Making a New Learning Environment

[NamWoo]

• https://github.com/Unity-Technologies/ml-agents/blob/release_18_docs/docs/Learning-Environment-Create-New.md 위 예제 구현해보기

불러온 후

터미널창에서 실행하고 난 뒤

https://user-images.githubusercontent.com/8021479/145799496-ffed4505-d021-4948-829c-4eaa119b27b5.mp4

[NamWoo]

/home/nw/isaac_sim_unity3d/init06/Assets/RollerAgent.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;

public class RollerAgent : Agent
{
    Rigidbody rBody;
    void Start () {
        rBody = GetComponent<Rigidbody>();
    }

    public Transform Target;
    public override void OnEpisodeBegin()
    {
       // If the Agent fell, zero its momentum
        if (this.transform.localPosition.y < 0)
        {
            this.rBody.angularVelocity = Vector3.zero;
            this.rBody.velocity = Vector3.zero;
            this.transform.localPosition = new Vector3( 0, 0.5f, 0);
        }

        // Move the target to a new spot
        Target.localPosition = new Vector3(Random.value * 8 - 4,
                                           0.5f,
                                           Random.value * 8 - 4);
    }

    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 float forceMultiplier = 10;
    public override void OnActionReceived(ActionBuffers actionBuffers)
    {
        // Actions, size = 2
        Vector3 controlSignal = Vector3.zero;
        controlSignal.x = actionBuffers.ContinuousActions[0];
        controlSignal.z = actionBuffers.ContinuousActions[1];
        rBody.AddForce(controlSignal * forceMultiplier);

        // 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");
    }
}