Practising ML agent.
This is to train the green cube to reach the red cube.
My collectobservation and onactionreceived are not working. Hence my Player cube (green) is not moving at all.
The movement is based upon the VectorObservation size and continuous action as given in the tutorial (documentation).
When I started my training, mean reward and standard rewards are all 0.
Packages Installed :
- I’m using: Release 17
- Python package: 0.26.0
- ML agents - 2.0.0
- MLagents extension - 0.3.1
- UNITY - 2020.3.6f1
Here is my code:
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
public class playerscript: Agent
{
Rigidbody rBody;
public Transform Target;
public float forceMultiplier = 10;
public Vector3 playerpos;
public override void Initialize()
{
rBody = GetComponent();
playerpos = transform.position;
}
public override void OnEpisodeBegin()
{
// Move the target to a new spot
transform.position = playerpos;
Target.localPosition = new Vector3(Random.Range(-1, 4), 0.51f, 14.54f);
// this.rBody.velocity = new Vector3(0, 0.5f, 1.5f);
}
public override void CollectObservations(VectorSensor sensor)
{
// Target and Agent positions
sensor.AddObservation(Target.localPosition);
sensor.AddObservation(this.transform.localPosition);
// Agent velocity
sensor.AddObservation(rBody.velocity.x);
sensor.AddObservation(rBody.velocity.z);
}
public override void OnActionReceived(ActionBuffers actionBuffers)
{
Vector3 controlSignal = Vector3.zero;
controlSignal.x = actionBuffers.ContinuousActions[0];
controlSignal.z = actionBuffers.ContinuousActions[1];
this.rBody.velocity= new Vector3(controlSignal.x, 0, controlSignal.z);
print("onaction x: " + controlSignal.x);
print("onaction z: " + controlSignal.z);
// Rewards
float distanceToTarget = Vector3.Distance(this.transform.localPosition, Target.localPosition);
// Reached target
if (distanceToTarget < 1.42f)
{
SetReward(1.0f);
EndEpisode();
}
// Fell off platform
else if (this.transform.localPosition.y < 0)
{
EndEpisode();
}
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var continuousActionsOut = actionsOut.ContinuousActions;
continuousActionsOut[0] = Input.GetAxis(“Horizontal”);
continuousActionsOut[1] = Input.GetAxis(“Vertical”);
}
}
Here are my screenshots, Codes and error messages.
