From 6e2ff30f3f7bc87db1baeff0b2d9cb0f31657319 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Tue, 21 Jun 2022 10:12:20 -0700 Subject: [PATCH 01/13] Support obstacle and random ball position/speed initialization. --- Runtime/FetchGamePhysicsTrainingAgent.cs | 115 ++++++++++++++++------- Runtime/FetchGamePhysicsTrainingArena.cs | 41 +++++++- trainer_config_obstacle.yaml | 77 ++++++++++++++- 3 files changed, 193 insertions(+), 40 deletions(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 652b019..439e32a 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -1,6 +1,7 @@ using System.Collections.Generic; using Unity.MLAgents; using Unity.MLAgents.Actuators; +using Unity.MLAgents.Policies; using Unity.MLAgents.Sensors; using UnityEngine; @@ -12,7 +13,7 @@ public class FetchGamePhysicsTrainingAgent : Janelia.EasyMLAgentGrounded { public override string BehaviorName { get; protected set; } = "FetchGamePhysics"; - public override int VectorObservationSize { get; protected set; } = 5; + public override int VectorObservationSize { get; protected set; } = 6; #if false // Overriding this virtual property would be an alternative to setting its value in `Setup`, but @@ -35,6 +36,7 @@ public override Vector3 MoveForwardDirection private GameObject _ball; private Rigidbody _ballRigidBody; + private float fieldOfViewDegree; /// /// Called after the Setup function for ). @@ -55,7 +57,21 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) base.Setup(helper); - moveForce = 1.0f; + Transform raySensorTransform = transform.Find("RaysForward"); + if (raySensorTransform != null) + { + raySensorTransform.localPosition = new Vector3(0, BodyScale.y, BodyScale.z / 2); + } + + // With timestep of 0.02, 4 stacked observations amounts to raysensor observation of the past 0.5 second. + GameObject raySensor = GameObject.Find("RaysForward"); + RayPerceptionSensorComponent3D raySensorComponent = raySensor.GetComponent(); + raySensorComponent.ObservationStacks = 4; + + BehaviorParameters behavior = GetComponent() as BehaviorParameters; + behavior.BrainParameters.NumStackedVectorObservations = 4; + + moveForce = 7.0f; } /// @@ -97,12 +113,16 @@ public override void OnActionReceived(ActionBuffers actions) /// The vector sensor public override void CollectObservations(VectorSensor sensor) { - if ((_ball == null) || (_ballRigidBody == null)) + float ballObserved = IsBallObservable() ? 1 : 0; + if ((_ball == null) || (_ballRigidBody == null) || (ballObserved == 0)) { sensor.AddObservation(new float[VectorObservationSize]); return; } + // Indicator that encodes if the agent can see the ball with 1 indicating yes and 0 if not. + sensor.AddObservation(ballObserved); + // Normalize observations to [0, 1] or [-1, 1] // https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#normalization @@ -139,9 +159,6 @@ public override void CollectObservations(VectorSensor sensor) sensor.AddObservation(agentSpeed); // One observation sensor.AddObservation(ballSpeed); - - // Six total observations (1 + 1 + 1 + 1 + 1) - Debug.Assert(VectorObservationSize == 5, "Incorrect observation count"); } /// @@ -156,6 +173,15 @@ private void Start() _ball = Janelia.EasyMLRuntimeUtils.FindChildWithTag(arena, FetchGamePhysicsTrainingArena.TAG_BALL); _ballRigidBody = _ball.GetComponent(); + + + // Set the field of view degree (single direction) from the MaxRayDegree used by the raySensor. + GameObject raySensor = GameObject.Find("RaysForward"); + fieldOfViewDegree = raySensor != null ? raySensor.GetComponent().MaxRayDegrees : 180; + + // Make the agent camera view be consistent with the actual field of view set. + Camera agentCamera = GameObject.Find("AgentCamera").GetComponent(); + agentCamera.fieldOfView = fieldOfViewDegree / agentCamera.aspect * 2; } /// @@ -189,34 +215,37 @@ private void OnCollisionEnter(Collision collision) } } - private void OnCollisionStay(Collision collision) - { - if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) - { - // When colliding with the obstacle, hack the movement force direction to make - // the agent slide along the obstacle instead of getting stuck on it. The algorithm - // assumes the obstacle is a plane. - Vector3 v = Vector3.ProjectOnPlane(transform.forward, collision.gameObject.transform.right); - v.Normalize(); - _moveForwardDirection = v; - } - } - - private void OnCollisionExit(Collision collision) - { - if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) - { - // When there is no more collison with the obstacle, go back to the standard - // movement force direction. - _moveForwardDirection = Vector3.zero; - } - } + // private void OnCollisionStay(Collision collision) + // { + // if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) + // { + // // When colliding with the obstacle, hack the movement force direction to make + // // the agent slide along the obstacle instead of getting stuck on it. The algorithm + // // assumes the obstacle is a plane. + // Vector3 v = Vector3.ProjectOnPlane(transform.forward, collision.gameObject.transform.right); + // v.Normalize(); + // _moveForwardDirection = v; + // } + // } + + // private void OnCollisionExit(Collision collision) + // { + // if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) + // { + // // When there is no more collison with the obstacle, go back to the standard + // // movement force direction. + // _moveForwardDirection = Vector3.zero; + // } + // } private void AddFetchedReward() { Vector3 toBall = (_ball.transform.position - transform.position); - float bonus = 0.5f * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); - AddReward(0.5f + bonus); + float speed_bonus_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("speed_bonus", 0.8f); + float orientation_bonus = 0.5f * (1 - speed_bonus_proportion) * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); + float speed_bonus = 0.5f * speed_bonus_proportion * (1 - StepCount / MaxStep); + AddReward(0.5f + orientation_bonus + speed_bonus); + Debug.Log(transform.parent.name + " successfully complete task with reward: " + GetCumulativeReward()); EndEpisode(); } @@ -228,11 +257,25 @@ private float GetTurfDiameter() private float SignedAngleNormalized(Vector3 a, Vector3 b) { - // [0, 180] for left or right - float angleBetween = Vector3.Angle(a.normalized, b.normalized); - // Negative for left - Vector3 cross = Vector3.Cross(a, b); - float sign = Mathf.Sign(Vector3.Dot(cross, transform.up)); - return sign * angleBetween / 180; + return Vector3.SignedAngle(a, b, transform.up) / 180; + // // [0, 180] for left or right + // float angleBetween = Vector3.Angle(a.normalized, b.normalized); + // // Negative for left + // Vector3 cross = Vector3.Cross(a, b); + // float sign = Mathf.Sign(Vector3.Dot(cross, transform.up)); + // return sign * angleBetween / 180; + } + + private bool IsBallObservable() + { + Vector3 rayInit = transform.TransformPoint(BodyScale / 3); + Vector3 toBall = _ball.transform.position - rayInit; + float distance = toBall.magnitude - _ball.transform.localScale.x; + float angleToBall = Vector3.SignedAngle(transform.forward, toBall, transform.up); + bool atFront = angleToBall < fieldOfViewDegree && angleToBall > -fieldOfViewDegree; + RaycastHit hit; + bool blocked = Physics.Raycast(rayInit, toBall, out hit, distance, Physics.DefaultRaycastLayers, QueryTriggerInteraction.Ignore); + if (blocked) Debug.Log("Raycast hit " + hit.collider); + return atFront && !blocked; } } diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index 6a7a26d..079fc89 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -30,6 +30,10 @@ public float TurfRadius public static readonly float OBSTACLE_ANGLE_WIGGLE_DEGS = 25.0f; + public bool ballOnRamp = true; + public bool ballInitVel = false; + public float maxBallInitVelMagnitude = 2.5f; + /// /// Performs the initial setup of the objects involved in training (except for /// which has its own Setup function, @@ -64,6 +68,12 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) DestroyObstacle(); } + message = "Spawn the ball on ramp?"; + ballOnRamp = helper.DisplayDialog(title, message, "Yes", "No"); + + message = "Give the ball a random horizontal velocity?"; + ballInitVel = helper.DisplayDialog(title, message, "Yes", "No"); + if (!name.StartsWith("TrainingArena")) { name = "TrainingArena"; @@ -251,10 +261,19 @@ private void PlaceBall() { float maxVel = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_max_angular_velocity", 7.0f); ballRigidbody.maxAngularVelocity = maxVel; + + if (ballInitVel) + { + float angle = UnityEngine.Random.Range(0, 360); + float speed = UnityEngine.Random.Range(1.0f, maxBallInitVelMagnitude); + Vector3 v = Matrix4x4.Rotate(Quaternion.Euler(0, angle, 0)).MultiplyVector(Vector3.forward); + v *= speed; + ballRigidbody.velocity = v; + } } GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); - if (ramp != null) + if ((ramp != null) && (ballOnRamp)) { Vector3 r = ramp.transform.localEulerAngles; ball.transform.localEulerAngles = new Vector3(0, r.y, 0); @@ -264,6 +283,12 @@ private void PlaceBall() // Minus because `ramp.transform.forward` points out from the turf center. p -= ramp.transform.forward * 4 * _ballRadius; ball.transform.localPosition = p; + } else + { + float angle = UnityEngine.Random.Range(0, 360); + float distance = UnityEngine.Random.Range(0, _turfRadius * 0.95f); + ball.transform.localEulerAngles = new Vector3(0, angle, 0); + ball.transform.localPosition = new Vector3(0, ramp.transform.localPosition.y + _rampSize.y + 2 * _ballRadius, distance); } } } @@ -383,6 +408,20 @@ private void PlaceObstacle() } obstacle.transform.localPosition = p; + + float angle = 0; + int attempts = 0; + while (attempts++ < 100) + { + angle = UnityEngine.Random.Range(0, 360); + Quaternion q = Quaternion.Euler(0, angle + obstacle.transform.localRotation.y, 0); + if (Physics.OverlapBox(obstacle.transform.position, obstacle.transform.localScale / 2, q, Physics.DefaultRaycastLayers).Length == 0) + { + + break; + } + } + obstacle.transform.Rotate(0, angle, 0); } private GameObject CreateObstacle() diff --git a/trainer_config_obstacle.yaml b/trainer_config_obstacle.yaml index 09e7509..ab5e45e 100644 --- a/trainer_config_obstacle.yaml +++ b/trainer_config_obstacle.yaml @@ -30,9 +30,20 @@ behaviors: vis_encode_type: simple goal_conditioning_type: hyper deterministic: false + rnd: + learning_rate: 3e-4 + strength: 0.01 + gamma: 0.99 + network_settings: + normalize: false + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + goal_conditioning_type: hyper + deterministic: false keep_checkpoints: 5 - checkpoint_interval: 500000 - max_steps: 5000000 + checkpoint_interval: 1000000 + max_steps: 40000000 time_horizon: 128 summary_freq: 10000 threaded: false @@ -94,7 +105,7 @@ environment_parameters: signal_smoothing: true min_lesson_length: 100 threshold: 0.8 - value: 6 + value: 0.67 - name: LessonFinal value: 0.7 ball_fetched_threshold: @@ -157,3 +168,63 @@ environment_parameters: value: 0.025 - name: LessonFinal value: 0.0 + speed_bonus: + curriculum: + - name: LessonA + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 250 + threshold: 0 + value: 0.1 + - name: LessonB + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 200 + threshold: 0.2 + value: 0.12 + - name: LessonC + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.4 + value: 0.15 + - name: LessonD + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.6 + value: 0.18 + - name: LessonE + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 0.2 + - name: LessonF + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 0.25 + - name: LessonG + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.8 + value: 0.3 + - name: LessonFinal + value: 0.5 From f08ba8ccf8f518ebb48280e1459bff23292bef40 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Wed, 22 Jun 2022 11:06:12 -0700 Subject: [PATCH 02/13] Changed default FoV to be 70 not 180 and starting on script for the MuJoCo agent. --- Runtime/FetchGamePhysicsCameraAgent.cs | 323 +++++++++++++++++++++++ Runtime/FetchGamePhysicsTrainingAgent.cs | 3 +- trainer_config_camera.yaml | 230 ++++++++++++++++ trainer_config_obstacle.yaml | 2 +- 4 files changed, 555 insertions(+), 3 deletions(-) create mode 100644 Runtime/FetchGamePhysicsCameraAgent.cs create mode 100644 trainer_config_camera.yaml diff --git a/Runtime/FetchGamePhysicsCameraAgent.cs b/Runtime/FetchGamePhysicsCameraAgent.cs new file mode 100644 index 0000000..393b27d --- /dev/null +++ b/Runtime/FetchGamePhysicsCameraAgent.cs @@ -0,0 +1,323 @@ +using System; +using System.Collections.Generic; +using Unity.MLAgents; +using Unity.MLAgents.Actuators; +using Unity.MLAgents.Policies; +using Unity.MLAgents.Sensors; +using UnityEngine; + +namespace Janelia +{ + /// + /// A abstract base class for an agent using ML-Agents (version 2) capabilities. + /// A derived class must override the abstract properties (e.g., BehaviorName) + /// to set values needed by ML-Agents (and which ML-Agents itself may not warn about + /// when not specified). + /// + [RequireComponent(typeof(Rigidbody))] + [RequireComponent(typeof(DecisionRequester))] + public abstract class EasyMLAgent : Agent + { + /// + /// The given to an agent derived from + /// + public static readonly string TAG_AGENT = "Agent"; + + /// + /// This behavior name must match the subsection name under "behaviors" in trainer_config.yaml. + /// + public abstract string BehaviorName { get; protected set; } + + /// + /// The number of observations added in + /// (and remember that one counts as 3 observations). + /// + public abstract int VectorObservationSize { get; protected set; } + + /// + /// The number of observations added in + /// (and remember that one counts as 3 observations). + /// + public abstract int VectorActionSize { get; protected set; } + + /// + /// The size of the BoxCollider given to the agent by default. Note that a value S in + /// any of the dimensions means the box covers [-S/2, S/2] in that dimension. + /// A value of Vector3.zero prevents the collider from being added. + /// + public abstract Vector3 ColliderSize { get; protected set; } + + // The following properties are not abstract, because there are sensible default values + // if the derived class does not want to override them. But the possibility that they + // might be overridden means that it does not work to make these "auto-implemented properties" + // with a compiler-generated anonymous backing field. Then overriding any of these properties + // in a derived class seems to generate another backing field with the same internal name, and + // Unity gives an error: + // "The same field name is serialized multiple times in the class or its parent class." + + /// + /// Whether to add a child sensor for raycast-based observations, in the forward direction. + /// + public virtual bool UseChildSensorForward + { + get { return _baseUseChildSensorForward; } + protected set { _baseUseChildSensorForward = value; } + } + private bool _baseUseChildSensorForward = true; + + /// + /// How many rays to use for a child sensor in the forward direction. + /// + public virtual int ChildSensorForwardRaysPerDirection + { + get { return _baseChildSensorForwardRaysPerDirection; } + protected set { _baseChildSensorForwardRaysPerDirection = value; } + } + private int _baseChildSensorForwardRaysPerDirection = 6; + + /// + /// The maximum length of the rays for a child sensor in the forward direction. + /// + public virtual float ChildSensorForwardRayLength + { + get { return _baseChildSensorForwardRaysLength; } + protected set { _baseChildSensorForwardRaysLength = value; } + } + private float _baseChildSensorForwardRaysLength = 20.0f; + + /// + /// The tags that should be detectable by raycasting in the forward direction. + /// + public virtual List ChildSensorForwardDetectableTags + { + get { return _baseChildSensorForwardDetectableTags; } + protected set { _baseChildSensorForwardDetectableTags = value; } + } + private List _baseChildSensorForwardDetectableTags = new List() { "Untagged" }; + + [Tooltip("Camera showing what the agent sees")] + public Camera agentCamera; + + [Tooltip("Whether in training mode (or, alternativelys, game mode)")] + public bool trainingMode = true; + + // Whether the agent is frozen (intentionally not moving) + protected bool _frozen = false; + + protected Rigidbody _agentRigidbody; + + /// + /// Called after the Setup function for the arena (the class derived from ). + /// Creates new objects or updates existing objects. + /// + /// + public virtual void Setup(IEasyMLSetupHelper helper) + { + gameObject.name = "Agent"; + helper.CreateTag(TAG_AGENT); + gameObject.tag = TAG_AGENT; + + const string CAMERA_NAME = "AgentCamera"; + Transform cameraTransform = transform.Find(CAMERA_NAME); + if (cameraTransform == null) + { + GameObject cameraObject = new GameObject(); + cameraObject.name = CAMERA_NAME; + cameraObject.transform.parent = transform; + Camera camera = cameraObject.AddComponent(); + camera.nearClipPlane = 0.01f; + camera.farClipPlane = 1000.0f; + } + + BoxCollider collider = gameObject.GetComponent(); + if (collider == null) + { + if (ColliderSize != Vector3.zero) + { + collider = gameObject.AddComponent(); + collider.size = ColliderSize; + } + } + else + { + if (ColliderSize != Vector3.zero) + { + collider.size = ColliderSize; + } + else + { + DestroyImmediate(collider); + } + } + + MaxStep = 5000; + + BehaviorParameters behavior = GetComponent() as BehaviorParameters; + if (behavior != null) + { + behavior.BehaviorName = BehaviorName; + behavior.BrainParameters.VectorObservationSize = VectorObservationSize; + behavior.BrainParameters.ActionSpec = new ActionSpec(VectorActionSize); + + const string SENSOR_OBJECT_NAME = "RaysForward"; + + behavior.UseChildSensors = UseChildSensorForward; + if (behavior.UseChildSensors) + { + Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + GameObject raySensorObject; + if (raySensorTransform == null) + { + raySensorObject = new GameObject(); + raySensorObject.name = SENSOR_OBJECT_NAME; + raySensorObject.transform.parent = transform; + } + else + { + raySensorObject = raySensorTransform.gameObject; + } + + RayPerceptionSensorComponent3D sensor = raySensorObject.GetComponent(); + if (sensor == null) + { + sensor = raySensorObject.AddComponent(); + } + sensor.RaysPerDirection = ChildSensorForwardRaysPerDirection; + // A radius of 0 chooses ray casting rather than sphere casting. + sensor.SphereCastRadius = 0; + sensor.RayLength = ChildSensorForwardRayLength; + + // TODO: Detect if `ChildSensorDectableTags` is overriden, and issue a warning if not? + sensor.DetectableTags = ChildSensorForwardDetectableTags; + } + else + { + Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + if (raySensorTransform != null) + { + DestroyImmediate(raySensorTransform.gameObject); + } + } + } + } + + /// + /// Called once by ML-Agents when the agent is first enabled at the start of training. + /// + public override void Initialize() + { + Debug.Log("FetchAgent.Initialize"); + + base.Initialize(); + + agentCamera = GetComponentInChildren(); + _agentRigidbody = GetComponent(); + if (!trainingMode) + { + // If not in training mode, play forever. + MaxStep = 0; + } + } + + /// + /// Called by ML-Agents each time an episode begins. Used to trigger random placement + /// of objects in the arena (the class derived from ). + /// + public override void OnEpisodeBegin() + { + Debug.Log("FetchAgent.OnEpisodeBegin"); + + base.OnEpisodeBegin(); + + if (trainingMode) + { + // With each new episode the items in the arena should be placed randomly. + // It seems that this method is the place to do so, because the delegate + // `Academy.Instance.OnEnvironmentReset` seems to be called only at the + // very start of training and not with each new episode, despite what is + // suggested in the documentation. + + Transform current = transform.parent; + while (current != null) + { + EasyMLArena arena = current.gameObject.GetComponent(); + if (arena != null) + { + arena.PlaceRandomly(); + break; + } + current = current.parent; + } + } + + // Stop movement before a new episode begins. + if (_agentRigidbody != null) + { + _agentRigidbody.velocity = Vector3.zero; + _agentRigidbody.angularVelocity = Vector3.zero; + } + } + + /// + /// Called when an action is received from either the player input or the neural network. + /// A derived class must override this function to generate the agent motion indicated + /// by the action values. It is also common to call AddReward in this function. + /// + /// Action to take + /// + public override void OnActionReceived(ActionBuffers actions) + { + // In the derived class implementation use `actions.ContinuousActions[i]`. + throw new MissingMethodException(); + } + + /// + /// A derived class must override this function to call sensor.AddObservation(X) with + /// X being each relevant observation from the environment. Note that the number of + /// observations must equal the VectorObservationSize property. + /// + /// The vector sensor + public override void CollectObservations(VectorSensor sensor) + { + // In the derived class implementation use `sensor.AddObservation(X)` + // Consider using `Debug.Assert(VectorObservationSize == 9, "Incorrect observation count")` + throw new MissingMethodException(); + } + + /// + /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, + /// then this function will be called. Its return value will be fed into + /// instead of using the neural network + /// + /// An output action buffer + public override void Heuristic(in ActionBuffers actionsOut) + { + // In the derived class implementation use: + // ``` + // float[] continuouActions = actionsOut.ContinuousActions; + // continuouActions[0] = x; + // ``` + throw new MissingMethodException(); + } + + /// + /// Prevents the agent from moving and taking actions. + /// + public void FreezeAgent() + { + Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); + _frozen = true; + _agentRigidbody.Sleep(); + } + + /// + /// Resumes movement and actions. + /// + public void UnfreezeAgent() + { + Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); + _frozen = false; + _agentRigidbody.WakeUp(); + } + } +} diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 439e32a..b289e31 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -173,11 +173,10 @@ private void Start() _ball = Janelia.EasyMLRuntimeUtils.FindChildWithTag(arena, FetchGamePhysicsTrainingArena.TAG_BALL); _ballRigidBody = _ball.GetComponent(); - // Set the field of view degree (single direction) from the MaxRayDegree used by the raySensor. GameObject raySensor = GameObject.Find("RaysForward"); - fieldOfViewDegree = raySensor != null ? raySensor.GetComponent().MaxRayDegrees : 180; + fieldOfViewDegree = raySensor != null ? raySensor.GetComponent().MaxRayDegrees : 70; // Make the agent camera view be consistent with the actual field of view set. Camera agentCamera = GameObject.Find("AgentCamera").GetComponent(); diff --git a/trainer_config_camera.yaml b/trainer_config_camera.yaml new file mode 100644 index 0000000..efaff93 --- /dev/null +++ b/trainer_config_camera.yaml @@ -0,0 +1,230 @@ +behaviors: + FetchGamePhysics: + trainer_type: ppo + hyperparameters: + batch_size: 2048 + buffer_size: 20480 + learning_rate: 0.0003 + beta: 0.005 + epsilon: 0.2 + lambd: 0.95 + num_epoch: 3 + learning_rate_schedule: linear + beta_schedule: linear + epsilon_schedule: linear + network_settings: + normalize: false + hidden_units: 256 + num_layers: 2 + vis_encode_type: simple + goal_conditioning_type: hyper + deterministic: false + reward_signals: + extrinsic: + gamma: 0.99 + strength: 1.0 + network_settings: + normalize: false + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + goal_conditioning_type: hyper + deterministic: false + rnd: + learning_rate: 3e-4 + strength: 0.01 + gamma: 0.99 + network_settings: + normalize: false + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + goal_conditioning_type: hyper + deterministic: false + keep_checkpoints: 5 + checkpoint_interval: 1000000 + max_steps: 15000000 + time_horizon: 128 + summary_freq: 10000 + threaded: false +environment_parameters: + obstacle_scale_vs_ramp: + curriculum: + - name: LessonA + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 250 + threshold: 0 + value: 0.3 + - name: LessonB + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 200 + threshold: 0.2 + value: 0.4 + - name: LessonC + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.4 + value: 0.5 + - name: LessonD + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.6 + value: 0.55 + - name: LessonE + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 0.6 + - name: LessonF + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 0.65 + - name: LessonG + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.8 + value: 0.67 + - name: LessonFinal + value: 0.7 + ball_fetched_threshold: + curriculum: + - name: LessonA + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 250 + threshold: 0 + value: 0.25 + - name: LessonB + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 200 + threshold: 0.2 + value: 0.22 + - name: LessonC + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.4 + value: 0.18 + - name: LessonD + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.6 + value: 0.16 + - name: LessonE + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 0.12 + - name: LessonF + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 0.05 + - name: LessonG + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.8 + value: 0.025 + - name: LessonFinal + value: 0.0 + speed_bonus: + curriculum: + - name: LessonA + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 250 + threshold: 0 + value: 0.1 + - name: LessonB + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 200 + threshold: 0.2 + value: 0.12 + - name: LessonC + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.4 + value: 0.15 + - name: LessonD + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.6 + value: 0.18 + - name: LessonE + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 0.2 + - name: LessonF + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 0.25 + - name: LessonG + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.8 + value: 0.3 + - name: LessonFinal + value: 0.5 diff --git a/trainer_config_obstacle.yaml b/trainer_config_obstacle.yaml index ab5e45e..d19f150 100644 --- a/trainer_config_obstacle.yaml +++ b/trainer_config_obstacle.yaml @@ -43,7 +43,7 @@ behaviors: deterministic: false keep_checkpoints: 5 checkpoint_interval: 1000000 - max_steps: 40000000 + max_steps: 25000000 time_horizon: 128 summary_freq: 10000 threaded: false From d314ce61d92c9cac1180b217303fb10e799d98b4 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Thu, 23 Jun 2022 11:07:14 -0700 Subject: [PATCH 03/13] Transferring data to cluster. --- Runtime/FetchGamePhysicsAntAgent.cs | 418 +++++++++++++++++++++++++ Runtime/FetchGamePhysicsCameraAgent.cs | 323 ------------------- Runtime/FetchGamePhysicsMuJoCoAgent.cs | 285 +++++++++++++++++ 3 files changed, 703 insertions(+), 323 deletions(-) create mode 100644 Runtime/FetchGamePhysicsAntAgent.cs delete mode 100644 Runtime/FetchGamePhysicsCameraAgent.cs create mode 100644 Runtime/FetchGamePhysicsMuJoCoAgent.cs diff --git a/Runtime/FetchGamePhysicsAntAgent.cs b/Runtime/FetchGamePhysicsAntAgent.cs new file mode 100644 index 0000000..7efc2a8 --- /dev/null +++ b/Runtime/FetchGamePhysicsAntAgent.cs @@ -0,0 +1,418 @@ +using System.Collections.Generic; +using Unity.MLAgents; +using Unity.MLAgents.Actuators; +using Unity.MLAgents.Policies; +using Unity.MLAgents.Sensors; +using UnityEngine; + +/// +/// A trainable agent for the fetch game: +/// +/// +public class FetchGamePhysicsAntAgent : FetchGamePhysicsMuJoCoAgent +{ + + + + /// + /// The size of the agent's body mesh. If the body covers [-S/2, S/2] in a dimension + /// then the size should be S in that dimension. + /// + public virtual Vector3 BodyScale + { + get { return _groundedBodyScale; } + protected set { _groundedBodyScale = value; } + } + private Vector3 _groundedBodyScale = new Vector3(0.1f, 0.1f, 0.1f); + + /// + /// The color of the agent's body mesh. + /// + public virtual string BodyColor + { + get { return _groundedBodyColor; } + protected set { _groundedBodyColor = value; } + } + private string _groundedBodyColor = "#ff0000"; + + /// + /// The agent's collider's static friction. + /// + public virtual float StaticFriction + { + get { return _groundedStaticFriction; } + protected set { _groundedStaticFriction = value; } + } + private float _groundedStaticFriction = 0.15f; + + /// + /// The agent's collider's dynamic friction. + /// + public virtual float DynamicFriction + { + get { return _groundedDynamicFriction; } + protected set { _groundedDynamicFriction = value; } + } + private float _groundedDynamicFriction = 0.15f; + + /// + /// The direction of the force on the agent for forward movement. + /// + public virtual Vector3 MoveForwardDirection + { + get { return transform.forward; } + } + + /// + /// Called after the Setup function for the arena (the class derived from ). + /// If a derived class needs to override this function for further setup, it should call base.Setup. + /// Creates new objects or updates existing objects. + /// + /// + public override void Setup(Janelia.IEasyMLSetupHelper helper) + { + // `ColliderSize` is set here, in case the derived `Setup` changes `BodyScale`. + ColliderSize = BodyScale; + + base.Setup(helper); + gameObject.name = "AntAgent"; + + const string BODY_NAME = "Body"; + Transform bodyTransform = transform.Find(BODY_NAME); + GameObject body; + if (bodyTransform == null) + { + Instantiate("Assets/Prefabs/Ant.prefab", body.transform); + body = GameObject.Find("Ant"); + body.name = BODY_NAME; + body.transform.parent = transform; + } + else + { + body = bodyTransform.gameObject; + } + + helper.CreateColorMaterial(body, BodyColor); + body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); + + // Put the overall agent position at the back and bottom of the body and its collider. + // Doing so helps to keep the agent from "tipping" forward or backward when a force is applied. + float y = BodyScale.y / 2; + body.transform.localPosition = new Vector3(0, y, 0); + + Camera childCamera = GetComponentInChildren(); + if (childCamera != null) + { + childCamera.transform.localPosition = new Vector3(0, 2 * y, y); + } + } + + /// + /// Called when an action is received from either the player input or the neural network. + /// It is also common to assign a reward in this method. + /// + /// Action to take + /// + public override void OnActionReceived(ActionBuffers actions) + { + if (_frozen) + { + return; + } + + float moveChange = actions.ContinuousActions[0]; + Vector3 dir = (moveChange > 0) ? MoveForwardDirection : transform.forward; + _agentRigidbody.AddForce(moveChange * moveForce * dir); + + // Changes to yaw (Y rotation) are smoothed over multiple frames. + + float yawChange = actions.ContinuousActions[1]; + Vector3 rotationVector = transform.rotation.eulerAngles; + _smoothYawChange = Mathf.MoveTowards(_smoothYawChange, yawChange, 2.0f * Time.fixedDeltaTime); + float yaw = rotationVector.y + _smoothYawChange * Time.fixedDeltaTime * yawSpeed; + + transform.rotation = Quaternion.Euler(0.0f, yaw, 0.0f); + } + + /// + /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, + /// then this function will be called. Its return value will be fed into + /// and the neural network is ignored. + /// + /// An output action buffer + public override void Heuristic(in ActionBuffers actionsOut) + { + /// Log an error to show that Heuristic is not supported. + Debug.LogError("Heuristic is not supported for this agent.", this); + } + + + + + + + public override string BehaviorName { get; protected set; } = "FetchGamePhysics"; + + public override int VectorObservationSize { get; protected set; } = 6; + + public override int VectorActionSize + { + get { return _antVectorActionSize; } + protected set { _antVectorActionSize = value; } + } + private int _antVectorActionSize = 2; + +#if false + // Overriding this virtual property would be an alternative to setting its value in `Setup`, but + // the latter seems simpler, and `Setup` is needed for a few other purposes anyway. + public override List ChildSensorForwardDetectableTags { get; protected set; } = new List() + { + FetchGamePhysicsTrainingArena.TAG_BOUNDARY, + FetchGamePhysicsTrainingArena.TAG_RAMP + }; +#endif + + private GameObject _ball; + private Rigidbody _ballRigidBody; + private float fieldOfViewDegree; + + /// + /// Called after the Setup function for ). + /// + /// + public override void Setup(Janelia.IEasyMLSetupHelper helper) + { + // Before calling `EasyMLAgentGrounded.Setup` (as `base.Setup`) override some parameters + // it will use. + ChildSensorForwardDetectableTags = new List() + { + FetchGamePhysicsTrainingArena.TAG_BOUNDARY, + FetchGamePhysicsTrainingArena.TAG_RAMP, + FetchGamePhysicsTrainingArena.TAG_OBSTACLE + }; + ChildSensorForwardRayLength = GetTurfDiameter(); + BodyColor = "#4b3c39"; + + base.Setup(helper); + + Transform raySensorTransform = transform.Find("RaysForward"); + if (raySensorTransform != null) + { + raySensorTransform.localPosition = new Vector3(0, BodyScale.y, BodyScale.z / 2); + } + + // With timestep of 0.02, 4 stacked observations amounts to raysensor observation of the past 0.5 second. + GameObject raySensor = GameObject.Find("RaysForward"); + RayPerceptionSensorComponent3D raySensorComponent = raySensor.GetComponent(); + raySensorComponent.ObservationStacks = 4; + + BehaviorParameters behavior = GetComponent() as BehaviorParameters; + behavior.BrainParameters.NumStackedVectorObservations = 4; + + moveForce = 7.0f; + } + + /// + /// Called every time the Agent receives an action to take. Receives the action chosen by the Agent. + /// It is also common to assign a reward in this method. + /// + /// Action to take + public override void OnActionReceived(ActionBuffers actions) + { + // The `EasyMLAgentGround` base class handles everything except the assignment of rewards. + base.OnActionReceived(actions); + + // https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#rewards-summary--best-practices + // "If you want the agent to finish a task quickly, it is often helpful to provide a small penalty every step + // (-0.05) that the agent does not complete the task. In this case completion of the task should also coincide + // with the end of the episode by calling EndEpisode() on the agent when it has accomplished its goal." + // Also, the total penalty over all the steps should not exceed 1. + + float perStepPenalty = -1.0f / (float)MaxStep; + AddReward(perStepPenalty); + + if (_ball != null) + { + float ballFetchedThreshold = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_fetched_threshold", 0.0f); + float thresholdDistance = ballFetchedThreshold * GetTurfDiameter(); + float distanceToBall = Vector3.Distance(transform.position, _ball.transform.position); + + if (distanceToBall < thresholdDistance) + { + Debug.Log(transform.parent.name + " distance " + distanceToBall + " is within ball_fetched_threshold distance " + thresholdDistance); + AddFetchedReward(); + } + } + } + + /// + /// Collects vector observations from the environment. + /// + /// The vector sensor + public override void CollectObservations(VectorSensor sensor) + { + float ballObserved = IsBallObservable() ? 1 : 0; + if ((_ball == null) || (_ballRigidBody == null) || (ballObserved == 0)) + { + sensor.AddObservation(new float[VectorObservationSize]); + return; + } + + // Indicator that encodes if the agent can see the ball with 1 indicating yes and 0 if not. + sensor.AddObservation(ballObserved); + + // Normalize observations to [0, 1] or [-1, 1] + // https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#normalization + + Vector3 toBall = _ball.transform.position - transform.position; + float angleForward = SignedAngleNormalized(transform.forward, toBall); + // One observation + sensor.AddObservation(angleForward); + + // One observation + // Dividing makes it a relative distance + float turfDiameter = GetTurfDiameter(); + sensor.AddObservation(toBall.magnitude / turfDiameter); + + Vector3 ballVelocity = _ballRigidBody.velocity; + + // Angle will be 0 if the ball is moving directly away from the agent, + // or if the ball is not moving. Angle will be negative if the ball is moving + // to the left of the agent's forward direction, and positive for the right. + // Angle will be 1 (or maybe -1) if the ball is moving directly towards the agent. + float angleVelocity = SignedAngleNormalized(transform.forward, ballVelocity); + // One observation + sensor.AddObservation(angleVelocity); + + // Normalize + float agentSpeed = _agentRigidbody.velocity.magnitude / turfDiameter; + float ballSpeed = ballVelocity.magnitude / turfDiameter; + + // But this normalization may make the values very small, so use a heuristic to increase them + float speedScale = 4.0f; + agentSpeed = Mathf.Clamp01(agentSpeed * speedScale); + ballSpeed = Mathf.Clamp01(ballSpeed * speedScale); + + // One observation + sensor.AddObservation(agentSpeed); + // One observation + sensor.AddObservation(ballSpeed); + } + + /// + /// Called on the frame when a script is enabled just before any of the Update methods + /// are called the first time. + /// + private void Start() + { + Debug.Log(transform.parent.name + " FetchAgent.Start"); + + GameObject arena = transform.parent.gameObject; + _ball = Janelia.EasyMLRuntimeUtils.FindChildWithTag(arena, FetchGamePhysicsTrainingArena.TAG_BALL); + + _ballRigidBody = _ball.GetComponent(); + + // Set the field of view degree (single direction) from the MaxRayDegree used by the raySensor. + GameObject raySensor = GameObject.Find("RaysForward"); + fieldOfViewDegree = raySensor != null ? raySensor.GetComponent().MaxRayDegrees : 70; + + // Make the agent camera view be consistent with the actual field of view set. + Camera agentCamera = GameObject.Find("AgentCamera").GetComponent(); + agentCamera.fieldOfView = fieldOfViewDegree / agentCamera.aspect * 2; + } + + /// + /// Called when the agent collides with another scene object. + /// + /// The collision info + private void OnCollisionEnter(Collision collision) + { + Collider c = collision.collider; + if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BALL)) + { + // Disable any collision response that might put the ball or agent in a bad position. + _ballRigidBody.Sleep(); + _agentRigidbody.Sleep(); + + if (trainingMode) + { + AddFetchedReward(); + } + } + + // TODO: There is no penalty for a collision with the obstacle, to keep training from being + // too difficult. Is this approach right? Should there be no penalty for any collision? + if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BOUNDARY) || c.CompareTag(FetchGamePhysicsTrainingArena.TAG_RAMP)) + { + if (trainingMode) + { + Debug.Log(transform.parent.name + " adding collision penalty"); + AddReward(-0.5f); + } + } + } + + // private void OnCollisionStay(Collision collision) + // { + // if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) + // { + // // When colliding with the obstacle, hack the movement force direction to make + // // the agent slide along the obstacle instead of getting stuck on it. The algorithm + // // assumes the obstacle is a plane. + // Vector3 v = Vector3.ProjectOnPlane(transform.forward, collision.gameObject.transform.right); + // v.Normalize(); + // _moveForwardDirection = v; + // } + // } + + // private void OnCollisionExit(Collision collision) + // { + // if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) + // { + // // When there is no more collison with the obstacle, go back to the standard + // // movement force direction. + // _moveForwardDirection = Vector3.zero; + // } + // } + + private void AddFetchedReward() + { + Vector3 toBall = (_ball.transform.position - transform.position); + float speed_bonus_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("speed_bonus", 0.8f); + float orientation_bonus = 0.5f * (1 - speed_bonus_proportion) * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); + float speed_bonus = 0.5f * speed_bonus_proportion * (1 - StepCount / MaxStep); + AddReward(0.5f + orientation_bonus + speed_bonus); + Debug.Log(transform.parent.name + " successfully complete task with reward: " + GetCumulativeReward()); + EndEpisode(); + } + + private float GetTurfDiameter() + { + FetchGamePhysicsTrainingArena fetchArena = GetComponentInParent(); + return (fetchArena != null) ? 2.0f * fetchArena.TurfRadius : 1.0f; + } + + private float SignedAngleNormalized(Vector3 a, Vector3 b) + { + return Vector3.SignedAngle(a, b, transform.up) / 180; + // // [0, 180] for left or right + // float angleBetween = Vector3.Angle(a.normalized, b.normalized); + // // Negative for left + // Vector3 cross = Vector3.Cross(a, b); + // float sign = Mathf.Sign(Vector3.Dot(cross, transform.up)); + // return sign * angleBetween / 180; + } + + private bool IsBallObservable() + { + Vector3 rayInit = transform.TransformPoint(BodyScale / 3); + Vector3 toBall = _ball.transform.position - rayInit; + float distance = toBall.magnitude - _ball.transform.localScale.x; + float angleToBall = Vector3.SignedAngle(transform.forward, toBall, transform.up); + bool atFront = angleToBall < fieldOfViewDegree && angleToBall > -fieldOfViewDegree; + RaycastHit hit; + bool blocked = Physics.Raycast(rayInit, toBall, out hit, distance, Physics.DefaultRaycastLayers, QueryTriggerInteraction.Ignore); + if (blocked) Debug.Log("Raycast hit " + hit.collider); + return atFront && !blocked; + } +} diff --git a/Runtime/FetchGamePhysicsCameraAgent.cs b/Runtime/FetchGamePhysicsCameraAgent.cs deleted file mode 100644 index 393b27d..0000000 --- a/Runtime/FetchGamePhysicsCameraAgent.cs +++ /dev/null @@ -1,323 +0,0 @@ -using System; -using System.Collections.Generic; -using Unity.MLAgents; -using Unity.MLAgents.Actuators; -using Unity.MLAgents.Policies; -using Unity.MLAgents.Sensors; -using UnityEngine; - -namespace Janelia -{ - /// - /// A abstract base class for an agent using ML-Agents (version 2) capabilities. - /// A derived class must override the abstract properties (e.g., BehaviorName) - /// to set values needed by ML-Agents (and which ML-Agents itself may not warn about - /// when not specified). - /// - [RequireComponent(typeof(Rigidbody))] - [RequireComponent(typeof(DecisionRequester))] - public abstract class EasyMLAgent : Agent - { - /// - /// The given to an agent derived from - /// - public static readonly string TAG_AGENT = "Agent"; - - /// - /// This behavior name must match the subsection name under "behaviors" in trainer_config.yaml. - /// - public abstract string BehaviorName { get; protected set; } - - /// - /// The number of observations added in - /// (and remember that one counts as 3 observations). - /// - public abstract int VectorObservationSize { get; protected set; } - - /// - /// The number of observations added in - /// (and remember that one counts as 3 observations). - /// - public abstract int VectorActionSize { get; protected set; } - - /// - /// The size of the BoxCollider given to the agent by default. Note that a value S in - /// any of the dimensions means the box covers [-S/2, S/2] in that dimension. - /// A value of Vector3.zero prevents the collider from being added. - /// - public abstract Vector3 ColliderSize { get; protected set; } - - // The following properties are not abstract, because there are sensible default values - // if the derived class does not want to override them. But the possibility that they - // might be overridden means that it does not work to make these "auto-implemented properties" - // with a compiler-generated anonymous backing field. Then overriding any of these properties - // in a derived class seems to generate another backing field with the same internal name, and - // Unity gives an error: - // "The same field name is serialized multiple times in the class or its parent class." - - /// - /// Whether to add a child sensor for raycast-based observations, in the forward direction. - /// - public virtual bool UseChildSensorForward - { - get { return _baseUseChildSensorForward; } - protected set { _baseUseChildSensorForward = value; } - } - private bool _baseUseChildSensorForward = true; - - /// - /// How many rays to use for a child sensor in the forward direction. - /// - public virtual int ChildSensorForwardRaysPerDirection - { - get { return _baseChildSensorForwardRaysPerDirection; } - protected set { _baseChildSensorForwardRaysPerDirection = value; } - } - private int _baseChildSensorForwardRaysPerDirection = 6; - - /// - /// The maximum length of the rays for a child sensor in the forward direction. - /// - public virtual float ChildSensorForwardRayLength - { - get { return _baseChildSensorForwardRaysLength; } - protected set { _baseChildSensorForwardRaysLength = value; } - } - private float _baseChildSensorForwardRaysLength = 20.0f; - - /// - /// The tags that should be detectable by raycasting in the forward direction. - /// - public virtual List ChildSensorForwardDetectableTags - { - get { return _baseChildSensorForwardDetectableTags; } - protected set { _baseChildSensorForwardDetectableTags = value; } - } - private List _baseChildSensorForwardDetectableTags = new List() { "Untagged" }; - - [Tooltip("Camera showing what the agent sees")] - public Camera agentCamera; - - [Tooltip("Whether in training mode (or, alternativelys, game mode)")] - public bool trainingMode = true; - - // Whether the agent is frozen (intentionally not moving) - protected bool _frozen = false; - - protected Rigidbody _agentRigidbody; - - /// - /// Called after the Setup function for the arena (the class derived from ). - /// Creates new objects or updates existing objects. - /// - /// - public virtual void Setup(IEasyMLSetupHelper helper) - { - gameObject.name = "Agent"; - helper.CreateTag(TAG_AGENT); - gameObject.tag = TAG_AGENT; - - const string CAMERA_NAME = "AgentCamera"; - Transform cameraTransform = transform.Find(CAMERA_NAME); - if (cameraTransform == null) - { - GameObject cameraObject = new GameObject(); - cameraObject.name = CAMERA_NAME; - cameraObject.transform.parent = transform; - Camera camera = cameraObject.AddComponent(); - camera.nearClipPlane = 0.01f; - camera.farClipPlane = 1000.0f; - } - - BoxCollider collider = gameObject.GetComponent(); - if (collider == null) - { - if (ColliderSize != Vector3.zero) - { - collider = gameObject.AddComponent(); - collider.size = ColliderSize; - } - } - else - { - if (ColliderSize != Vector3.zero) - { - collider.size = ColliderSize; - } - else - { - DestroyImmediate(collider); - } - } - - MaxStep = 5000; - - BehaviorParameters behavior = GetComponent() as BehaviorParameters; - if (behavior != null) - { - behavior.BehaviorName = BehaviorName; - behavior.BrainParameters.VectorObservationSize = VectorObservationSize; - behavior.BrainParameters.ActionSpec = new ActionSpec(VectorActionSize); - - const string SENSOR_OBJECT_NAME = "RaysForward"; - - behavior.UseChildSensors = UseChildSensorForward; - if (behavior.UseChildSensors) - { - Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); - GameObject raySensorObject; - if (raySensorTransform == null) - { - raySensorObject = new GameObject(); - raySensorObject.name = SENSOR_OBJECT_NAME; - raySensorObject.transform.parent = transform; - } - else - { - raySensorObject = raySensorTransform.gameObject; - } - - RayPerceptionSensorComponent3D sensor = raySensorObject.GetComponent(); - if (sensor == null) - { - sensor = raySensorObject.AddComponent(); - } - sensor.RaysPerDirection = ChildSensorForwardRaysPerDirection; - // A radius of 0 chooses ray casting rather than sphere casting. - sensor.SphereCastRadius = 0; - sensor.RayLength = ChildSensorForwardRayLength; - - // TODO: Detect if `ChildSensorDectableTags` is overriden, and issue a warning if not? - sensor.DetectableTags = ChildSensorForwardDetectableTags; - } - else - { - Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); - if (raySensorTransform != null) - { - DestroyImmediate(raySensorTransform.gameObject); - } - } - } - } - - /// - /// Called once by ML-Agents when the agent is first enabled at the start of training. - /// - public override void Initialize() - { - Debug.Log("FetchAgent.Initialize"); - - base.Initialize(); - - agentCamera = GetComponentInChildren(); - _agentRigidbody = GetComponent(); - if (!trainingMode) - { - // If not in training mode, play forever. - MaxStep = 0; - } - } - - /// - /// Called by ML-Agents each time an episode begins. Used to trigger random placement - /// of objects in the arena (the class derived from ). - /// - public override void OnEpisodeBegin() - { - Debug.Log("FetchAgent.OnEpisodeBegin"); - - base.OnEpisodeBegin(); - - if (trainingMode) - { - // With each new episode the items in the arena should be placed randomly. - // It seems that this method is the place to do so, because the delegate - // `Academy.Instance.OnEnvironmentReset` seems to be called only at the - // very start of training and not with each new episode, despite what is - // suggested in the documentation. - - Transform current = transform.parent; - while (current != null) - { - EasyMLArena arena = current.gameObject.GetComponent(); - if (arena != null) - { - arena.PlaceRandomly(); - break; - } - current = current.parent; - } - } - - // Stop movement before a new episode begins. - if (_agentRigidbody != null) - { - _agentRigidbody.velocity = Vector3.zero; - _agentRigidbody.angularVelocity = Vector3.zero; - } - } - - /// - /// Called when an action is received from either the player input or the neural network. - /// A derived class must override this function to generate the agent motion indicated - /// by the action values. It is also common to call AddReward in this function. - /// - /// Action to take - /// - public override void OnActionReceived(ActionBuffers actions) - { - // In the derived class implementation use `actions.ContinuousActions[i]`. - throw new MissingMethodException(); - } - - /// - /// A derived class must override this function to call sensor.AddObservation(X) with - /// X being each relevant observation from the environment. Note that the number of - /// observations must equal the VectorObservationSize property. - /// - /// The vector sensor - public override void CollectObservations(VectorSensor sensor) - { - // In the derived class implementation use `sensor.AddObservation(X)` - // Consider using `Debug.Assert(VectorObservationSize == 9, "Incorrect observation count")` - throw new MissingMethodException(); - } - - /// - /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, - /// then this function will be called. Its return value will be fed into - /// instead of using the neural network - /// - /// An output action buffer - public override void Heuristic(in ActionBuffers actionsOut) - { - // In the derived class implementation use: - // ``` - // float[] continuouActions = actionsOut.ContinuousActions; - // continuouActions[0] = x; - // ``` - throw new MissingMethodException(); - } - - /// - /// Prevents the agent from moving and taking actions. - /// - public void FreezeAgent() - { - Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); - _frozen = true; - _agentRigidbody.Sleep(); - } - - /// - /// Resumes movement and actions. - /// - public void UnfreezeAgent() - { - Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); - _frozen = false; - _agentRigidbody.WakeUp(); - } - } -} diff --git a/Runtime/FetchGamePhysicsMuJoCoAgent.cs b/Runtime/FetchGamePhysicsMuJoCoAgent.cs new file mode 100644 index 0000000..c263ba5 --- /dev/null +++ b/Runtime/FetchGamePhysicsMuJoCoAgent.cs @@ -0,0 +1,285 @@ +using System; +using System.Collections.Generic; +using Unity.MLAgents; +using Unity.MLAgents.Actuators; +using Unity.MLAgents.Policies; +using Unity.MLAgents.Sensors; +using Janelia; +using UnityEngine; + +public abstract class FetchGamePhysicsMuJoCoAgent : Agent +{ + /// + /// The given to an agent derived from + /// + public static readonly string TAG_AGENT = "Agent"; + + /// + /// This behavior name must match the subsection name under "behaviors" in trainer_config.yaml. + /// + public abstract string BehaviorName { get; protected set; } + + /// + /// The number of observations added in + /// (and remember that one counts as 3 observations). + /// + public abstract int VectorObservationSize { get; protected set; } + + /// + /// The number of observations added in + /// (and remember that one counts as 3 observations). + /// + public abstract int VectorActionSize { get; protected set; } + + // The following properties are not abstract, because there are sensible default values + // if the derived class does not want to override them. But the possibility that they + // might be overridden means that it does not work to make these "auto-implemented properties" + // with a compiler-generated anonymous backing field. Then overriding any of these properties + // in a derived class seems to generate another backing field with the same internal name, and + // Unity gives an error: + // "The same field name is serialized multiple times in the class or its parent class." + + /// + /// Whether to add a child sensor for raycast-based observations, in the forward direction. + /// + public virtual bool UseChildSensorForward + { + get { return _baseUseChildSensorForward; } + protected set { _baseUseChildSensorForward = value; } + } + private bool _baseUseChildSensorForward = true; + + /// + /// How many rays to use for a child sensor in the forward direction. + /// + public virtual int ChildSensorForwardRaysPerDirection + { + get { return _baseChildSensorForwardRaysPerDirection; } + protected set { _baseChildSensorForwardRaysPerDirection = value; } + } + private int _baseChildSensorForwardRaysPerDirection = 6; + + /// + /// The maximum length of the rays for a child sensor in the forward direction. + /// + public virtual float ChildSensorForwardRayLength + { + get { return _baseChildSensorForwardRaysLength; } + protected set { _baseChildSensorForwardRaysLength = value; } + } + private float _baseChildSensorForwardRaysLength = 20.0f; + + /// + /// The tags that should be detectable by raycasting in the forward direction. + /// + public virtual List ChildSensorForwardDetectableTags + { + get { return _baseChildSensorForwardDetectableTags; } + protected set { _baseChildSensorForwardDetectableTags = value; } + } + private List _baseChildSensorForwardDetectableTags = new List() { "Untagged" }; + + [Tooltip("Camera showing what the agent sees")] + public Camera agentCamera; + + [Tooltip("Whether in training mode (or, alternatively, game mode)")] + public bool trainingMode = true; + + // Whether the agent is frozen (intentionally not moving) + protected bool _frozen = false; + + protected Rigidbody _agentRigidbody; + + /// + /// Called after the Setup function for the arena (the class derived from ). + /// Creates new objects or updates existing objects. + /// + /// + public virtual void Setup(IEasyMLSetupHelper helper) + { + gameObject.name = "Agent"; + helper.CreateTag(TAG_AGENT); + gameObject.tag = TAG_AGENT; + + const string CAMERA_NAME = "AgentCamera"; + Transform cameraTransform = transform.Find(CAMERA_NAME); + if (cameraTransform == null) + { + GameObject cameraObject = new GameObject(); + cameraObject.name = CAMERA_NAME; + cameraObject.transform.parent = transform; + Camera camera = cameraObject.AddComponent(); + camera.nearClipPlane = 0.01f; + camera.farClipPlane = 1000.0f; + } + + MaxStep = 5000; + + BehaviorParameters behavior = GetComponent() as BehaviorParameters; + if (behavior != null) + { + behavior.BehaviorName = BehaviorName; + behavior.BrainParameters.VectorObservationSize = VectorObservationSize; + behavior.BrainParameters.ActionSpec = new ActionSpec(VectorActionSize); + + const string SENSOR_OBJECT_NAME = "RaysForward"; + + behavior.UseChildSensors = UseChildSensorForward; + if (behavior.UseChildSensors) + { + Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + GameObject raySensorObject; + if (raySensorTransform == null) + { + raySensorObject = new GameObject(); + raySensorObject.name = SENSOR_OBJECT_NAME; + raySensorObject.transform.parent = transform; + } + else + { + raySensorObject = raySensorTransform.gameObject; + } + + RayPerceptionSensorComponent3D sensor = raySensorObject.GetComponent(); + if (sensor == null) + { + sensor = raySensorObject.AddComponent(); + } + sensor.RaysPerDirection = ChildSensorForwardRaysPerDirection; + // A radius of 0 chooses ray casting rather than sphere casting. + sensor.SphereCastRadius = 0; + sensor.RayLength = ChildSensorForwardRayLength; + + // TODO: Detect if `ChildSensorDectableTags` is overriden, and issue a warning if not? + sensor.DetectableTags = ChildSensorForwardDetectableTags; + } + else + { + Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + if (raySensorTransform != null) + { + DestroyImmediate(raySensorTransform.gameObject); + } + } + } + } + + /// + /// Called once by ML-Agents when the agent is first enabled at the start of training. + /// + public override void Initialize() + { + Debug.Log("FetchAgent.Initialize"); + + base.Initialize(); + + agentCamera = GetComponentInChildren(); + _agentRigidbody = GetComponent(); + if (!trainingMode) + { + // If not in training mode, play forever. + MaxStep = 0; + } + } + + /// + /// Called by ML-Agents each time an episode begins. Used to trigger random placement + /// of objects in the arena (the class derived from ). + /// + public override void OnEpisodeBegin() + { + Debug.Log("FetchAgent.OnEpisodeBegin"); + + base.OnEpisodeBegin(); + + if (trainingMode) + { + // With each new episode the items in the arena should be placed randomly. + // It seems that this method is the place to do so, because the delegate + // `Academy.Instance.OnEnvironmentReset` seems to be called only at the + // very start of training and not with each new episode, despite what is + // suggested in the documentation. + + Transform current = transform.parent; + while (current != null) + { + EasyMLArena arena = current.gameObject.GetComponent(); + if (arena != null) + { + arena.PlaceRandomly(); + break; + } + current = current.parent; + } + } + + // Stop movement before a new episode begins. + if (_agentRigidbody != null) + { + _agentRigidbody.velocity = Vector3.zero; + _agentRigidbody.angularVelocity = Vector3.zero; + } + } + + /// + /// Called when an action is received from either the player input or the neural network. + /// A derived class must override this function to generate the agent motion indicated + /// by the action values. It is also common to call AddReward in this function. + /// + /// Action to take + /// + public override void OnActionReceived(ActionBuffers actions) + { + // In the derived class implementation use `actions.ContinuousActions[i]`. + throw new MissingMethodException(); + } + + /// + /// A derived class must override this function to call sensor.AddObservation(X) with + /// X being each relevant observation from the environment. Note that the number of + /// observations must equal the VectorObservationSize property. + /// + /// The vector sensor + public override void CollectObservations(VectorSensor sensor) + { + // In the derived class implementation use `sensor.AddObservation(X)` + // Consider using `Debug.Assert(VectorObservationSize == 9, "Incorrect observation count")` + throw new MissingMethodException(); + } + + /// + /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, + /// then this function will be called. Its return value will be fed into + /// instead of using the neural network + /// + /// An output action buffer + public override void Heuristic(in ActionBuffers actionsOut) + { + // In the derived class implementation use: + // ``` + // float[] continuouActions = actionsOut.ContinuousActions; + // continuouActions[0] = x; + // ``` + throw new MissingMethodException(); + } + + /// + /// Prevents the agent from moving and taking actions. + /// + public void FreezeAgent() + { + Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); + _frozen = true; + _agentRigidbody.Sleep(); + } + + /// + /// Resumes movement and actions. + /// + public void UnfreezeAgent() + { + Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); + _frozen = false; + _agentRigidbody.WakeUp(); + } +} From d7c1eed55a65131663b306978492a467171acbdb Mon Sep 17 00:00:00 2001 From: Chenxi Date: Mon, 27 Jun 2022 09:31:24 -0700 Subject: [PATCH 04/13] Only agent and floor uses Mujoco physics. --- Runtime/FetchGamePhysicsAntAgent.cs | 418 ------------------ Runtime/FetchGamePhysicsMuJoCoAgent.cs | 285 ------------ Runtime/FetchGamePhysicsTrainingAgent.cs | 271 +++++++++--- Runtime/FetchGamePhysicsTrainingArena.cs | 4 + ...ia.FetchGamePhysicsTraining.Runtime.asmdef | 10 +- mujoco.dll | Bin 0 -> 2472848 bytes 6 files changed, 227 insertions(+), 761 deletions(-) delete mode 100644 Runtime/FetchGamePhysicsAntAgent.cs delete mode 100644 Runtime/FetchGamePhysicsMuJoCoAgent.cs create mode 100644 mujoco.dll diff --git a/Runtime/FetchGamePhysicsAntAgent.cs b/Runtime/FetchGamePhysicsAntAgent.cs deleted file mode 100644 index 7efc2a8..0000000 --- a/Runtime/FetchGamePhysicsAntAgent.cs +++ /dev/null @@ -1,418 +0,0 @@ -using System.Collections.Generic; -using Unity.MLAgents; -using Unity.MLAgents.Actuators; -using Unity.MLAgents.Policies; -using Unity.MLAgents.Sensors; -using UnityEngine; - -/// -/// A trainable agent for the fetch game: -/// -/// -public class FetchGamePhysicsAntAgent : FetchGamePhysicsMuJoCoAgent -{ - - - - /// - /// The size of the agent's body mesh. If the body covers [-S/2, S/2] in a dimension - /// then the size should be S in that dimension. - /// - public virtual Vector3 BodyScale - { - get { return _groundedBodyScale; } - protected set { _groundedBodyScale = value; } - } - private Vector3 _groundedBodyScale = new Vector3(0.1f, 0.1f, 0.1f); - - /// - /// The color of the agent's body mesh. - /// - public virtual string BodyColor - { - get { return _groundedBodyColor; } - protected set { _groundedBodyColor = value; } - } - private string _groundedBodyColor = "#ff0000"; - - /// - /// The agent's collider's static friction. - /// - public virtual float StaticFriction - { - get { return _groundedStaticFriction; } - protected set { _groundedStaticFriction = value; } - } - private float _groundedStaticFriction = 0.15f; - - /// - /// The agent's collider's dynamic friction. - /// - public virtual float DynamicFriction - { - get { return _groundedDynamicFriction; } - protected set { _groundedDynamicFriction = value; } - } - private float _groundedDynamicFriction = 0.15f; - - /// - /// The direction of the force on the agent for forward movement. - /// - public virtual Vector3 MoveForwardDirection - { - get { return transform.forward; } - } - - /// - /// Called after the Setup function for the arena (the class derived from ). - /// If a derived class needs to override this function for further setup, it should call base.Setup. - /// Creates new objects or updates existing objects. - /// - /// - public override void Setup(Janelia.IEasyMLSetupHelper helper) - { - // `ColliderSize` is set here, in case the derived `Setup` changes `BodyScale`. - ColliderSize = BodyScale; - - base.Setup(helper); - gameObject.name = "AntAgent"; - - const string BODY_NAME = "Body"; - Transform bodyTransform = transform.Find(BODY_NAME); - GameObject body; - if (bodyTransform == null) - { - Instantiate("Assets/Prefabs/Ant.prefab", body.transform); - body = GameObject.Find("Ant"); - body.name = BODY_NAME; - body.transform.parent = transform; - } - else - { - body = bodyTransform.gameObject; - } - - helper.CreateColorMaterial(body, BodyColor); - body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); - - // Put the overall agent position at the back and bottom of the body and its collider. - // Doing so helps to keep the agent from "tipping" forward or backward when a force is applied. - float y = BodyScale.y / 2; - body.transform.localPosition = new Vector3(0, y, 0); - - Camera childCamera = GetComponentInChildren(); - if (childCamera != null) - { - childCamera.transform.localPosition = new Vector3(0, 2 * y, y); - } - } - - /// - /// Called when an action is received from either the player input or the neural network. - /// It is also common to assign a reward in this method. - /// - /// Action to take - /// - public override void OnActionReceived(ActionBuffers actions) - { - if (_frozen) - { - return; - } - - float moveChange = actions.ContinuousActions[0]; - Vector3 dir = (moveChange > 0) ? MoveForwardDirection : transform.forward; - _agentRigidbody.AddForce(moveChange * moveForce * dir); - - // Changes to yaw (Y rotation) are smoothed over multiple frames. - - float yawChange = actions.ContinuousActions[1]; - Vector3 rotationVector = transform.rotation.eulerAngles; - _smoothYawChange = Mathf.MoveTowards(_smoothYawChange, yawChange, 2.0f * Time.fixedDeltaTime); - float yaw = rotationVector.y + _smoothYawChange * Time.fixedDeltaTime * yawSpeed; - - transform.rotation = Quaternion.Euler(0.0f, yaw, 0.0f); - } - - /// - /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, - /// then this function will be called. Its return value will be fed into - /// and the neural network is ignored. - /// - /// An output action buffer - public override void Heuristic(in ActionBuffers actionsOut) - { - /// Log an error to show that Heuristic is not supported. - Debug.LogError("Heuristic is not supported for this agent.", this); - } - - - - - - - public override string BehaviorName { get; protected set; } = "FetchGamePhysics"; - - public override int VectorObservationSize { get; protected set; } = 6; - - public override int VectorActionSize - { - get { return _antVectorActionSize; } - protected set { _antVectorActionSize = value; } - } - private int _antVectorActionSize = 2; - -#if false - // Overriding this virtual property would be an alternative to setting its value in `Setup`, but - // the latter seems simpler, and `Setup` is needed for a few other purposes anyway. - public override List ChildSensorForwardDetectableTags { get; protected set; } = new List() - { - FetchGamePhysicsTrainingArena.TAG_BOUNDARY, - FetchGamePhysicsTrainingArena.TAG_RAMP - }; -#endif - - private GameObject _ball; - private Rigidbody _ballRigidBody; - private float fieldOfViewDegree; - - /// - /// Called after the Setup function for ). - /// - /// - public override void Setup(Janelia.IEasyMLSetupHelper helper) - { - // Before calling `EasyMLAgentGrounded.Setup` (as `base.Setup`) override some parameters - // it will use. - ChildSensorForwardDetectableTags = new List() - { - FetchGamePhysicsTrainingArena.TAG_BOUNDARY, - FetchGamePhysicsTrainingArena.TAG_RAMP, - FetchGamePhysicsTrainingArena.TAG_OBSTACLE - }; - ChildSensorForwardRayLength = GetTurfDiameter(); - BodyColor = "#4b3c39"; - - base.Setup(helper); - - Transform raySensorTransform = transform.Find("RaysForward"); - if (raySensorTransform != null) - { - raySensorTransform.localPosition = new Vector3(0, BodyScale.y, BodyScale.z / 2); - } - - // With timestep of 0.02, 4 stacked observations amounts to raysensor observation of the past 0.5 second. - GameObject raySensor = GameObject.Find("RaysForward"); - RayPerceptionSensorComponent3D raySensorComponent = raySensor.GetComponent(); - raySensorComponent.ObservationStacks = 4; - - BehaviorParameters behavior = GetComponent() as BehaviorParameters; - behavior.BrainParameters.NumStackedVectorObservations = 4; - - moveForce = 7.0f; - } - - /// - /// Called every time the Agent receives an action to take. Receives the action chosen by the Agent. - /// It is also common to assign a reward in this method. - /// - /// Action to take - public override void OnActionReceived(ActionBuffers actions) - { - // The `EasyMLAgentGround` base class handles everything except the assignment of rewards. - base.OnActionReceived(actions); - - // https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#rewards-summary--best-practices - // "If you want the agent to finish a task quickly, it is often helpful to provide a small penalty every step - // (-0.05) that the agent does not complete the task. In this case completion of the task should also coincide - // with the end of the episode by calling EndEpisode() on the agent when it has accomplished its goal." - // Also, the total penalty over all the steps should not exceed 1. - - float perStepPenalty = -1.0f / (float)MaxStep; - AddReward(perStepPenalty); - - if (_ball != null) - { - float ballFetchedThreshold = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_fetched_threshold", 0.0f); - float thresholdDistance = ballFetchedThreshold * GetTurfDiameter(); - float distanceToBall = Vector3.Distance(transform.position, _ball.transform.position); - - if (distanceToBall < thresholdDistance) - { - Debug.Log(transform.parent.name + " distance " + distanceToBall + " is within ball_fetched_threshold distance " + thresholdDistance); - AddFetchedReward(); - } - } - } - - /// - /// Collects vector observations from the environment. - /// - /// The vector sensor - public override void CollectObservations(VectorSensor sensor) - { - float ballObserved = IsBallObservable() ? 1 : 0; - if ((_ball == null) || (_ballRigidBody == null) || (ballObserved == 0)) - { - sensor.AddObservation(new float[VectorObservationSize]); - return; - } - - // Indicator that encodes if the agent can see the ball with 1 indicating yes and 0 if not. - sensor.AddObservation(ballObserved); - - // Normalize observations to [0, 1] or [-1, 1] - // https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#normalization - - Vector3 toBall = _ball.transform.position - transform.position; - float angleForward = SignedAngleNormalized(transform.forward, toBall); - // One observation - sensor.AddObservation(angleForward); - - // One observation - // Dividing makes it a relative distance - float turfDiameter = GetTurfDiameter(); - sensor.AddObservation(toBall.magnitude / turfDiameter); - - Vector3 ballVelocity = _ballRigidBody.velocity; - - // Angle will be 0 if the ball is moving directly away from the agent, - // or if the ball is not moving. Angle will be negative if the ball is moving - // to the left of the agent's forward direction, and positive for the right. - // Angle will be 1 (or maybe -1) if the ball is moving directly towards the agent. - float angleVelocity = SignedAngleNormalized(transform.forward, ballVelocity); - // One observation - sensor.AddObservation(angleVelocity); - - // Normalize - float agentSpeed = _agentRigidbody.velocity.magnitude / turfDiameter; - float ballSpeed = ballVelocity.magnitude / turfDiameter; - - // But this normalization may make the values very small, so use a heuristic to increase them - float speedScale = 4.0f; - agentSpeed = Mathf.Clamp01(agentSpeed * speedScale); - ballSpeed = Mathf.Clamp01(ballSpeed * speedScale); - - // One observation - sensor.AddObservation(agentSpeed); - // One observation - sensor.AddObservation(ballSpeed); - } - - /// - /// Called on the frame when a script is enabled just before any of the Update methods - /// are called the first time. - /// - private void Start() - { - Debug.Log(transform.parent.name + " FetchAgent.Start"); - - GameObject arena = transform.parent.gameObject; - _ball = Janelia.EasyMLRuntimeUtils.FindChildWithTag(arena, FetchGamePhysicsTrainingArena.TAG_BALL); - - _ballRigidBody = _ball.GetComponent(); - - // Set the field of view degree (single direction) from the MaxRayDegree used by the raySensor. - GameObject raySensor = GameObject.Find("RaysForward"); - fieldOfViewDegree = raySensor != null ? raySensor.GetComponent().MaxRayDegrees : 70; - - // Make the agent camera view be consistent with the actual field of view set. - Camera agentCamera = GameObject.Find("AgentCamera").GetComponent(); - agentCamera.fieldOfView = fieldOfViewDegree / agentCamera.aspect * 2; - } - - /// - /// Called when the agent collides with another scene object. - /// - /// The collision info - private void OnCollisionEnter(Collision collision) - { - Collider c = collision.collider; - if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BALL)) - { - // Disable any collision response that might put the ball or agent in a bad position. - _ballRigidBody.Sleep(); - _agentRigidbody.Sleep(); - - if (trainingMode) - { - AddFetchedReward(); - } - } - - // TODO: There is no penalty for a collision with the obstacle, to keep training from being - // too difficult. Is this approach right? Should there be no penalty for any collision? - if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BOUNDARY) || c.CompareTag(FetchGamePhysicsTrainingArena.TAG_RAMP)) - { - if (trainingMode) - { - Debug.Log(transform.parent.name + " adding collision penalty"); - AddReward(-0.5f); - } - } - } - - // private void OnCollisionStay(Collision collision) - // { - // if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) - // { - // // When colliding with the obstacle, hack the movement force direction to make - // // the agent slide along the obstacle instead of getting stuck on it. The algorithm - // // assumes the obstacle is a plane. - // Vector3 v = Vector3.ProjectOnPlane(transform.forward, collision.gameObject.transform.right); - // v.Normalize(); - // _moveForwardDirection = v; - // } - // } - - // private void OnCollisionExit(Collision collision) - // { - // if (collision.collider.CompareTag(FetchGamePhysicsTrainingArena.TAG_OBSTACLE)) - // { - // // When there is no more collison with the obstacle, go back to the standard - // // movement force direction. - // _moveForwardDirection = Vector3.zero; - // } - // } - - private void AddFetchedReward() - { - Vector3 toBall = (_ball.transform.position - transform.position); - float speed_bonus_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("speed_bonus", 0.8f); - float orientation_bonus = 0.5f * (1 - speed_bonus_proportion) * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); - float speed_bonus = 0.5f * speed_bonus_proportion * (1 - StepCount / MaxStep); - AddReward(0.5f + orientation_bonus + speed_bonus); - Debug.Log(transform.parent.name + " successfully complete task with reward: " + GetCumulativeReward()); - EndEpisode(); - } - - private float GetTurfDiameter() - { - FetchGamePhysicsTrainingArena fetchArena = GetComponentInParent(); - return (fetchArena != null) ? 2.0f * fetchArena.TurfRadius : 1.0f; - } - - private float SignedAngleNormalized(Vector3 a, Vector3 b) - { - return Vector3.SignedAngle(a, b, transform.up) / 180; - // // [0, 180] for left or right - // float angleBetween = Vector3.Angle(a.normalized, b.normalized); - // // Negative for left - // Vector3 cross = Vector3.Cross(a, b); - // float sign = Mathf.Sign(Vector3.Dot(cross, transform.up)); - // return sign * angleBetween / 180; - } - - private bool IsBallObservable() - { - Vector3 rayInit = transform.TransformPoint(BodyScale / 3); - Vector3 toBall = _ball.transform.position - rayInit; - float distance = toBall.magnitude - _ball.transform.localScale.x; - float angleToBall = Vector3.SignedAngle(transform.forward, toBall, transform.up); - bool atFront = angleToBall < fieldOfViewDegree && angleToBall > -fieldOfViewDegree; - RaycastHit hit; - bool blocked = Physics.Raycast(rayInit, toBall, out hit, distance, Physics.DefaultRaycastLayers, QueryTriggerInteraction.Ignore); - if (blocked) Debug.Log("Raycast hit " + hit.collider); - return atFront && !blocked; - } -} diff --git a/Runtime/FetchGamePhysicsMuJoCoAgent.cs b/Runtime/FetchGamePhysicsMuJoCoAgent.cs deleted file mode 100644 index c263ba5..0000000 --- a/Runtime/FetchGamePhysicsMuJoCoAgent.cs +++ /dev/null @@ -1,285 +0,0 @@ -using System; -using System.Collections.Generic; -using Unity.MLAgents; -using Unity.MLAgents.Actuators; -using Unity.MLAgents.Policies; -using Unity.MLAgents.Sensors; -using Janelia; -using UnityEngine; - -public abstract class FetchGamePhysicsMuJoCoAgent : Agent -{ - /// - /// The given to an agent derived from - /// - public static readonly string TAG_AGENT = "Agent"; - - /// - /// This behavior name must match the subsection name under "behaviors" in trainer_config.yaml. - /// - public abstract string BehaviorName { get; protected set; } - - /// - /// The number of observations added in - /// (and remember that one counts as 3 observations). - /// - public abstract int VectorObservationSize { get; protected set; } - - /// - /// The number of observations added in - /// (and remember that one counts as 3 observations). - /// - public abstract int VectorActionSize { get; protected set; } - - // The following properties are not abstract, because there are sensible default values - // if the derived class does not want to override them. But the possibility that they - // might be overridden means that it does not work to make these "auto-implemented properties" - // with a compiler-generated anonymous backing field. Then overriding any of these properties - // in a derived class seems to generate another backing field with the same internal name, and - // Unity gives an error: - // "The same field name is serialized multiple times in the class or its parent class." - - /// - /// Whether to add a child sensor for raycast-based observations, in the forward direction. - /// - public virtual bool UseChildSensorForward - { - get { return _baseUseChildSensorForward; } - protected set { _baseUseChildSensorForward = value; } - } - private bool _baseUseChildSensorForward = true; - - /// - /// How many rays to use for a child sensor in the forward direction. - /// - public virtual int ChildSensorForwardRaysPerDirection - { - get { return _baseChildSensorForwardRaysPerDirection; } - protected set { _baseChildSensorForwardRaysPerDirection = value; } - } - private int _baseChildSensorForwardRaysPerDirection = 6; - - /// - /// The maximum length of the rays for a child sensor in the forward direction. - /// - public virtual float ChildSensorForwardRayLength - { - get { return _baseChildSensorForwardRaysLength; } - protected set { _baseChildSensorForwardRaysLength = value; } - } - private float _baseChildSensorForwardRaysLength = 20.0f; - - /// - /// The tags that should be detectable by raycasting in the forward direction. - /// - public virtual List ChildSensorForwardDetectableTags - { - get { return _baseChildSensorForwardDetectableTags; } - protected set { _baseChildSensorForwardDetectableTags = value; } - } - private List _baseChildSensorForwardDetectableTags = new List() { "Untagged" }; - - [Tooltip("Camera showing what the agent sees")] - public Camera agentCamera; - - [Tooltip("Whether in training mode (or, alternatively, game mode)")] - public bool trainingMode = true; - - // Whether the agent is frozen (intentionally not moving) - protected bool _frozen = false; - - protected Rigidbody _agentRigidbody; - - /// - /// Called after the Setup function for the arena (the class derived from ). - /// Creates new objects or updates existing objects. - /// - /// - public virtual void Setup(IEasyMLSetupHelper helper) - { - gameObject.name = "Agent"; - helper.CreateTag(TAG_AGENT); - gameObject.tag = TAG_AGENT; - - const string CAMERA_NAME = "AgentCamera"; - Transform cameraTransform = transform.Find(CAMERA_NAME); - if (cameraTransform == null) - { - GameObject cameraObject = new GameObject(); - cameraObject.name = CAMERA_NAME; - cameraObject.transform.parent = transform; - Camera camera = cameraObject.AddComponent(); - camera.nearClipPlane = 0.01f; - camera.farClipPlane = 1000.0f; - } - - MaxStep = 5000; - - BehaviorParameters behavior = GetComponent() as BehaviorParameters; - if (behavior != null) - { - behavior.BehaviorName = BehaviorName; - behavior.BrainParameters.VectorObservationSize = VectorObservationSize; - behavior.BrainParameters.ActionSpec = new ActionSpec(VectorActionSize); - - const string SENSOR_OBJECT_NAME = "RaysForward"; - - behavior.UseChildSensors = UseChildSensorForward; - if (behavior.UseChildSensors) - { - Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); - GameObject raySensorObject; - if (raySensorTransform == null) - { - raySensorObject = new GameObject(); - raySensorObject.name = SENSOR_OBJECT_NAME; - raySensorObject.transform.parent = transform; - } - else - { - raySensorObject = raySensorTransform.gameObject; - } - - RayPerceptionSensorComponent3D sensor = raySensorObject.GetComponent(); - if (sensor == null) - { - sensor = raySensorObject.AddComponent(); - } - sensor.RaysPerDirection = ChildSensorForwardRaysPerDirection; - // A radius of 0 chooses ray casting rather than sphere casting. - sensor.SphereCastRadius = 0; - sensor.RayLength = ChildSensorForwardRayLength; - - // TODO: Detect if `ChildSensorDectableTags` is overriden, and issue a warning if not? - sensor.DetectableTags = ChildSensorForwardDetectableTags; - } - else - { - Transform raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); - if (raySensorTransform != null) - { - DestroyImmediate(raySensorTransform.gameObject); - } - } - } - } - - /// - /// Called once by ML-Agents when the agent is first enabled at the start of training. - /// - public override void Initialize() - { - Debug.Log("FetchAgent.Initialize"); - - base.Initialize(); - - agentCamera = GetComponentInChildren(); - _agentRigidbody = GetComponent(); - if (!trainingMode) - { - // If not in training mode, play forever. - MaxStep = 0; - } - } - - /// - /// Called by ML-Agents each time an episode begins. Used to trigger random placement - /// of objects in the arena (the class derived from ). - /// - public override void OnEpisodeBegin() - { - Debug.Log("FetchAgent.OnEpisodeBegin"); - - base.OnEpisodeBegin(); - - if (trainingMode) - { - // With each new episode the items in the arena should be placed randomly. - // It seems that this method is the place to do so, because the delegate - // `Academy.Instance.OnEnvironmentReset` seems to be called only at the - // very start of training and not with each new episode, despite what is - // suggested in the documentation. - - Transform current = transform.parent; - while (current != null) - { - EasyMLArena arena = current.gameObject.GetComponent(); - if (arena != null) - { - arena.PlaceRandomly(); - break; - } - current = current.parent; - } - } - - // Stop movement before a new episode begins. - if (_agentRigidbody != null) - { - _agentRigidbody.velocity = Vector3.zero; - _agentRigidbody.angularVelocity = Vector3.zero; - } - } - - /// - /// Called when an action is received from either the player input or the neural network. - /// A derived class must override this function to generate the agent motion indicated - /// by the action values. It is also common to call AddReward in this function. - /// - /// Action to take - /// - public override void OnActionReceived(ActionBuffers actions) - { - // In the derived class implementation use `actions.ContinuousActions[i]`. - throw new MissingMethodException(); - } - - /// - /// A derived class must override this function to call sensor.AddObservation(X) with - /// X being each relevant observation from the environment. Note that the number of - /// observations must equal the VectorObservationSize property. - /// - /// The vector sensor - public override void CollectObservations(VectorSensor sensor) - { - // In the derived class implementation use `sensor.AddObservation(X)` - // Consider using `Debug.Assert(VectorObservationSize == 9, "Incorrect observation count")` - throw new MissingMethodException(); - } - - /// - /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, - /// then this function will be called. Its return value will be fed into - /// instead of using the neural network - /// - /// An output action buffer - public override void Heuristic(in ActionBuffers actionsOut) - { - // In the derived class implementation use: - // ``` - // float[] continuouActions = actionsOut.ContinuousActions; - // continuouActions[0] = x; - // ``` - throw new MissingMethodException(); - } - - /// - /// Prevents the agent from moving and taking actions. - /// - public void FreezeAgent() - { - Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); - _frozen = true; - _agentRigidbody.Sleep(); - } - - /// - /// Resumes movement and actions. - /// - public void UnfreezeAgent() - { - Debug.Assert(trainingMode == false, "Freeze/unfreeze not supported when training"); - _frozen = false; - _agentRigidbody.WakeUp(); - } -} diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index b289e31..d850b29 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -3,18 +3,68 @@ using Unity.MLAgents.Actuators; using Unity.MLAgents.Policies; using Unity.MLAgents.Sensors; +using Mujoco; +using Janelia; +using UnityEditor; using UnityEngine; /// /// A trainable agent for the fetch game: /// /// -public class FetchGamePhysicsTrainingAgent : Janelia.EasyMLAgentGrounded +public class FetchGamePhysicsTrainingAgent : EasyMLAgentGrounded { + /// + /// The color of the agent's body mesh. + /// + public override string BodyColor + { + get { return _antBodyColor; } + protected set { _antBodyColor = value; } + } + private string _antBodyColor = "#ff0000"; + + /// + /// The size of the BoxCollider given to the agent by default. Note that a value S in + /// any of the dimensions means the box covers [-S/2, S/2] in that dimension. + /// A value of Vector3.zero prevents the collider from being added. + /// + public override Vector3 ColliderSize + { + get { return _colliderSize; } + protected set { _colliderSize = value; } + } + private Vector3 _colliderSize = Vector3.zero; + + /// + /// The direction of the force on the agent for forward movement. + /// + public override Vector3 MoveForwardDirection + { + get { return transform.forward; } + } + + /// + /// The actuators of the agent. + /// + private MjActuator[] _actuators + { + get { return gameObject.GetComponentsInChildren(); } + } + public override string BehaviorName { get; protected set; } = "FetchGamePhysics"; public override int VectorObservationSize { get; protected set; } = 6; + public override int VectorActionSize + { + get { return _antVectorActionSize; } + protected set { _antVectorActionSize = value; } + } + private int _antVectorActionSize = 8; + + public static string ModelName { get; protected set; } = "Ant"; + #if false // Overriding this virtual property would be an alternative to setting its value in `Setup`, but // the latter seems simpler, and `Setup` is needed for a few other purposes anyway. @@ -25,15 +75,6 @@ public class FetchGamePhysicsTrainingAgent : Janelia.EasyMLAgentGrounded }; #endif - /// - /// Supports adjusting the force direction to fake sliding along the obstacle. - /// - public override Vector3 MoveForwardDirection - { - get { return (_moveForwardDirection != Vector3.zero) ? _moveForwardDirection : transform.forward; } - } - private Vector3 _moveForwardDirection; - private GameObject _ball; private Rigidbody _ballRigidBody; private float fieldOfViewDegree; @@ -55,9 +96,122 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) ChildSensorForwardRayLength = GetTurfDiameter(); BodyColor = "#4b3c39"; - base.Setup(helper); + helper.CreateTag(TAG_AGENT); + gameObject.tag = TAG_AGENT; + const string CAMERA_NAME = "AgentCamera"; + Transform cameraTransform = transform.Find(CAMERA_NAME); + if (cameraTransform == null) + { + GameObject cameraObject = new GameObject(); + cameraObject.name = CAMERA_NAME; + cameraObject.transform.parent = transform; + Camera camera = cameraObject.AddComponent(); + camera.nearClipPlane = 0.01f; + camera.farClipPlane = 1000.0f; + } + + BoxCollider collider = gameObject.GetComponent(); + if (collider == null) + { + if (ColliderSize != Vector3.zero) + { + collider = gameObject.AddComponent(); + collider.size = ColliderSize; + } + } + else + { + if (ColliderSize != Vector3.zero) + { + collider.size = ColliderSize; + } + else + { + DestroyImmediate(collider); + } + } + + MaxStep = 5000; - Transform raySensorTransform = transform.Find("RaysForward"); + Transform raySensorTransform; + const string SENSOR_OBJECT_NAME = "RaysForward"; + BehaviorParameters behavior = GetComponent() as BehaviorParameters; + if (behavior != null) + { + behavior.BehaviorName = BehaviorName; + behavior.BrainParameters.VectorObservationSize = VectorObservationSize; + behavior.BrainParameters.ActionSpec = new ActionSpec(VectorActionSize); + behavior.BrainParameters.NumStackedVectorObservations = 4; + + behavior.UseChildSensors = UseChildSensorForward; + + if (behavior.UseChildSensors) + { + raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + GameObject raySensorObject; + if (raySensorTransform == null) + { + raySensorObject = new GameObject(); + raySensorObject.name = SENSOR_OBJECT_NAME; + raySensorObject.transform.parent = transform; + } + else + { + raySensorObject = raySensorTransform.gameObject; + } + + RayPerceptionSensorComponent3D sensor = raySensorObject.GetComponent(); + if (sensor == null) + { + sensor = raySensorObject.AddComponent(); + } + sensor.RaysPerDirection = ChildSensorForwardRaysPerDirection; + // A radius of 0 chooses ray casting rather than sphere casting. + sensor.SphereCastRadius = 0; + sensor.RayLength = ChildSensorForwardRayLength; + + // TODO: Detect if `ChildSensorDectableTags` is overriden, and issue a warning if not? + sensor.DetectableTags = ChildSensorForwardDetectableTags; + + raySensorObject.transform.localPosition = ChildSensorSourceOffset; + } + else + { + raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + if (raySensorTransform != null) + { + DestroyImmediate(raySensorTransform.gameObject); + } + } + } + + gameObject.name = "AntAgent"; + const string BODY_NAME = "Body"; + Transform bodyTransform = transform.Find(BODY_NAME); + GameObject body; + + if (bodyTransform == null) + { + GameObject modelPrefab = AssetDatabase.LoadAssetAtPath("Assets/Prefabs/" + ModelName + ".prefab", typeof(GameObject)) as GameObject; + body = GameObject.Instantiate(modelPrefab, Vector3.zero, Quaternion.identity, transform); + body.name = BODY_NAME; + } else + { + body = bodyTransform.gameObject; + } + + // Put the overall agent position at the back and bottom of the body and its collider. + // Doing so helps to keep the agent from "tipping" forward or backward when a force is applied. + float y = BodyScale.y / 2; + body.transform.localPosition = new Vector3(0, y, 0); + + Camera childCamera = GetComponentInChildren(); + if (childCamera != null) + { + childCamera.transform.localPosition = new Vector3(0, 2 * y, y); + } + + raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); if (raySensorTransform != null) { raySensorTransform.localPosition = new Vector3(0, BodyScale.y, BodyScale.z / 2); @@ -66,12 +220,7 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) // With timestep of 0.02, 4 stacked observations amounts to raysensor observation of the past 0.5 second. GameObject raySensor = GameObject.Find("RaysForward"); RayPerceptionSensorComponent3D raySensorComponent = raySensor.GetComponent(); - raySensorComponent.ObservationStacks = 4; - - BehaviorParameters behavior = GetComponent() as BehaviorParameters; - behavior.BrainParameters.NumStackedVectorObservations = 4; - - moveForce = 7.0f; + raySensorComponent.ObservationStacks = 4; } /// @@ -81,9 +230,18 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) /// Action to take public override void OnActionReceived(ActionBuffers actions) { - // The `EasyMLAgentGround` base class handles everything except the assignment of rewards. base.OnActionReceived(actions); + if (_frozen) + { + return; + } + + for (int index = 0; index < _actuators.Length; index++) + { + _actuators[index].Control = actions.ContinuousActions[index] * Time.fixedDeltaTime; + } + // https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#rewards-summary--best-practices // "If you want the agent to finish a task quickly, it is often helpful to provide a small penalty every step // (-0.05) that the agent does not complete the task. In this case completion of the task should also coincide @@ -161,6 +319,17 @@ public override void CollectObservations(VectorSensor sensor) sensor.AddObservation(ballSpeed); } + /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, + /// then this function will be called. Its return value will be fed into + /// and the neural network is ignored. + /// + /// An output action buffer + public override void Heuristic(in ActionBuffers actionsOut) + { + /// Log an error to show that Heuristic is not supported. + Debug.Log("Heuristic is not supported for this agent.", this); + } + /// /// Called on the frame when a script is enabled just before any of the Update methods /// are called the first time. @@ -183,36 +352,36 @@ private void Start() agentCamera.fieldOfView = fieldOfViewDegree / agentCamera.aspect * 2; } - /// - /// Called when the agent collides with another scene object. - /// - /// The collision info - private void OnCollisionEnter(Collision collision) - { - Collider c = collision.collider; - if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BALL)) - { - // Disable any collision response that might put the ball or agent in a bad position. - _ballRigidBody.Sleep(); - _agentRigidbody.Sleep(); - - if (trainingMode) - { - AddFetchedReward(); - } - } + // /// + // /// Called when the agent collides with another scene object. + // /// + // /// The collision info + // private void OnCollisionEnter(Collision collision) + // { + // Collider c = collision.collider; + // if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BALL)) + // { + // // Disable any collision response that might put the ball or agent in a bad position. + // _ballRigidBody.Sleep(); + // _agentRigidbody.Sleep(); + + // if (trainingMode) + // { + // AddFetchedReward(); + // } + // } - // TODO: There is no penalty for a collision with the obstacle, to keep training from being - // too difficult. Is this approach right? Should there be no penalty for any collision? - if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BOUNDARY) || c.CompareTag(FetchGamePhysicsTrainingArena.TAG_RAMP)) - { - if (trainingMode) - { - Debug.Log(transform.parent.name + " adding collision penalty"); - AddReward(-0.5f); - } - } - } + // // TODO: There is no penalty for a collision with the obstacle, to keep training from being + // // too difficult. Is this approach right? Should there be no penalty for any collision? + // if (c.CompareTag(FetchGamePhysicsTrainingArena.TAG_BOUNDARY) || c.CompareTag(FetchGamePhysicsTrainingArena.TAG_RAMP)) + // { + // if (trainingMode) + // { + // Debug.Log(transform.parent.name + " adding collision penalty"); + // AddReward(-0.5f); + // } + // } + // } // private void OnCollisionStay(Collision collision) // { @@ -257,12 +426,6 @@ private float GetTurfDiameter() private float SignedAngleNormalized(Vector3 a, Vector3 b) { return Vector3.SignedAngle(a, b, transform.up) / 180; - // // [0, 180] for left or right - // float angleBetween = Vector3.Angle(a.normalized, b.normalized); - // // Negative for left - // Vector3 cross = Vector3.Cross(a, b); - // float sign = Mathf.Sign(Vector3.Dot(cross, transform.up)); - // return sign * angleBetween / 180; } private bool IsBallObservable() diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index 079fc89..212a9de 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -333,6 +333,10 @@ private void PlaceAgent() float rampPadding = Mathf.Max(_rampSize.x, _rampSize.z); safe = Vector3.Distance(ramp.transform.localPosition, p) > padding + rampPadding; } + if (attempts == 100) + { + Debug.LogError("Could not place agent in safe configuration."); + } float angleLocalY = angle + 180; if (angleLocalY > 360) diff --git a/Runtime/JohnsonLabJanelia.FetchGamePhysicsTraining.Runtime.asmdef b/Runtime/JohnsonLabJanelia.FetchGamePhysicsTraining.Runtime.asmdef index 2551956..32815fd 100644 --- a/Runtime/JohnsonLabJanelia.FetchGamePhysicsTraining.Runtime.asmdef +++ b/Runtime/JohnsonLabJanelia.FetchGamePhysicsTraining.Runtime.asmdef @@ -1,10 +1,11 @@ { "name": "JohnsonLabJanelia.FetchGamePhysicsTraining.Runtime", + "rootNamespace": "", "references": [ "Janelia.Easy-ml-agents.Runtime", - "Unity.ML-Agents" + "Unity.ML-Agents", + "Mujoco.Runtime" ], - "optionalUnityReferences": 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ze$O{q{L%`yxc7yl^I7Zuu;|&VWyGPNsxZCyc{K;hGY&XU7n}?|dfTV9;r%Y#om{Fy zT|b?AIr)m*m^DI%HB8L=3eLOGx z#+QUmJ+*1R`cjQrpF^@?Vfu+$8lkOhmRN6m<~?ke8Rs2u=%^fy=B3$%56-ttUXT)J zwc%F((brbI=@Rphy=G1qezJUQ8vA`a{%7H$#kaImuK(d)IVQC>`$47Il9W$-*SejQ zUb@@U_I1~uc&yD{KS@7*HMNX+y-Xi>@z>a2QPQMub49`C8~W)_qMG;IICaQieDd<# zvPLC^lm8ed^?p4w)$MhZN!1Z2za96^o#O3oJI`R~faSuw7O5kh?^pa$SoN{rE?H1V z`>%&xsHDb|AK3_9(!3g5nXtmIRNcFyXJOV_XWOmEC)Tdh$;};kj&{v|b#3N0E&Dmg z6jOtSX{xGMGXzSS$HbJjSVov=#Qb(^iN zf4}E07vdI0+B(Ly=rryqtI&e}w5h$ Date: Wed, 29 Jun 2022 15:01:59 -0700 Subject: [PATCH 05/13] First working and building edition of mujoco agent --- Runtime/FetchGamePhysicsTrainingAgent.cs | 131 ++++++++++--- Runtime/FetchGamePhysicsTrainingArena.cs | 56 ++++-- trainer_config_mj.yaml | 230 +++++++++++++++++++++++ 3 files changed, 367 insertions(+), 50 deletions(-) create mode 100644 trainer_config_mj.yaml diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index d850b29..4bedb75 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -19,10 +19,10 @@ public class FetchGamePhysicsTrainingAgent : EasyMLAgentGrounded ///

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    •  public override string BodyColor { - get { return _antBodyColor; } - protected set { _antBodyColor = value; } + get { return _walkerBodyColor; } + protected set { _walkerBodyColor = value; } } - private string _antBodyColor = "#ff0000"; + private string _walkerBodyColor = "#ff0000"; /// /// The size of the BoxCollider given to the agent by default. Note that a value S in @@ -44,6 +44,17 @@ public override Vector3 MoveForwardDirection get { return transform.forward; } } + /// + /// The size of the agent's body mesh. If the body covers [-S/2, S/2] in a dimension + /// then the size should be S in that dimension. + /// + public override Vector3 BodyScale + { + get { return _walkerBodyScale; } + protected set { _walkerBodyScale = value; } + } + private Vector3 _walkerBodyScale = new Vector3(0.1f, 0.1f, 0.1f); + /// /// The actuators of the agent. /// @@ -54,16 +65,18 @@ private MjActuator[] _actuators public override string BehaviorName { get; protected set; } = "FetchGamePhysics"; + const string BODY_NAME = "Body"; + public override int VectorObservationSize { get; protected set; } = 6; public override int VectorActionSize { - get { return _antVectorActionSize; } - protected set { _antVectorActionSize = value; } + get { return _walkerVectorActionSize; } + protected set { _walkerVectorActionSize = value; } } - private int _antVectorActionSize = 8; + private int _walkerVectorActionSize = 8; - public static string ModelName { get; protected set; } = "Ant"; + public static string ModelName { get; protected set; } = "Walker"; #if false // Overriding this virtual property would be an alternative to setting its value in `Setup`, but @@ -77,7 +90,11 @@ public override int VectorActionSize private GameObject _ball; private Rigidbody _ballRigidBody; + private Transform _bodyTransform; private float fieldOfViewDegree; + private Transform[] allChildrenTransform; + private Dictionary positionDict = new Dictionary(); + private Dictionary rotationDict = new Dictionary(); /// /// Called after the Setup function for ). @@ -185,36 +202,37 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) } } - gameObject.name = "AntAgent"; - const string BODY_NAME = "Body"; - Transform bodyTransform = transform.Find(BODY_NAME); - GameObject body; - - if (bodyTransform == null) + gameObject.name = "WalkerAgent"; + _bodyTransform = transform.Find(BODY_NAME); + GameObject _body; + if (_bodyTransform == null) { - GameObject modelPrefab = AssetDatabase.LoadAssetAtPath("Assets/Prefabs/" + ModelName + ".prefab", typeof(GameObject)) as GameObject; - body = GameObject.Instantiate(modelPrefab, Vector3.zero, Quaternion.identity, transform); - body.name = BODY_NAME; + GameObject modelPrefab = helper.LoadPrefab(ModelName); + _body = GameObject.Instantiate(modelPrefab, Vector3.zero, Quaternion.identity, transform); + _body.name = BODY_NAME; } else { - body = bodyTransform.gameObject; + _body = _bodyTransform.gameObject; } + _body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); // Put the overall agent position at the back and bottom of the body and its collider. // Doing so helps to keep the agent from "tipping" forward or backward when a force is applied. float y = BodyScale.y / 2; - body.transform.localPosition = new Vector3(0, y, 0); + _body.transform.localPosition = new Vector3(0, y, 0); Camera childCamera = GetComponentInChildren(); if (childCamera != null) { childCamera.transform.localPosition = new Vector3(0, 2 * y, y); + childCamera.transform.parent = _body.transform; } raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); if (raySensorTransform != null) { raySensorTransform.localPosition = new Vector3(0, BodyScale.y, BodyScale.z / 2); + raySensorTransform.parent = _body.transform; } // With timestep of 0.02, 4 stacked observations amounts to raysensor observation of the past 0.5 second. @@ -236,10 +254,23 @@ public override void OnActionReceived(ActionBuffers actions) { return; } + if (Vector3.Distance(_ball.transform.localPosition, new Vector3(0, _ball.transform.localPosition.y, 0)) > GetTurfDiameter() * 0.45f) + { + Debug.Log("Ball falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); + EndEpisode(); + return; + } + if (Vector3.Distance(_bodyTransform.position, new Vector3(0,_bodyTransform.position.y, 0)) > GetTurfDiameter() * 0.45f) + { + SetReward(-1.0f); + Debug.Log("Agent falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); + EndEpisode(); + return; + } for (int index = 0; index < _actuators.Length; index++) { - _actuators[index].Control = actions.ContinuousActions[index] * Time.fixedDeltaTime; + _actuators[index].Control = Mathf.Clamp(actions.ContinuousActions[index], -1.0f, 1.0f) * Time.fixedDeltaTime; } // https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#rewards-summary--best-practices @@ -248,19 +279,19 @@ public override void OnActionReceived(ActionBuffers actions) // with the end of the episode by calling EndEpisode() on the agent when it has accomplished its goal." // Also, the total penalty over all the steps should not exceed 1. - float perStepPenalty = -1.0f / (float)MaxStep; + float perStepPenalty = -1.0f / (float) MaxStep; AddReward(perStepPenalty); if (_ball != null) { - float ballFetchedThreshold = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_fetched_threshold", 0.0f); + float ballFetchedThreshold = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_fetched_threshold", 0.02f); float thresholdDistance = ballFetchedThreshold * GetTurfDiameter(); float distanceToBall = Vector3.Distance(transform.position, _ball.transform.position); if (distanceToBall < thresholdDistance) { Debug.Log(transform.parent.name + " distance " + distanceToBall + " is within ball_fetched_threshold distance " + thresholdDistance); - AddFetchedReward(); + SetFetchedReward(); } } } @@ -305,16 +336,16 @@ public override void CollectObservations(VectorSensor sensor) sensor.AddObservation(angleVelocity); // Normalize - float agentSpeed = _agentRigidbody.velocity.magnitude / turfDiameter; + // float agentSpeed = _agentRigidbody.velocity.magnitude / turfDiameter; float ballSpeed = ballVelocity.magnitude / turfDiameter; // But this normalization may make the values very small, so use a heuristic to increase them float speedScale = 4.0f; - agentSpeed = Mathf.Clamp01(agentSpeed * speedScale); + // agentSpeed = Mathf.Clamp01(agentSpeed * speedScale); ballSpeed = Mathf.Clamp01(ballSpeed * speedScale); // One observation - sensor.AddObservation(agentSpeed); + // sensor.AddObservation(agentSpeed); // One observation sensor.AddObservation(ballSpeed); } @@ -341,8 +372,6 @@ private void Start() GameObject arena = transform.parent.gameObject; _ball = Janelia.EasyMLRuntimeUtils.FindChildWithTag(arena, FetchGamePhysicsTrainingArena.TAG_BALL); - _ballRigidBody = _ball.GetComponent(); - // Set the field of view degree (single direction) from the MaxRayDegree used by the raySensor. GameObject raySensor = GameObject.Find("RaysForward"); fieldOfViewDegree = raySensor != null ? raySensor.GetComponent().MaxRayDegrees : 70; @@ -350,6 +379,36 @@ private void Start() // Make the agent camera view be consistent with the actual field of view set. Camera agentCamera = GameObject.Find("AgentCamera").GetComponent(); agentCamera.fieldOfView = fieldOfViewDegree / agentCamera.aspect * 2; + + allChildrenTransform = transform.GetComponentsInChildren(); + foreach (Transform childTransform in allChildrenTransform) + { + positionDict.Add(childTransform, childTransform.localPosition); + rotationDict.Add(childTransform, childTransform.localRotation); + } + + _bodyTransform = transform.Find(BODY_NAME); + } + + /// + /// Called by ML-Agents each time an episode begins. Used to trigger random placement + /// of objects in the arena (the class derived from ). + /// + public override void OnEpisodeBegin() + { + GameObject scene = GameObject.Find("MjScene"); + if (scene != null) + { + scene.GetComponent().DestroyScene(); + } + + base.OnEpisodeBegin(); + + if (scene != null) + { + scene.GetComponent().DestroyScene(); + scene.GetComponent().CreateScene(); + } } // /// @@ -367,7 +426,7 @@ private void Start() // if (trainingMode) // { - // AddFetchedReward(); + // SetFetchedReward(); // } // } @@ -406,13 +465,14 @@ private void Start() // } // } - private void AddFetchedReward() + private void SetFetchedReward() { Vector3 toBall = (_ball.transform.position - transform.position); float speed_bonus_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("speed_bonus", 0.8f); float orientation_bonus = 0.5f * (1 - speed_bonus_proportion) * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); - float speed_bonus = 0.5f * speed_bonus_proportion * (1 - StepCount / MaxStep); - AddReward(0.5f + orientation_bonus + speed_bonus); + float speed_bonus = 0.5f * speed_bonus_proportion * (1 - ((float) StepCount / (float) MaxStep)); + float final_reward = 0.5f + orientation_bonus + speed_bonus - 1.0f * ((float) StepCount / (float) MaxStep); + SetReward(final_reward); Debug.Log(transform.parent.name + " successfully complete task with reward: " + GetCumulativeReward()); EndEpisode(); } @@ -440,4 +500,13 @@ private bool IsBallObservable() if (blocked) Debug.Log("Raycast hit " + hit.collider); return atFront && !blocked; } + + private void ResetAgentState() + { + foreach (Transform childTransform in allChildrenTransform) + { + childTransform.localPosition = positionDict[childTransform]; + childTransform.localRotation = rotationDict[childTransform]; + } + } } diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index 212a9de..d322126 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -1,5 +1,6 @@ using Unity.MLAgents; using UnityEngine; +using Mujoco; /// /// An arena for training an agent in the fetch game: @@ -32,6 +33,7 @@ public float TurfRadius public bool ballOnRamp = true; public bool ballInitVel = false; + public float minBallInitVelMagnitude = 0.5f; public float maxBallInitVelMagnitude = 2.5f; /// @@ -80,6 +82,15 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) } } + private void LateUpdate() + { + GameObject scene = GameObject.Find("MjScene"); + if (scene != null) + { + scene.GetComponent().SyncUnityToMjState(); + } + } + private void Reparent() { GameObject simpleArena = Reparent("SimpleArena"); @@ -256,20 +267,12 @@ private void PlaceBall() GameObject ball = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_BALL); if (ball != null) { - Rigidbody ballRigidbody = ball.GetComponent(); - if (ballRigidbody != null) + // Reset the ball to its original orientation for stable behavior in Mujoco. + for (int index = 0; index < ball.transform.childCount; index++) { - float maxVel = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_max_angular_velocity", 7.0f); - ballRigidbody.maxAngularVelocity = maxVel; - - if (ballInitVel) - { - float angle = UnityEngine.Random.Range(0, 360); - float speed = UnityEngine.Random.Range(1.0f, maxBallInitVelMagnitude); - Vector3 v = Matrix4x4.Rotate(Quaternion.Euler(0, angle, 0)).MultiplyVector(Vector3.forward); - v *= speed; - ballRigidbody.velocity = v; - } + Transform ballChild = ball.transform.GetChild(index); + ballChild.localRotation = Quaternion.identity; + ballChild.localPosition = Vector3.zero; } GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); @@ -286,9 +289,9 @@ private void PlaceBall() } else { float angle = UnityEngine.Random.Range(0, 360); - float distance = UnityEngine.Random.Range(0, _turfRadius * 0.95f); + float distance = UnityEngine.Random.Range(0, _turfRadius * 0.85f); ball.transform.localEulerAngles = new Vector3(0, angle, 0); - ball.transform.localPosition = new Vector3(0, ramp.transform.localPosition.y + _rampSize.y + 2 * _ballRadius, distance); + ball.transform.localPosition = new Vector3(0, ramp.transform.localPosition.y + 1.0f * _ballRadius, distance); } } } @@ -299,12 +302,26 @@ private void PlaceAgent() if (agent != null) { Transform agentBody = agent.transform.Find("Body"); - Vector3 agentScale = (agentBody != null) ? agentBody.localScale : Vector3.one; GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); + + // Reset the agent to its original orientation for stable behavior in Mujoco. + for (int index = 0; index < agentBody.childCount; index++) + { + Transform agentChild = agentBody.GetChild(index); + agentChild.localRotation = Quaternion.identity; + agentChild.localPosition = Vector3.zero; + } + + // Multiplied by 2 because the agent is larger than the corresponding ideal Unity objects. + Vector3 agentScale = (agentBody != null) ? Vector3.Scale(agentBody.localScale, new Vector3(3.5f, 3.5f, 3.5f)) : Vector3.one; bool safe = false; float angle = 0; int attempts = 0; + GameObject ball = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_BALL); + float ballFetchedThreshold = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_fetched_threshold", 0.02f); + float thresholdDistance = ballFetchedThreshold * TurfRadius * 2.0f; + while (!safe && (attempts++ < 100)) { angle = UnityEngine.Random.Range(0, 360); @@ -313,7 +330,7 @@ private void PlaceAgent() if ((ramp != null) && (UnityEngine.Random.value < AGENT_EASY_CASE_PROBABILITY)) { p = ramp.transform.localPosition; - float d = UnityEngine.Random.Range(_rampSize.z, p.magnitude + _turfRadius - padding); + float d = UnityEngine.Random.Range(_rampSize.z, p.magnitude + _turfRadius - padding) * 0.9f; // Minus because `ramp.transform.forward` points out from the turf center. Vector3 q = -ramp.transform.forward; p += d * q; @@ -331,7 +348,8 @@ private void PlaceAgent() // Continue trying placements until there is a safe configuration, with the agent's // body not overlapping the ramp. float rampPadding = Mathf.Max(_rampSize.x, _rampSize.z); - safe = Vector3.Distance(ramp.transform.localPosition, p) > padding + rampPadding; + float distanceToBall = Vector3.Distance(agent.transform.position, ball.transform.position); + safe = (Vector3.Distance(ramp.transform.localPosition, p) > padding + rampPadding) & (distanceToBall > thresholdDistance); } if (attempts == 100) { @@ -404,7 +422,7 @@ private void PlaceObstacle() // If there is no room along the vector to the agent, give up on having the obstacle // block the agent's view of the ball. Transform agentBody = agent.transform.Find("Body"); - Vector3 agentScale = (agentBody != null) ? agentBody.localScale : Vector3.one; + Vector3 agentScale = (agentBody != null) ? Vector3.Scale(agentBody.localScale, new Vector3(3.5f, 3.5f, 3.5f)) : Vector3.one; Vector3 offset = toAgentRight; offset += toAgentRight.normalized * (obstacle.transform.localScale.x + agentScale.x); diff --git a/trainer_config_mj.yaml b/trainer_config_mj.yaml new file mode 100644 index 0000000..0501ed0 --- /dev/null +++ b/trainer_config_mj.yaml @@ -0,0 +1,230 @@ +behaviors: + FetchGamePhysics: + trainer_type: ppo + hyperparameters: + batch_size: 2048 + buffer_size: 20480 + learning_rate: 0.0003 + beta: 0.005 + epsilon: 0.2 + lambd: 0.95 + num_epoch: 3 + learning_rate_schedule: linear + beta_schedule: linear + epsilon_schedule: linear + network_settings: + normalize: false + hidden_units: 256 + num_layers: 2 + vis_encode_type: simple + goal_conditioning_type: hyper + deterministic: false + reward_signals: + extrinsic: + gamma: 0.99 + strength: 1.0 + network_settings: + normalize: false + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + goal_conditioning_type: hyper + deterministic: false + rnd: + learning_rate: 3e-4 + strength: 0.01 + gamma: 0.99 + network_settings: + normalize: false + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + goal_conditioning_type: hyper + deterministic: false + keep_checkpoints: 5 + checkpoint_interval: 1000000 + max_steps: 5000000 + time_horizon: 128 + summary_freq: 10000 + threaded: false +environment_parameters: + obstacle_scale_vs_ramp: + curriculum: + - name: LessonA + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 250 + threshold: 0 + value: 0.3 + - name: LessonB + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 200 + threshold: 0.2 + value: 0.4 + - name: LessonC + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.4 + value: 0.5 + - name: LessonD + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.6 + value: 0.55 + - name: LessonE + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 0.6 + - name: LessonF + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 0.65 + - name: LessonG + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.8 + value: 0.67 + - name: LessonFinal + value: 0.7 + ball_fetched_threshold: + curriculum: + - name: LessonA + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 250 + threshold: 0 + value: 0.25 + - name: LessonB + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 200 + threshold: 0.2 + value: 0.22 + - name: LessonC + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.4 + value: 0.18 + - name: LessonD + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.6 + value: 0.16 + - name: LessonE + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 0.12 + - name: LessonF + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 0.05 + - name: LessonG + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.8 + value: 0.025 + - name: LessonFinal + value: 0.02 + speed_bonus: + curriculum: + - name: LessonA + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 250 + threshold: 0 + value: 0.1 + - name: LessonB + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 200 + threshold: 0.2 + value: 0.12 + - name: LessonC + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.4 + value: 0.15 + - name: LessonD + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 150 + threshold: 0.6 + value: 0.18 + - name: LessonE + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 0.2 + - name: LessonF + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 0.25 + - name: LessonG + completion_criteria: + measure: reward + behavior: FetchGamePhysics + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.8 + value: 0.3 + - name: LessonFinal + value: 0.5 From a514b3c4db52bd28daf8c8effd98c1cf5ab2cda9 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Wed, 29 Jun 2022 16:51:05 -0700 Subject: [PATCH 06/13] Commented out a failed attempt for LateUpdate --- Runtime/FetchGamePhysicsTrainingArena.cs | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index d322126..c74f7fb 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -82,14 +82,14 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) } } - private void LateUpdate() - { - GameObject scene = GameObject.Find("MjScene"); - if (scene != null) - { - scene.GetComponent().SyncUnityToMjState(); - } - } + // private void LateUpdate() + // { + // GameObject scene = GameObject.Find("MjScene"); + // if (scene != null) + // { + // scene.GetComponent().SyncUnityToMjState(); + // } + // } private void Reparent() { From 69f2abca9a5bb544e6d41e016d339ed5f9a713b1 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Fri, 1 Jul 2022 13:28:14 -0700 Subject: [PATCH 07/13] Fixes a bug in calling the agent has fallen out --- Runtime/FetchGamePhysicsTrainingAgent.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 4bedb75..754a651 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -260,7 +260,7 @@ public override void OnActionReceived(ActionBuffers actions) EndEpisode(); return; } - if (Vector3.Distance(_bodyTransform.position, new Vector3(0,_bodyTransform.position.y, 0)) > GetTurfDiameter() * 0.45f) + if (Vector3.Distance(transform.localPosition, new Vector3(0,transform.localPosition.y, 0)) > GetTurfDiameter() * 0.45f) { SetReward(-1.0f); Debug.Log("Agent falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); From c104c85deb24d6318ae69f4b39d1cbf4d3ffe0c5 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Thu, 7 Jul 2022 10:38:38 -0700 Subject: [PATCH 08/13] Added a movement distance reward for early lessons --- Runtime/FetchGamePhysicsTrainingAgent.cs | 32 ++++++++++++++++++------ 1 file changed, 25 insertions(+), 7 deletions(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 754a651..49e26cf 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -93,6 +93,7 @@ public override int VectorActionSize private Transform _bodyTransform; private float fieldOfViewDegree; private Transform[] allChildrenTransform; + private Vector3 _episodeStartPosition; private Dictionary positionDict = new Dictionary(); private Dictionary rotationDict = new Dictionary(); @@ -256,13 +257,14 @@ public override void OnActionReceived(ActionBuffers actions) } if (Vector3.Distance(_ball.transform.localPosition, new Vector3(0, _ball.transform.localPosition.y, 0)) > GetTurfDiameter() * 0.45f) { + AddMovementReward(); Debug.Log("Ball falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); EndEpisode(); return; } if (Vector3.Distance(transform.localPosition, new Vector3(0,transform.localPosition.y, 0)) > GetTurfDiameter() * 0.45f) { - SetReward(-1.0f); + AddReward(-1.0f * (1 - ((float) StepCount / (float) MaxStep))); Debug.Log("Agent falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); EndEpisode(); return; @@ -291,8 +293,13 @@ public override void OnActionReceived(ActionBuffers actions) if (distanceToBall < thresholdDistance) { Debug.Log(transform.parent.name + " distance " + distanceToBall + " is within ball_fetched_threshold distance " + thresholdDistance); - SetFetchedReward(); + AddMovementReward(); + AddFetchedReward(); } + } else if (StepCount == MaxStep - 1) + { + // Add a movement distance reward at the end of the episode if nothing falls out of the field but ball is not fetched. + AddMovementReward(); } } @@ -396,6 +403,8 @@ private void Start() /// public override void OnEpisodeBegin() { + // I'm not sure if this is the best way to do this (destroying the scene and creating it). But it works. + // TODO: Find a better way to do this. GameObject scene = GameObject.Find("MjScene"); if (scene != null) { @@ -403,7 +412,8 @@ public override void OnEpisodeBegin() } base.OnEpisodeBegin(); - + _episodeStartPosition = transform.localPosition; + if (scene != null) { scene.GetComponent().DestroyScene(); @@ -426,7 +436,7 @@ public override void OnEpisodeBegin() // if (trainingMode) // { - // SetFetchedReward(); + // AddFetchedReward(); // } // } @@ -465,18 +475,26 @@ public override void OnEpisodeBegin() // } // } - private void SetFetchedReward() + private void AddFetchedReward() { Vector3 toBall = (_ball.transform.position - transform.position); float speed_bonus_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("speed_bonus", 0.8f); + float movement_reward_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("movement_reward", 0f); float orientation_bonus = 0.5f * (1 - speed_bonus_proportion) * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); float speed_bonus = 0.5f * speed_bonus_proportion * (1 - ((float) StepCount / (float) MaxStep)); - float final_reward = 0.5f + orientation_bonus + speed_bonus - 1.0f * ((float) StepCount / (float) MaxStep); - SetReward(final_reward); + float final_reward = 0.5f + orientation_bonus + speed_bonus; + AddReward(final_reward * (1 - movement_reward_proportion)); Debug.Log(transform.parent.name + " successfully complete task with reward: " + GetCumulativeReward()); EndEpisode(); } + private void AddMovementReward() + { + float movement_reward_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("movement_reward", 0f); + float movement_reward = movement_reward_proportion * Vector3.Distance(_episodeStartPosition, transform.localPosition) / GetTurfDiameter(); + AddReward(movement_reward); + } + private float GetTurfDiameter() { FetchGamePhysicsTrainingArena fetchArena = GetComponentInParent(); From 7c4669b11cceb75b884349514eed6a33ec9c40f5 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Mon, 11 Jul 2022 10:51:00 -0700 Subject: [PATCH 09/13] Automated walker arena generation --- Runtime/FetchGamePhysicsTrainingAgent.cs | 159 ++++++++++++++--------- Runtime/FetchGamePhysicsTrainingArena.cs | 61 ++++++--- 2 files changed, 140 insertions(+), 80 deletions(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 49e26cf..525736a 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -1,4 +1,5 @@ using System.Collections.Generic; +using static System.Array; using Unity.MLAgents; using Unity.MLAgents.Actuators; using Unity.MLAgents.Policies; @@ -58,16 +59,18 @@ public override Vector3 BodyScale /// /// The actuators of the agent. /// - private MjActuator[] _actuators - { - get { return gameObject.GetComponentsInChildren(); } - } + private MjActuator[] _actuators; + + /// + /// The sensors of the agent. + /// + private MjJointScalarSensor[] _sensors; public override string BehaviorName { get; protected set; } = "FetchGamePhysics"; - const string BODY_NAME = "Body"; + const string BODY_NAME = "torso"; - public override int VectorObservationSize { get; protected set; } = 6; + public override int VectorObservationSize { get; protected set; } = 19; public override int VectorActionSize { @@ -89,7 +92,6 @@ public override int VectorActionSize #endif private GameObject _ball; - private Rigidbody _ballRigidBody; private Transform _bodyTransform; private float fieldOfViewDegree; private Transform[] allChildrenTransform; @@ -113,11 +115,35 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) }; ChildSensorForwardRayLength = GetTurfDiameter(); BodyColor = "#4b3c39"; - helper.CreateTag(TAG_AGENT); gameObject.tag = TAG_AGENT; + gameObject.name = "WalkerAgent"; + + GameObject _body; + _bodyTransform = transform.Find(BODY_NAME); + if (_bodyTransform == null) + { + // Load the prefab and move the children gameobjects to the agent. + GameObject modelPrefab = helper.LoadPrefab(ModelName); + GameObject prefabGameObject = GameObject.Instantiate(modelPrefab, Vector3.zero, Quaternion.identity, transform); + while (prefabGameObject.transform.childCount > 0) + { + prefabGameObject.transform.GetChild(0).parent = transform; + } + DestroyImmediate(prefabGameObject); + _bodyTransform = transform.Find(BODY_NAME); + } + _body = _bodyTransform.gameObject; + _body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); + + // Move the Mujoco global settings outside of the arena since only one of this can exist. + GameObject mjGlobalSetting = GameObject.Find("Global Settings"); + mjGlobalSetting.transform.parent = null; + MjGlobalSettings mjGlobalSettingComponent = mjGlobalSetting.GetComponent(); + mjGlobalSettingComponent.GlobalOptions.Wind = Vector3.zero; + const string CAMERA_NAME = "AgentCamera"; - Transform cameraTransform = transform.Find(CAMERA_NAME); + Transform cameraTransform = _bodyTransform.Find(CAMERA_NAME); if (cameraTransform == null) { GameObject cameraObject = new GameObject(); @@ -165,13 +191,13 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) if (behavior.UseChildSensors) { - raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + raySensorTransform = _bodyTransform.Find(SENSOR_OBJECT_NAME); GameObject raySensorObject; if (raySensorTransform == null) { raySensorObject = new GameObject(); raySensorObject.name = SENSOR_OBJECT_NAME; - raySensorObject.transform.parent = transform; + raySensorObject.transform.parent = _bodyTransform; } else { @@ -190,7 +216,6 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) // TODO: Detect if `ChildSensorDectableTags` is overriden, and issue a warning if not? sensor.DetectableTags = ChildSensorForwardDetectableTags; - raySensorObject.transform.localPosition = ChildSensorSourceOffset; } else @@ -203,20 +228,6 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) } } - gameObject.name = "WalkerAgent"; - _bodyTransform = transform.Find(BODY_NAME); - GameObject _body; - if (_bodyTransform == null) - { - GameObject modelPrefab = helper.LoadPrefab(ModelName); - _body = GameObject.Instantiate(modelPrefab, Vector3.zero, Quaternion.identity, transform); - _body.name = BODY_NAME; - } else - { - _body = _bodyTransform.gameObject; - } - _body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); - // Put the overall agent position at the back and bottom of the body and its collider. // Doing so helps to keep the agent from "tipping" forward or backward when a force is applied. float y = BodyScale.y / 2; @@ -226,20 +237,19 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) if (childCamera != null) { childCamera.transform.localPosition = new Vector3(0, 2 * y, y); - childCamera.transform.parent = _body.transform; + childCamera.transform.parent = _bodyTransform; } - raySensorTransform = transform.Find(SENSOR_OBJECT_NAME); + raySensorTransform = _bodyTransform.Find(SENSOR_OBJECT_NAME); if (raySensorTransform != null) { raySensorTransform.localPosition = new Vector3(0, BodyScale.y, BodyScale.z / 2); - raySensorTransform.parent = _body.transform; - } + raySensorTransform.parent = _bodyTransform; - // With timestep of 0.02, 4 stacked observations amounts to raysensor observation of the past 0.5 second. - GameObject raySensor = GameObject.Find("RaysForward"); - RayPerceptionSensorComponent3D raySensorComponent = raySensor.GetComponent(); - raySensorComponent.ObservationStacks = 4; + // With timestep of 0.02, 4 stacked observations amounts to raysensor observation of the past 0.5 second. + RayPerceptionSensorComponent3D raySensorComponent = raySensorTransform.gameObject.GetComponent(); + raySensorComponent.ObservationStacks = 4; + } } /// @@ -295,12 +305,12 @@ public override void OnActionReceived(ActionBuffers actions) Debug.Log(transform.parent.name + " distance " + distanceToBall + " is within ball_fetched_threshold distance " + thresholdDistance); AddMovementReward(); AddFetchedReward(); + }else if (StepCount == MaxStep) + { + // Add a movement distance reward at the end of the episode if nothing falls out of the field but ball is not fetched. + AddMovementReward(); } - } else if (StepCount == MaxStep - 1) - { - // Add a movement distance reward at the end of the episode if nothing falls out of the field but ball is not fetched. - AddMovementReward(); - } + } } /// @@ -310,7 +320,7 @@ public override void OnActionReceived(ActionBuffers actions) public override void CollectObservations(VectorSensor sensor) { float ballObserved = IsBallObservable() ? 1 : 0; - if ((_ball == null) || (_ballRigidBody == null) || (ballObserved == 0)) + if ((_ball == null) || (ballObserved == 0)) { sensor.AddObservation(new float[VectorObservationSize]); return; @@ -332,29 +342,40 @@ public override void CollectObservations(VectorSensor sensor) float turfDiameter = GetTurfDiameter(); sensor.AddObservation(toBall.magnitude / turfDiameter); - Vector3 ballVelocity = _ballRigidBody.velocity; - - // Angle will be 0 if the ball is moving directly away from the agent, - // or if the ball is not moving. Angle will be negative if the ball is moving - // to the left of the agent's forward direction, and positive for the right. - // Angle will be 1 (or maybe -1) if the ball is moving directly towards the agent. - float angleVelocity = SignedAngleNormalized(transform.forward, ballVelocity); - // One observation - sensor.AddObservation(angleVelocity); - - // Normalize - // float agentSpeed = _agentRigidbody.velocity.magnitude / turfDiameter; - float ballSpeed = ballVelocity.magnitude / turfDiameter; - - // But this normalization may make the values very small, so use a heuristic to increase them - float speedScale = 4.0f; - // agentSpeed = Mathf.Clamp01(agentSpeed * speedScale); - ballSpeed = Mathf.Clamp01(ballSpeed * speedScale); - - // One observation - // sensor.AddObservation(agentSpeed); - // One observation - sensor.AddObservation(ballSpeed); + + // TODO: Fix the following observation by accessing the Mujoco version of these readings. + + // Vector3 ballVelocity = _ballRigidBody.velocity; + + // // Angle will be 0 if the ball is moving directly away from the agent, + // // or if the ball is not moving. Angle will be negative if the ball is moving + // // to the left of the agent's forward direction, and positive for the right. + // // Angle will be 1 (or maybe -1) if the ball is moving directly towards the agent. + // float angleVelocity = SignedAngleNormalized(transform.forward, ballVelocity); + // // One observation + // sensor.AddObservation(angleVelocity); + + // // Normalize + // // float agentSpeed = _agentRigidbody.velocity.magnitude / turfDiameter; + // float ballSpeed = ballVelocity.magnitude / turfDiameter; + + // // But this normalization may make the values very small, so use a heuristic to increase them + // float speedScale = 4.0f; + // // agentSpeed = Mathf.Clamp01(agentSpeed * speedScale); + // ballSpeed = Mathf.Clamp01(ballSpeed * speedScale); + + // // One observation + // // sensor.AddObservation(agentSpeed); + // // One observation + // sensor.AddObservation(ballSpeed); + + // Sixteen observations + // Eight actuators, each having both the position and velocity of the corresponding joint + foreach (MjJointScalarSensor mjJointScalarSensor in _sensors) + { + Debug.Log("Collecting sensor readings for joint " + mjJointScalarSensor.Joint.gameObject.name + " with value " + mjJointScalarSensor.SensorReading); + sensor.AddObservation((float) mjJointScalarSensor.SensorReading); + } } /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, @@ -394,6 +415,13 @@ private void Start() rotationDict.Add(childTransform, childTransform.localRotation); } + // Store the actuators and sensors and sort by name of the gameobject to ensure stable order of iteration. + _actuators = gameObject.GetComponentsInChildren(); + System.Array.Sort(_actuators, (x, y) => x.gameObject.name.CompareTo(y.gameObject.name)); + _sensors = gameObject.GetComponentsInChildren(); + System.Array.Sort(_sensors, (x, y) => x.gameObject.name.CompareTo(y.gameObject.name)); + Debug.Log("Found " + _actuators.Length + " actuators and " + _sensors.Length + " sensors."); + _bodyTransform = transform.Find(BODY_NAME); } @@ -412,7 +440,7 @@ public override void OnEpisodeBegin() } base.OnEpisodeBegin(); - _episodeStartPosition = transform.localPosition; + _episodeStartPosition = _bodyTransform.localPosition; if (scene != null) { @@ -491,8 +519,9 @@ private void AddFetchedReward() private void AddMovementReward() { float movement_reward_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("movement_reward", 0f); - float movement_reward = movement_reward_proportion * Vector3.Distance(_episodeStartPosition, transform.localPosition) / GetTurfDiameter(); + float movement_reward = movement_reward_proportion * Vector3.Distance(_episodeStartPosition, _bodyTransform.localPosition) / GetTurfDiameter(); AddReward(movement_reward); + Debug.Log(transform.parent.name + " movement reward: " + Vector3.Distance(_episodeStartPosition, _bodyTransform.localPosition) / GetTurfDiameter()); } private float GetTurfDiameter() diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index c74f7fb..9cdbfdf 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -25,6 +25,8 @@ public float TurfRadius private Vector3 _rampSize = Vector3.zero; private float _ballRadius = 0.0f; + private GameObject _mjTurf; + private GameObject _mjSphere; public static readonly float RAMP_ANGLE_WIGGLE_DEGS = 10.0f; public static readonly float AGENT_EASY_CASE_PROBABILITY = 0.0f; @@ -57,13 +59,15 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) FindTurfMetrics(); FindRampMetrics(); FindBallMetrics(); + CreateMjTurf(helper); + CreateMjSphere(helper); string title = "FetchGamePhysicsTraining Setup"; string message = "Use an obstacle during training?"; bool useObstacle = helper.DisplayDialog(title, message, "Yes", "No"); if (useObstacle) { - if ((Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_OBSTACLE) == null)) CreateObstacle(); + if ((Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_OBSTACLE) == null)) CreateObstacle(helper); } else { @@ -82,15 +86,6 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) } } - // private void LateUpdate() - // { - // GameObject scene = GameObject.Find("MjScene"); - // if (scene != null) - // { - // scene.GetComponent().SyncUnityToMjState(); - // } - // } - private void Reparent() { GameObject simpleArena = Reparent("SimpleArena"); @@ -116,7 +111,8 @@ private void Reparent() Reparent("Table"); Reparent("HollowCyl"); - GameObject sphere = Reparent("Sphere"); + // Using MjSphere instead of the regular sphere to work with the mujoco engine + GameObject sphere = Reparent("MjSphere"); if (sphere != null) { sphere.tag = TAG_BALL; @@ -153,6 +149,27 @@ private GameObject Reparent(string childName) return null; } + private void CreateMjTurf(Janelia.IEasyMLSetupHelper helper) + { + _mjTurf = GameObject.Find("MjTurf"); + if (_mjTurf == null) + { + _mjTurf = GameObject.Instantiate(helper.LoadPrefab("MjTurf"), transform); + _mjTurf.transform.localPosition = new Vector3(0.0f, _turfY, 0.0f); + } + _mjTurf.name = "MjTurf"; + } + + private void CreateMjSphere(Janelia.IEasyMLSetupHelper helper) + { + _mjSphere = GameObject.Find("MjSphere"); + if (_mjSphere == null) + { + _mjSphere = GameObject.Instantiate(helper.LoadPrefab("MjSphere"), transform); + } + _mjSphere.name = "MjSphere"; + } + private void CleanupUnused() { Deactivate("Cube"); @@ -160,6 +177,19 @@ private void CleanupUnused() Deactivate("Publisher"); Deactivate("Canvas"); Deactivate("EventSystem"); + Deactivate("Table"); + Deactivate("HollowCyl"); + Deactivate("Bumblebee"); + Deactivate("Grimlock"); + Deactivate("Optimus"); + Deactivate("VentionFrame"); + Deactivate("Sphere"); + + // The mesh collider for the ramp is not working properly, so hide it for now. Not deactivating + // it because its positions is still needed for placement of other objects. + GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); + ramp.GetComponent().enabled = false; + ramp.GetComponent().enabled = false; } private void Deactivate(string name) @@ -301,7 +331,7 @@ private void PlaceAgent() GameObject agent = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, Janelia.EasyMLAgent.TAG_AGENT); if (agent != null) { - Transform agentBody = agent.transform.Find("Body"); + Transform agentBody = agent.transform.Find("torso"); GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); // Reset the agent to its original orientation for stable behavior in Mujoco. @@ -446,10 +476,11 @@ private void PlaceObstacle() obstacle.transform.Rotate(0, angle, 0); } - private GameObject CreateObstacle() + private GameObject CreateObstacle(Janelia.IEasyMLSetupHelper helper) { - GameObject obstacle = GameObject.CreatePrimitive(PrimitiveType.Cube); - obstacle.name = "Obstacle"; + string obstacleName = "MjObstacle"; + GameObject obstacle = GameObject.Instantiate(helper.LoadPrefab(obstacleName)); + obstacle.name = obstacleName; obstacle.tag = TAG_OBSTACLE; obstacle.transform.parent = transform; From a97f750314a5136bc925f3e0e0ad779d5289f547 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Thu, 14 Jul 2022 16:17:59 -0700 Subject: [PATCH 10/13] Stops logging sensor readings; too much info --- Runtime/FetchGamePhysicsTrainingAgent.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 525736a..1944bbd 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -373,7 +373,7 @@ public override void CollectObservations(VectorSensor sensor) // Eight actuators, each having both the position and velocity of the corresponding joint foreach (MjJointScalarSensor mjJointScalarSensor in _sensors) { - Debug.Log("Collecting sensor readings for joint " + mjJointScalarSensor.Joint.gameObject.name + " with value " + mjJointScalarSensor.SensorReading); + // Debug.Log("Collecting sensor readings for joint " + mjJointScalarSensor.Joint.gameObject.name + " with value " + mjJointScalarSensor.SensorReading); sensor.AddObservation((float) mjJointScalarSensor.SensorReading); } } From b5b647fd1652da9994971e73083bdd2e5685cdc3 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Mon, 18 Jul 2022 12:27:28 -0700 Subject: [PATCH 11/13] Added joint speed for reward --- Runtime/FetchGamePhysicsTrainingAgent.cs | 87 ++++++++++++++++++------ Runtime/FetchGamePhysicsTrainingArena.cs | 4 +- 2 files changed, 71 insertions(+), 20 deletions(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 1944bbd..33c2982 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -1,5 +1,6 @@ using System.Collections.Generic; using static System.Array; +using static System.Linq.Enumerable; using Unity.MLAgents; using Unity.MLAgents.Actuators; using Unity.MLAgents.Policies; @@ -93,6 +94,7 @@ public override int VectorActionSize private GameObject _ball; private Transform _bodyTransform; + private GameObject _modelPrefab; private float fieldOfViewDegree; private Transform[] allChildrenTransform; private Vector3 _episodeStartPosition; @@ -124,8 +126,8 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) if (_bodyTransform == null) { // Load the prefab and move the children gameobjects to the agent. - GameObject modelPrefab = helper.LoadPrefab(ModelName); - GameObject prefabGameObject = GameObject.Instantiate(modelPrefab, Vector3.zero, Quaternion.identity, transform); + _modelPrefab = helper.LoadPrefab(ModelName); + GameObject prefabGameObject = GameObject.Instantiate(_modelPrefab, Vector3.zero, Quaternion.identity, transform); while (prefabGameObject.transform.childCount > 0) { prefabGameObject.transform.GetChild(0).parent = transform; @@ -250,6 +252,13 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) RayPerceptionSensorComponent3D raySensorComponent = raySensorTransform.gameObject.GetComponent(); raySensorComponent.ObservationStacks = 4; } + + allChildrenTransform = transform.Find(BODY_NAME).GetComponentsInChildren(); + foreach (Transform childTransform in allChildrenTransform) + { + positionDict.Add(childTransform, childTransform.localPosition); + rotationDict.Add(childTransform, childTransform.localRotation); + } } /// @@ -376,6 +385,8 @@ public override void CollectObservations(VectorSensor sensor) // Debug.Log("Collecting sensor readings for joint " + mjJointScalarSensor.Joint.gameObject.name + " with value " + mjJointScalarSensor.SensorReading); sensor.AddObservation((float) mjJointScalarSensor.SensorReading); } + + // } /// When behavior type is set to "Heuristic only" on the agent's behavior parameters, @@ -408,7 +419,7 @@ private void Start() Camera agentCamera = GameObject.Find("AgentCamera").GetComponent(); agentCamera.fieldOfView = fieldOfViewDegree / agentCamera.aspect * 2; - allChildrenTransform = transform.GetComponentsInChildren(); + allChildrenTransform = transform.Find(BODY_NAME).GetComponentsInChildren(); foreach (Transform childTransform in allChildrenTransform) { positionDict.Add(childTransform, childTransform.localPosition); @@ -506,22 +517,44 @@ public override void OnEpisodeBegin() private void AddFetchedReward() { Vector3 toBall = (_ball.transform.position - transform.position); - float speed_bonus_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("speed_bonus", 0.8f); - float movement_reward_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("movement_reward", 0f); - float orientation_bonus = 0.5f * (1 - speed_bonus_proportion) * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); - float speed_bonus = 0.5f * speed_bonus_proportion * (1 - ((float) StepCount / (float) MaxStep)); - float final_reward = 0.5f + orientation_bonus + speed_bonus; - AddReward(final_reward * (1 - movement_reward_proportion)); + float speedBonusProportion = Academy.Instance.EnvironmentParameters.GetWithDefault("speed_bonus", 0.8f); + float movementRewardProportion = Academy.Instance.EnvironmentParameters.GetWithDefault("movement_reward", 0f); + float orientationBonue = 0.5f * (1 - speedBonusProportion) * Mathf.Clamp01(Vector3.Dot(transform.forward.normalized, toBall.normalized)); + float speedBonus = 0.5f * speedBonusProportion * (1 - ((float) StepCount / (float) MaxStep)); + float finalReward = 0.5f + orientationBonue + speedBonus; + AddReward(finalReward * (1 - movementRewardProportion)); Debug.Log(transform.parent.name + " successfully complete task with reward: " + GetCumulativeReward()); EndEpisode(); } private void AddMovementReward() { - float movement_reward_proportion = Academy.Instance.EnvironmentParameters.GetWithDefault("movement_reward", 0f); - float movement_reward = movement_reward_proportion * Vector3.Distance(_episodeStartPosition, _bodyTransform.localPosition) / GetTurfDiameter(); - AddReward(movement_reward); - Debug.Log(transform.parent.name + " movement reward: " + Vector3.Distance(_episodeStartPosition, _bodyTransform.localPosition) / GetTurfDiameter()); + float movementRewardProportion = Academy.Instance.EnvironmentParameters.GetWithDefault("movement_reward", 0f); + // Multiplied by a factor so that it's not too small to be ignored and clamped so that total reward is reasonable. + float factor = 10f; + float distanceMoved = Vector3.Distance(_episodeStartPosition, _bodyTransform.localPosition) / GetTurfDiameter(); // Standardized by the arena diameter. + float movementReward = movementRewardProportion * Mathf.Clamp(factor * distanceMoved, 0, 1); + AddReward(movementReward); + Debug.Log(transform.parent.name + " movement reward: " + movementReward + " by moving " + Vector3.Distance(_episodeStartPosition, _bodyTransform.localPosition) / GetTurfDiameter()); + } + + private void AddJointSpeedReward() + { + float jointSpeedRewardFactor = Academy.Instance.EnvironmentParameters.GetWithDefault("joint_speed_reward_factor", 0.001f); + + List jointSpeeds = new List(); + foreach (MjJointScalarSensor sensor in _sensors) + { + if (sensor.SensorType == MjJointScalarSensor.AvailableSensors.JointVel) + { + jointSpeeds.Add(sensor.SensorReading); + Debug.Log(sensor.Joint.gameObject.name + " joint speed: " + sensor.SensorReading); + } + } + + float jointSpeedReward = jointSpeeds.Count > 0 ? (float) jointSpeeds.Average() * jointSpeedRewardFactor : 0f; + AddReward(jointSpeedReward); + Debug.Log(transform.parent.name + " joint speed reward: " + jointSpeedReward); } private float GetTurfDiameter() @@ -548,12 +581,28 @@ private bool IsBallObservable() return atFront && !blocked; } - private void ResetAgentState() + public void ResetAgentState() { - foreach (Transform childTransform in allChildrenTransform) - { - childTransform.localPosition = positionDict[childTransform]; - childTransform.localRotation = rotationDict[childTransform]; - } + // if (_bodyTransform != null) + // { + // DestroyImmediate(_bodyTransform.gameObject); + + // _modelPrefab = helper.LoadPrefab(ModelName); + // GameObject prefabGameObject = GameObject.Instantiate(_modelPrefab, Vector3.zero, Quaternion.identity, transform); + // while (prefabGameObject.transform.childCount > 0) + // { + // prefabGameObject.transform.GetChild(0).parent = transform; + // } + // DestroyImmediate(prefabGameObject); + // _bodyTransform = transform.Find(BODY_NAME); + // } + // _body = _bodyTransform.gameObject; + // _body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); + + // foreach (Transform childTransform in allChildrenTransform) + // { + // childTransform.localPosition = positionDict[childTransform]; + // childTransform.localRotation = rotationDict[childTransform]; + // } } } diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index 9cdbfdf..a0a5367 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -217,7 +217,7 @@ private void FixMeshCollider(string tag) } public override void PlaceRandomly() - { + { FindTurfMetrics(); FindRampMetrics(); FindBallMetrics(); @@ -331,6 +331,8 @@ private void PlaceAgent() GameObject agent = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, Janelia.EasyMLAgent.TAG_AGENT); if (agent != null) { + agent.GetComponent().ResetAgentState(); + Transform agentBody = agent.transform.Find("torso"); GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); From e6e9dbe592e80174c06210e41d38ac082f86af14 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Mon, 18 Jul 2022 20:19:53 -0700 Subject: [PATCH 12/13] Coded resetting agent pose by instantiating --- Runtime/FetchGamePhysicsTrainingAgent.cs | 61 +++++++++++++++++------- Runtime/FetchGamePhysicsTrainingArena.cs | 29 +++++++++-- 2 files changed, 68 insertions(+), 22 deletions(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index 33c2982..a7b8612 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -70,6 +70,8 @@ public override Vector3 BodyScale public override string BehaviorName { get; protected set; } = "FetchGamePhysics"; const string BODY_NAME = "torso"; + const string CAMERA_NAME = "AgentCamera"; + const string SENSOR_OBJECT_NAME = "RaysForward"; public override int VectorObservationSize { get; protected set; } = 19; @@ -94,7 +96,7 @@ public override int VectorActionSize private GameObject _ball; private Transform _bodyTransform; - private GameObject _modelPrefab; + public GameObject _modelPrefab; private float fieldOfViewDegree; private Transform[] allChildrenTransform; private Vector3 _episodeStartPosition; @@ -136,7 +138,7 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) _bodyTransform = transform.Find(BODY_NAME); } _body = _bodyTransform.gameObject; - _body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); + _bodyTransform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); // Move the Mujoco global settings outside of the arena since only one of this can exist. GameObject mjGlobalSetting = GameObject.Find("Global Settings"); @@ -144,7 +146,7 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) MjGlobalSettings mjGlobalSettingComponent = mjGlobalSetting.GetComponent(); mjGlobalSettingComponent.GlobalOptions.Wind = Vector3.zero; - const string CAMERA_NAME = "AgentCamera"; + Transform cameraTransform = _bodyTransform.Find(CAMERA_NAME); if (cameraTransform == null) { @@ -180,7 +182,7 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) MaxStep = 5000; Transform raySensorTransform; - const string SENSOR_OBJECT_NAME = "RaysForward"; + BehaviorParameters behavior = GetComponent() as BehaviorParameters; if (behavior != null) { @@ -233,7 +235,7 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) // Put the overall agent position at the back and bottom of the body and its collider. // Doing so helps to keep the agent from "tipping" forward or backward when a force is applied. float y = BodyScale.y / 2; - _body.transform.localPosition = new Vector3(0, y, 0); + _bodyTransform.localPosition = new Vector3(0, y, 0); Camera childCamera = GetComponentInChildren(); if (childCamera != null) @@ -253,11 +255,14 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper) raySensorComponent.ObservationStacks = 4; } - allChildrenTransform = transform.Find(BODY_NAME).GetComponentsInChildren(); - foreach (Transform childTransform in allChildrenTransform) + if (positionDict.Count == 0) { - positionDict.Add(childTransform, childTransform.localPosition); - rotationDict.Add(childTransform, childTransform.localRotation); + allChildrenTransform = transform.Find(BODY_NAME).GetComponentsInChildren(); + foreach (Transform childTransform in allChildrenTransform) + { + positionDict.Add(childTransform, childTransform.localPosition); + rotationDict.Add(childTransform, childTransform.localRotation); + } } } @@ -274,14 +279,14 @@ public override void OnActionReceived(ActionBuffers actions) { return; } - if (Vector3.Distance(_ball.transform.localPosition, new Vector3(0, _ball.transform.localPosition.y, 0)) > GetTurfDiameter() * 0.45f) + if (Vector3.Distance(_ball.transform.localPosition, new Vector3(0, GetTurfY(), 0)) > GetTurfDiameter() * 0.45f) { AddMovementReward(); Debug.Log("Ball falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); EndEpisode(); return; } - if (Vector3.Distance(transform.localPosition, new Vector3(0,transform.localPosition.y, 0)) > GetTurfDiameter() * 0.45f) + if (Vector3.Distance(transform.localPosition, new Vector3(0, GetTurfY(), 0)) > GetTurfDiameter() * 0.45f) { AddReward(-1.0f * (1 - ((float) StepCount / (float) MaxStep))); Debug.Log("Agent falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); @@ -563,6 +568,12 @@ private float GetTurfDiameter() return (fetchArena != null) ? 2.0f * fetchArena.TurfRadius : 1.0f; } + private float GetTurfY() + { + FetchGamePhysicsTrainingArena fetchArena = GetComponentInParent(); + return (fetchArena != null) ? fetchArena.TurfY : 0.0f; + } + private float SignedAngleNormalized(Vector3 a, Vector3 b) { return Vector3.SignedAngle(a, b, transform.up) / 180; @@ -585,19 +596,33 @@ public void ResetAgentState() { // if (_bodyTransform != null) // { + // // Move the camera and raycast out of the deleted agent torso. + // Transform camera = _bodyTransform.transform.Find(CAMERA_NAME); + // Transform raycast = _bodyTransform.transform.Find(SENSOR_OBJECT_NAME); + // camera.parent = transform; + // raycast.parent = transform; + + // // Destroy the old agent. // DestroyImmediate(_bodyTransform.gameObject); + // DestroyImmediate(transform.Find("actuators").gameObject); + // DestroyImmediate(transform.Find("sensors").gameObject); - // _modelPrefab = helper.LoadPrefab(ModelName); + // // Instantiate a new agent and move the gameobjects under this gameobject. // GameObject prefabGameObject = GameObject.Instantiate(_modelPrefab, Vector3.zero, Quaternion.identity, transform); - // while (prefabGameObject.transform.childCount > 0) - // { - // prefabGameObject.transform.GetChild(0).parent = transform; - // } + // prefabGameObject.transform.Find(BODY_NAME).parent = transform; + // prefabGameObject.transform.Find("actuators").parent = transform; + // prefabGameObject.transform.Find("sensors").parent = transform; + // DestroyImmediate(prefabGameObject.transform.Find("Global Settings").gameObject); + + // // Delete the empty gameobject instantiated by the prefab. // DestroyImmediate(prefabGameObject); // _bodyTransform = transform.Find(BODY_NAME); + + // // Move the camera and raycast back to the new agent torso. + // camera.parent = _bodyTransform; + // raycast.parent = _bodyTransform; // } - // _body = _bodyTransform.gameObject; - // _body.transform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); + // _bodyTransform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); // foreach (Transform childTransform in allChildrenTransform) // { diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index a0a5367..5e5e9b6 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -19,6 +19,10 @@ public float TurfRadius get { return _turfRadius; } } private float _turfRadius = 0.0f; + public float TurfY + { + get { return _turfY; } + } private float _turfY = 0.0f; private float _turfThickness = 0.0f; @@ -27,7 +31,7 @@ public float TurfRadius private float _ballRadius = 0.0f; private GameObject _mjTurf; private GameObject _mjSphere; - + private bool onePlusEpisode = false; public static readonly float RAMP_ANGLE_WIGGLE_DEGS = 10.0f; public static readonly float AGENT_EASY_CASE_PROBABILITY = 0.0f; @@ -37,6 +41,7 @@ public float TurfRadius public bool ballInitVel = false; public float minBallInitVelMagnitude = 0.5f; public float maxBallInitVelMagnitude = 2.5f; + /// /// Performs the initial setup of the objects involved in training (except for @@ -183,7 +188,6 @@ private void CleanupUnused() Deactivate("Grimlock"); Deactivate("Optimus"); Deactivate("VentionFrame"); - Deactivate("Sphere"); // The mesh collider for the ramp is not working properly, so hide it for now. Not deactivating // it because its positions is still needed for placement of other objects. @@ -218,6 +222,12 @@ private void FixMeshCollider(string tag) public override void PlaceRandomly() { + GameObject scene = GameObject.Find("MjScene"); + if (scene != null) + { + scene.GetComponent().DestroyScene(); + } + FindTurfMetrics(); FindRampMetrics(); FindBallMetrics(); @@ -225,6 +235,14 @@ public override void PlaceRandomly() PlaceBall(); PlaceAgent(); PlaceObstacle(); + + if (scene != null) + { + scene.GetComponent().CreateScene(); + Debug.Break(); + } + + onePlusEpisode = true; } private void FindTurfMetrics() @@ -331,8 +349,11 @@ private void PlaceAgent() GameObject agent = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, Janelia.EasyMLAgent.TAG_AGENT); if (agent != null) { - agent.GetComponent().ResetAgentState(); - + if (onePlusEpisode) + { + agent.GetComponent().ResetAgentState(); + } + Transform agentBody = agent.transform.Find("torso"); GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); From 649b217fdcf1e86bb1e25fb08bb27cd6bb92f705 Mon Sep 17 00:00:00 2001 From: Chenxi Date: Tue, 19 Jul 2022 18:35:16 -0700 Subject: [PATCH 13/13] Attempt to reset only rotation but doesn't work --- Runtime/FetchGamePhysicsTrainingAgent.cs | 17 +++++-- Runtime/FetchGamePhysicsTrainingArena.cs | 65 +++++++++++++++--------- 2 files changed, 56 insertions(+), 26 deletions(-) diff --git a/Runtime/FetchGamePhysicsTrainingAgent.cs b/Runtime/FetchGamePhysicsTrainingAgent.cs index a7b8612..43a1e61 100644 --- a/Runtime/FetchGamePhysicsTrainingAgent.cs +++ b/Runtime/FetchGamePhysicsTrainingAgent.cs @@ -286,7 +286,7 @@ public override void OnActionReceived(ActionBuffers actions) EndEpisode(); return; } - if (Vector3.Distance(transform.localPosition, new Vector3(0, GetTurfY(), 0)) > GetTurfDiameter() * 0.45f) + if (Vector3.Distance(_bodyTransform.localPosition, new Vector3(0, GetTurfY(), 0)) > GetTurfDiameter() * 0.45f) { AddReward(-1.0f * (1 - ((float) StepCount / (float) MaxStep))); Debug.Log("Agent falls out of the field; " + transform.parent.name + " exit with reward: " + GetCumulativeReward()); @@ -401,8 +401,14 @@ public override void CollectObservations(VectorSensor sensor) /// An output action buffer public override void Heuristic(in ActionBuffers actionsOut) { - /// Log an error to show that Heuristic is not supported. - Debug.Log("Heuristic is not supported for this agent.", this); + // Give random inputs to the agent. + ActionSegment continuouActions = actionsOut.ContinuousActions; + + continuouActions[0] = UnityEngine.Random.Range(-1f, 1f); + continuouActions[1] = UnityEngine.Random.Range(-1f, 1f); + + continuouActions[0] = 0f; + continuouActions[1] = 0f; } /// @@ -624,10 +630,15 @@ public void ResetAgentState() // } // _bodyTransform.localScale = new Vector3(BodyScale.x, BodyScale.y, BodyScale.z); + // foreach (Transform childTransform in allChildrenTransform) // { // childTransform.localPosition = positionDict[childTransform]; // childTransform.localRotation = rotationDict[childTransform]; // } + + + // Reset the rotational state of the agent torso. + _bodyTransform.localRotation = Quaternion.identity; } } diff --git a/Runtime/FetchGamePhysicsTrainingArena.cs b/Runtime/FetchGamePhysicsTrainingArena.cs index 5e5e9b6..501313b 100644 --- a/Runtime/FetchGamePhysicsTrainingArena.cs +++ b/Runtime/FetchGamePhysicsTrainingArena.cs @@ -239,10 +239,10 @@ public override void PlaceRandomly() if (scene != null) { scene.GetComponent().CreateScene(); - Debug.Break(); } onePlusEpisode = true; + Debug.Break(); } private void FindTurfMetrics() @@ -356,17 +356,20 @@ private void PlaceAgent() Transform agentBody = agent.transform.Find("torso"); GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); - - // Reset the agent to its original orientation for stable behavior in Mujoco. - for (int index = 0; index < agentBody.childCount; index++) - { - Transform agentChild = agentBody.GetChild(index); - agentChild.localRotation = Quaternion.identity; - agentChild.localPosition = Vector3.zero; - } // Multiplied by 2 because the agent is larger than the corresponding ideal Unity objects. - Vector3 agentScale = (agentBody != null) ? Vector3.Scale(agentBody.localScale, new Vector3(3.5f, 3.5f, 3.5f)) : Vector3.one; + Vector3 agentScale = (agentBody != null) ? Vector3.Scale(agentBody.localScale, new Vector3(2f, 1.5f, 2f)) : Vector3.one; + + // // Set the agent to be in the middle of the arena and move the body only. + // agent.transform.localPosition = new Vector3(0, _turfY + _turfThickness + agentScale.y, 0); + + // // Reset the agent to its original orientation for stable behavior in Mujoco. + // for (int index = 0; index < agentBody.childCount; index++) + // { + // Transform agentChild = agentBody.GetChild(index); + // agentChild.localRotation = Quaternion.identity; + // agentChild.localPosition = Vector3.zero; + // } bool safe = false; float angle = 0; @@ -375,10 +378,11 @@ private void PlaceAgent() float ballFetchedThreshold = Academy.Instance.EnvironmentParameters.GetWithDefault("ball_fetched_threshold", 0.02f); float thresholdDistance = ballFetchedThreshold * TurfRadius * 2.0f; + Vector3 p = Vector3.zero; while (!safe && (attempts++ < 100)) { angle = UnityEngine.Random.Range(0, 360); - Vector3 p = Vector3.zero; + p = Vector3.zero; float padding = Mathf.Max(agentScale.x, agentScale.z); if ((ramp != null) && (UnityEngine.Random.value < AGENT_EASY_CASE_PROBABILITY)) { @@ -391,30 +395,34 @@ private void PlaceAgent() else { p = Matrix4x4.Rotate(Quaternion.Euler(0, angle, 0)).MultiplyVector(Vector3.forward); - p.y = ramp.transform.localPosition.y; float radius = UnityEngine.Random.Range(0, _turfRadius - padding); p *= radius; } p.y = _turfY + _turfThickness / 2; - agent.transform.localPosition = p; - + // Continue trying placements until there is a safe configuration, with the agent's - // body not overlapping the ramp. - float rampPadding = Mathf.Max(_rampSize.x, _rampSize.z); + // body not overlapping the ramp and/or ball is too close to the agent. float distanceToBall = Vector3.Distance(agent.transform.position, ball.transform.position); - safe = (Vector3.Distance(ramp.transform.localPosition, p) > padding + rampPadding) & (distanceToBall > thresholdDistance); + + // // If ramp is used. + // float rampPadding = Mathf.Max(_rampSize.x, _rampSize.z); + // safe = (Vector3.Distance(ramp.transform.localPosition, p) > padding + rampPadding) & (distanceToBall > thresholdDistance); + + // If ramp is not used. + safe = (distanceToBall > thresholdDistance); } if (attempts == 100) { Debug.LogError("Could not place agent in safe configuration."); } - + float angleLocalY = angle + 180; if (angleLocalY > 360) { angleLocalY -= 360; } - agent.transform.localEulerAngles = new Vector3(0, angleLocalY, 0); + agent.transform.localPosition = p; + agentBody.localEulerAngles = new Vector3(0, angleLocalY, 0); } } @@ -428,6 +436,7 @@ private void PlaceObstacle() GameObject ramp = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, TAG_RAMP); GameObject agent = Janelia.EasyMLRuntimeUtils.FindChildWithTag(gameObject, Janelia.EasyMLAgent.TAG_AGENT); + Transform agentBody; if ((ramp == null) || (agent == null)) { return; @@ -474,8 +483,8 @@ private void PlaceObstacle() { // If there is no room along the vector to the agent, give up on having the obstacle // block the agent's view of the ball. - Transform agentBody = agent.transform.Find("Body"); - Vector3 agentScale = (agentBody != null) ? Vector3.Scale(agentBody.localScale, new Vector3(3.5f, 3.5f, 3.5f)) : Vector3.one; + agentBody = agent.transform.Find("torso"); + Vector3 agentScale = (agentBody != null) ? Vector3.Scale(agentBody.localScale, new Vector3(2f, 1.5f, 2f)) : Vector3.one; Vector3 offset = toAgentRight; offset += toAgentRight.normalized * (obstacle.transform.localScale.x + agentScale.x); @@ -486,15 +495,25 @@ private void PlaceObstacle() float angle = 0; int attempts = 0; + agentBody = agent.transform.Find("torso"); while (attempts++ < 100) { angle = UnityEngine.Random.Range(0, 360); Quaternion q = Quaternion.Euler(0, angle + obstacle.transform.localRotation.y, 0); - if (Physics.OverlapBox(obstacle.transform.position, obstacle.transform.localScale / 2, q, Physics.DefaultRaycastLayers).Length == 0) - { + + // // Overlap box based detection. + // if (Physics.OverlapBox(obstacle.transform.position, obstacle.transform.localScale / 2, q, Physics.DefaultRaycastLayers).Length == 0) + // { + // break; + // } + + // Distance based detection. + if (Vector3.Distance(agentBody.position, obstacle.transform.position) > obstacle.transform.localScale.z + Mathf.Max(agentBody.localScale.x, agentBody.localScale.z)) + { break; } + } obstacle.transform.Rotate(0, angle, 0); }