning($"{name}[{i}] is {vec[i]}, was expected to be in interval [-5, 5]");
+                Debug.Log($"{name}[{i}] is Infinity");
+                vec[i] = defaultValue;
+            }
+            if (legalValueInterval && (vec[i] < minLegalValue || vec[i] > maxLegalValue))
+            {
+                Debug.LogWarning($"{name}[{i}] is {vec[i]}, was expected to be in interval [{minLegalValue}, {maxLegalValue}]");
                 reset = true;
             }
         }
-        if (vec.magnitude < -1f || vec.magnitude > 5f)
+        if (legalMagnitudeInterval && (vec.magnitude < minLegalMagnitude || vec.magnitude > maxLegalMagnitude))
         {
-            Debug.LogWarning($"{name}.magnitude is {vec.magnitude}, was expected to be in interval [-1, 5]");
+            Debug.LogWarning($"{name}.magnitude is {vec.magnitude}, was expected to be in interval [{minLegalMagnitude}, {maxLegalMagnitude}]");
             reset = true;
         }
         return reset;
@@ -261,9 +323,14 @@ protected void checkQuaternion(Quaternion quat, string name, float defaultValue)
     {
         for (int i = 0; i < 4; i++)
         {
-            if (float.IsNaN(quat[i]) || float.IsInfinity(quat[i]))
+            if (float.IsNaN(quat[i]))
+            {
+                Debug.Log(name + "[" + i + "] is NaN");
+                quat[i] = defaultValue;
+            }
+            if (float.IsInfinity(quat[i]))
             {
-                Debug.Log(name + "[" + i + "] is NaN or Infinity");
+                Debug.Log(name + "[" + i + "] is Infinity");
                 quat[i] = defaultValue;
             }
         }
@@ -278,4 +345,17 @@ public enum ActionSpaceType
         MultiDiscrete,
         Mixed
     }
+
+    public enum VectorType
+    {
+        Position,
+        Velocity,
+        AngularVelocity
+    }
+
+    public enum EntityType
+    {
+        Ball,
+        Car
+    }
 }

Assets/ML-Agents/Timers/SaveTraining_single_timers.json

@@ -1 +1 @@
-{"count":1,"self":16.2871648,"total":16.389739,"children":{"InitializeActuators":{"count":2,"self":0.0024779,"total":0.0024779,"children":null},"InitializeSensors":{"count":2,"self":0.0019811,"total":0.0019811,"children":null},"AgentSendState":{"count":1415,"self":0.012920899999999999,"total":0.0689809,"children":{"CollectObservations":{"count":142,"self":0.0536002,"total":0.0536002,"children":null},"WriteActionMask":{"count":142,"self":0.00096749999999999994,"total":0.00096749999999999994,"children":null},"RequestDecision":{"count":142,"self":0.0014923,"total":0.0014923,"children":null}}},"DecideAction":{"count":1415,"self":0.014373499999999999,"total":0.014373499999999999,"children":null},"AgentAct":{"count":1415,"self":0.013272299999999999,"total":0.013272299999999999,"children":null}},"gauges":{"GoalKeeping.CumulativeReward":{"count":1,"max":10.4072571,"min":10.4072571,"runningAverage":10.4072571,"value":10.4072571,"weightedAverage":10.4072571}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1625214513","unity_version":"2020.3.11f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2020.3.11f1\\Editor\\Unity.exe -projectpath D:\/Projects\/Unity\/PG\/RoboLeague -useHub -hubIPC -cloudEnvironment production -hubSessionId fb033b90-db03-11eb-b410-0f1c5ce3a503","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.0-pre.3","scene_name":"SaveTraining_single","end_time_seconds":"1625214529"}}
+{"count":1,"self":87.5792448,"total":87.656313099999991,"children":{"InitializeActuators":{"count":1,"self":0.001001,"total":0.001001,"children":null},"InitializeSensors":{"count":1,"self":0.0010008,"total":0.0010008,"children":null},"AgentSendState":{"count":10009,"self":0.023017299999999997,"total":0.029021599999999998,"children":{"CollectObservations":{"count":1001,"self":0.0040028,"total":0.0040028,"children":null},"WriteActionMask":{"count":1001,"self":0,"total":0,"children":null},"RequestDecision":{"count":1001,"self":0.0020015,"total":0.0020015,"children":null}}},"DecideAction":{"count":10009,"self":0.0320318,"total":0.0320318,"children":null},"AgentAct":{"count":10009,"self":0.013011199999999999,"total":0.013011199999999999,"children":null}},"gauges":{"GoalKeeping.CumulativeReward":{"count":36,"max":1.8299998,"min":-1.28499973,"runningAverage":-0.35316667,"value":1.74299991,"weightedAverage":0.5062059}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1643387710","unity_version":"2020.3.8f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2020.3.8f1\\Editor\\Unity.exe -projectpath C:\/Users\/Frederik\/RoboLeague -useHub -hubIPC -cloudEnvironment production -hubSessionId 932f6770-804c-11ec-a6f3-efad69b2e458 -accessToken JSfic1JN0fwpxKg1_eM0MmrDIy4FOox5wKmTCZGd9aI008f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.0-pre.3","scene_name":"SaveTraining_single","end_time_seconds":"1643387797"}}

Assets/ML-Agents/Topscorer/Environment.prefab

@@ -335,18 +335,6 @@ AudioListener:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6750119729059262998}
   m_Enabled: 0
---- !u!114 &3243343760869561856
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 6750119729296308303}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: d2fcec0097665e74fbec36bfc73d7dc7, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
 --- !u!1 &6750119729343506587
 GameObject:
   m_ObjectHideFlags: 0
@@ -508,20 +496,6 @@ MonoBehaviour:
         m_Calls: []
   m_LegacyBlendHint: 0
   m_ComponentOwner: {fileID: 6750119729343506586}
---- !u!114 &6750119729572142156
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 9118461746507665664}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 88304332db05f5e4b80c2152484c2fa3, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  ShootAt: {fileID: 6750119728131920436}
-  speed: {x: 5, y: 5}
 --- !u!1001 &4127686330414560867
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -532,10 +506,30 @@ PrefabInstance:
     - target: {fileID: 7270290807663857190, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
       propertyPath: m_Model
       value: 
+      objectReference: {fileID: 5022602860645237092, guid: b56addff173f3da41b4fa25dc61fed23, type: 3}
+    - target: {fileID: 7270290807663857190, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
+      propertyPath: m_BrainParameters.VectorObservationSize
+      value: 23
+      objectReference: {fileID: 0}
+    - target: {fileID: 7270290807663857192, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
+      propertyPath: DecisionPeriod
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 7270290807663857193, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
+      propertyPath: MaxStep
+      value: 650
       objectReference: {fileID: 0}
     - target: {fileID: 7270290807663857193, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
       propertyPath: Difficulty
-      value: 0
+      value: 2
+      objectReference: {fileID: 0}
+    - target: {fileID: 7270290807663857193, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
+      propertyPath: defaultParameter.difficulty
+      value: 2
+      objectReference: {fileID: 0}
+    - target: {fileID: 7270290807663857193, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
+      propertyPath: defaultParameter.initialBoost
+      value: 100
       objectReference: {fileID: 0}
     - target: {fileID: 7270290807663857196, guid: bfdff73714e4393468e3c7968d554ba5, type: 3}
       propertyPath: m_Name
@@ -597,6 +591,18 @@ Transform:
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   m_PrefabInstance: {fileID: 4127686330414560867}
   m_PrefabAsset: {fileID: 0}
+--- !u!114 &3243343760869561856
+MonoBehaviour:
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+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 6750119729296308303}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: d2fcec0097665e74fbec36bfc73d7dc7, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1001 &6750119728108799112
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -724,7 +730,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 4104392332257108266, guid: 548a302a7fc95254a999ba2811266cf8, type: 3}
       propertyPath: m_IsActive
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 548a302a7fc95254a999ba2811266cf8, type: 3}
@@ -868,7 +874,7 @@ PrefabInstance:
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     - target: {fileID: 2532842153811578196, guid: 2946bfcea95aa1d40872741310581650, type: 3}
       propertyPath: m_LocalPosition.x
-      value: 44.27
+      value: -5.6
       objectReference: {fileID: 0}
     - target: {fileID: 2532842153811578196, guid: 2946bfcea95aa1d40872741310581650, type: 3}
       propertyPath: m_LocalPosition.y
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+MonoBehaviour:
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+  m_Script: {fileID: 11500000, guid: 88304332db05f5e4b80c2152484c2fa3, type: 3}
+  m_Name: 
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+  ShootAt: {fileID: 6750119728131920436}
+  speed: {x: 5, y: 8}