├── .gitattributes ├── .github └── workflows │ └── main.yml ├── .gitignore ├── Assets ├── Animations.meta ├── Animations │ ├── AgentConsume.anim │ ├── AgentConsume.anim.meta │ ├── AgentController.controller │ ├── AgentController.controller.meta │ ├── AgentDisplayBase.anim │ ├── AgentDisplayBase.anim.meta │ ├── AgentDisplayFull.anim │ ├── AgentDisplayFull.anim.meta │ ├── AgentIdle.anim │ ├── AgentIdle.anim.meta │ ├── AgentPush.anim │ ├── AgentPush.anim.meta │ ├── AgentRestart.anim │ ├── AgentRestart.anim.meta │ ├── AgentStun.anim │ ├── AgentStun.anim.meta │ ├── Camera1Intro.anim │ ├── Camera1Intro.anim.meta │ ├── Camera2Medium.anim │ ├── Camera2Medium.anim.meta │ ├── Camera3Tracking.anim │ ├── Camera3Tracking.anim.meta │ ├── CameraController.controller │ ├── CameraController.controller.meta │ ├── PlanetController.controller │ ├── PlanetController.controller.meta │ ├── PlanetIdle.anim │ ├── PlanetIdle.anim.meta │ ├── PlanetRestart.anim │ ├── PlanetRestart.anim.meta │ ├── WeightConsume1.anim │ ├── WeightConsume1.anim.meta │ ├── WeightConsume2.anim │ ├── WeightConsume2.anim.meta │ ├── WeightConsume3.anim │ ├── WeightConsume3.anim.meta │ ├── WeightController.controller │ └── WeightController.controller.meta ├── Brains.meta ├── FPSDisplay.cs ├── FPSDisplay.cs.meta ├── GameAssets.meta ├── GameAssets │ └── AgentSettings.meta ├── GreyBox.meta ├── GreyBox │ ├── GreyBox.meta │ ├── GreyBox │ │ ├── AgentHead_Reg.prefab │ │ ├── AgentHead_Reg.prefab.meta │ │ ├── AgentHead_Tri.prefab │ │ ├── AgentHead_Tri.prefab.meta │ │ ├── CHAR-WatchHeads.fbx │ │ ├── CHAR-WatchHeads.fbx.meta │ │ ├── Consume Point.mat │ │ ├── Consume Point.mat.meta │ │ ├── Eyes.mat │ │ ├── Eyes.mat.meta │ │ ├── Flower.fbx │ │ ├── Flower.fbx.meta │ │ ├── GB-Heads.fbx │ │ ├── GB-Heads.fbx.meta │ │ ├── Lightning.mat │ │ ├── Lightning.mat.meta │ │ ├── Planet.mat │ │ ├── Planet.mat.meta │ │ ├── Skin.mat │ │ ├── Skin.mat.meta │ │ ├── Weight.mat │ │ ├── Weight.mat.meta │ │ ├── WeightCentre.mat │ │ └── WeightCentre.mat.meta │ ├── RobotoCondensed-Regular SDF.asset │ └── RobotoCondensed-Regular SDF.asset.meta ├── InputSystem.inputsettings.asset ├── InputSystem.inputsettings.asset.meta ├── LWRP.asset ├── LWRP.asset.meta ├── ML-Agents.meta ├── ML-Agents │ ├── Timers.meta │ └── Timers │ │ ├── BasicFiveAgent_timers.json │ │ ├── BasicFiveAgent_timers.json.meta │ │ ├── ConscientiousPlanet_timers.json │ │ ├── ConscientiousPlanet_timers.json.meta │ │ ├── DiscretePlanet_timers.json │ │ ├── DiscretePlanet_timers.json.meta │ │ ├── ExtrovertPlanet_timers.json │ │ ├── ExtrovertPlanet_timers.json.meta │ │ ├── GameAgent_timers.json │ │ ├── GameAgent_timers.json.meta │ │ ├── GamePlanet_timers.json │ │ ├── GamePlanet_timers.json.meta │ │ ├── GrabAgents_timers.json │ │ ├── GrabAgents_timers.json.meta │ │ ├── NeuroticPlanet_timers.json │ │ ├── NeuroticPlanet_timers.json.meta │ │ ├── OpenPlanet_timers.json │ │ └── OpenPlanet_timers.json.meta ├── Materials.meta ├── Materials │ ├── AgentBlue.mat │ ├── AgentBlue.mat.meta │ ├── AgentRed.mat │ ├── AgentRed.mat.meta │ ├── AgentShader.shadergraph │ ├── AgentShader.shadergraph.meta │ ├── RobotoCondensed-Regular SDF.asset │ └── RobotoCondensed-Regular SDF.asset.meta ├── My Behavior 2.nn ├── My Behavior 2.nn.meta ├── My Behavior 3.nn ├── My Behavior 3.nn.meta ├── My Behavior 4.nn ├── My Behavior 4.nn.meta ├── My Behavior 5.nn ├── My Behavior 5.nn.meta ├── My Behavior.nn ├── My Behavior.nn.meta ├── Prefab.meta ├── Prefab │ ├── ArtPrefabs.meta │ ├── ArtPrefabs │ │ ├── AgentPrefab.prefab │ │ ├── AgentPrefab.prefab.meta │ │ ├── CameraPrefab.prefab │ │ ├── CameraPrefab.prefab.meta │ │ ├── WeightPrefab.prefab │ │ └── WeightPrefab.prefab.meta │ ├── GamePlanet.prefab │ ├── GamePlanet.prefab.meta │ ├── GrabPlanet.prefab │ └── GrabPlanet.prefab.meta ├── Resources.meta ├── Resources │ ├── New Agent Settings.asset │ ├── New Agent Settings.asset.meta │ ├── New Build Settings.asset │ ├── New Build Settings.asset.meta │ ├── New Interaction Settings.asset │ ├── New Interaction Settings.asset.meta │ ├── New Mc Guffin Settings.asset │ ├── New Mc Guffin Settings.asset.meta │ ├── New Planet Settings.asset │ ├── New Planet Settings.asset.meta │ ├── New Reward Settings.asset │ ├── New Reward Settings.asset.meta │ ├── New Tower Settings.asset │ ├── New Tower Settings.asset.meta │ ├── SettingsContainer.asset │ └── SettingsContainer.asset.meta ├── Scenes.meta ├── Scenes │ ├── GameAgent.unity │ ├── GameAgent.unity.meta │ ├── GrabAgents.unity │ ├── GrabAgents.unity.meta │ ├── GrabAgents_Profiles.meta │ └── GrabAgents_Profiles │ │ ├── PostProcessing Profile.asset │ │ └── PostProcessing Profile.asset.meta ├── Scripts.meta ├── Scripts │ ├── Agents.meta │ ├── Agents │ │ ├── BaseAgent.cs │ │ ├── BaseAgent.cs.meta │ │ ├── DiscreteMovementAgent.cs │ │ ├── DiscreteMovementAgent.cs.meta │ │ ├── FixedRotation.meta │ │ ├── FixedRotation │ │ │ ├── FixedRotationNormalizedApexPoints.cs │ │ │ ├── FixedRotationNormalizedApexPoints.cs.meta │ │ │ ├── FixedRotationNormalizedWeightTouch.cs │ │ │ ├── FixedRotationNormalizedWeightTouch.cs.meta │ │ │ ├── OCEAN Agents.meta │ │ │ └── OCEAN Agents │ │ │ │ ├── Conscientious.cs │ │ │ │ └── Conscientious.cs.meta │ │ ├── GamePlanetAgent.cs │ │ ├── GamePlanetAgent.cs.meta │ │ ├── GrabAgents.cs │ │ ├── GrabAgents.cs.meta │ │ ├── PlanetAgent.cs │ │ └── PlanetAgent.cs.meta │ ├── IInteractable.cs │ ├── IInteractable.cs.meta │ ├── Planet.meta │ ├── Planet │ │ ├── Game Planet.meta │ │ └── Game Planet │ │ │ ├── BasePlanet.cs │ │ │ ├── BasePlanet.cs.meta │ │ │ ├── BasicFiveAgentPlanet.cs │ │ │ ├── BasicFiveAgentPlanet.cs.meta │ │ │ ├── GamePlanet.cs │ │ │ ├── GamePlanet.cs.meta │ │ │ ├── GamePlanetManager.cs │ │ │ ├── GamePlanetManager.cs.meta │ │ │ ├── GrabPlanet.cs │ │ │ └── GrabPlanet.cs.meta │ ├── PlanetSettings.cs │ ├── PlanetSettings.cs.meta │ ├── StrippedAgentController.cs │ ├── StrippedAgentController.cs.meta │ ├── TensorboardObs.cs │ ├── TensorboardObs.cs.meta │ ├── TrainingConsumePoint.cs │ ├── TrainingConsumePoint.cs.meta │ ├── Weight.cs │ └── Weight.cs.meta ├── TextMesh Pro.meta ├── TextMesh Pro │ ├── Documentation.meta │ ├── Documentation │ │ ├── TextMesh Pro User Guide 2016.pdf │ │ └── TextMesh Pro User Guide 2016.pdf.meta │ ├── Fonts.meta │ ├── Fonts │ │ ├── LiberationSans - OFL.txt │ │ ├── LiberationSans - OFL.txt.meta │ │ ├── LiberationSans.ttf │ │ └── LiberationSans.ttf.meta │ ├── Resources.meta │ ├── Resources │ │ ├── Fonts & Materials.meta │ │ ├── Fonts & Materials │ │ │ ├── LiberationSans SDF - Drop Shadow.mat │ │ │ ├── LiberationSans SDF - Drop Shadow.mat.meta │ │ │ ├── LiberationSans SDF - Fallback.asset │ │ │ ├── LiberationSans SDF - Fallback.asset.meta │ │ │ ├── LiberationSans SDF - Outline.mat │ │ │ ├── LiberationSans SDF - Outline.mat.meta │ │ │ ├── LiberationSans SDF.asset │ │ │ └── LiberationSans SDF.asset.meta │ │ ├── LineBreaking Following Characters.txt │ │ ├── LineBreaking Following Characters.txt.meta │ │ ├── LineBreaking Leading Characters.txt │ │ ├── LineBreaking Leading Characters.txt.meta │ │ ├── Shaders.meta │ │ ├── Shaders │ │ │ ├── TMP_Bitmap-Custom-Atlas.shader │ │ │ ├── TMP_Bitmap-Custom-Atlas.shader.meta │ │ │ ├── TMP_Bitmap-Mobile.shader │ │ │ ├── TMP_Bitmap-Mobile.shader.meta │ │ │ ├── TMP_Bitmap.shader │ │ │ ├── TMP_Bitmap.shader.meta │ │ │ ├── TMP_SDF Overlay.shader │ │ │ ├── TMP_SDF Overlay.shader.meta │ │ │ ├── TMP_SDF-Mobile Masking.shader │ │ │ ├── TMP_SDF-Mobile Masking.shader.meta │ │ │ ├── TMP_SDF-Mobile Overlay.shader │ │ │ ├── TMP_SDF-Mobile Overlay.shader.meta │ │ │ ├── TMP_SDF-Mobile.shader │ │ │ ├── TMP_SDF-Mobile.shader.meta │ │ │ ├── TMP_SDF-Surface-Mobile.shader │ │ │ ├── TMP_SDF-Surface-Mobile.shader.meta │ │ │ ├── TMP_SDF-Surface.shader │ │ │ ├── TMP_SDF-Surface.shader.meta │ │ │ ├── TMP_SDF.shader │ │ │ ├── TMP_SDF.shader.meta │ │ │ ├── TMP_Sprite.shader │ │ │ ├── TMP_Sprite.shader.meta │ │ │ ├── TMPro.cginc │ │ │ ├── TMPro.cginc.meta │ │ │ ├── TMPro_Properties.cginc │ │ │ ├── TMPro_Properties.cginc.meta │ │ │ ├── TMPro_Surface.cginc │ │ │ └── TMPro_Surface.cginc.meta │ │ ├── Sprite Assets.meta │ │ ├── Sprite Assets │ │ │ ├── EmojiOne.asset │ │ │ └── EmojiOne.asset.meta │ │ ├── Style Sheets.meta │ │ ├── Style Sheets │ │ │ ├── Default Style Sheet.asset │ │ │ └── Default Style Sheet.asset.meta │ │ ├── TMP Settings.asset │ │ └── TMP Settings.asset.meta │ ├── Sprites.meta │ └── Sprites │ │ ├── EmojiOne Attribution.txt │ │ ├── EmojiOne Attribution.txt.meta │ │ ├── EmojiOne.json │ │ ├── EmojiOne.json.meta │ │ ├── EmojiOne.png │ │ └── EmojiOne.png.meta ├── WorldPhysics.physicMaterial ├── WorldPhysics.physicMaterial.meta ├── fixRotation.cs └── fixRotation.cs.meta ├── Packages └── manifest.json ├── ProjectSettings ├── AudioManager.asset ├── BurstAotSettings_Android.json ├── BurstAotSettings_StandaloneWindows.json ├── BurstAotSettings_WebGL.json ├── BurstAotSettings_iOS.json ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset └── XRSettings.asset ├── README.md ├── config ├── BallBalanceRotateWeightDualAgent_0.1.yaml ├── BallBalanceRotateWeightDualAgent_0.2.yaml ├── BallBalanceRotateWeightDualAgent_0.3.yaml ├── BallBalanceRotateWeightDualAgent_0.4.1.yaml ├── BallBalanceRotateWeightDualAgent_0.4.2.yaml ├── BallBalanceRotateWeightDualAgent_0.4.3.yaml ├── BallBalanceRotateWeightDualAgent_0.4.4.yaml ├── BallBalanceRotateWeightDualAgent_0.4.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10m.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10mV2.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10mV3.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10mV3_long.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10mV3_long2.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10mV4.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10mV4_long.yaml ├── BallBalanceRotateWeightDualAgent_0.4_10mV5.yaml ├── BallBalanceRotateWeightDualAgent_0.4_2m.yaml ├── BallBalanceRotateWeightDualAgent_0.4_2m_massiveBuffer.yaml ├── BallBalanceRotateWeightDualAgent_0.4_4m.yaml ├── BallBalanceRotateWeightDualAgent_0.4_Normalized.yaml ├── BallBalanceRotateWeightDualAgent_0.4_continue.yaml ├── BallBalanceRotateWeightDualAgent_0.4_continuous.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_1Layer.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_3Layer.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_4Layer.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_constant.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_curiosity.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_highBuffer.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_highHidden.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_lowBuffer.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_lowHidden.yaml ├── BallBalanceRotateWeightDualAgent_0.4_long_massiveBuffer.yaml ├── BallBalanceRotateWeightDualAgent_0.yaml ├── BallBalanceRotateWeightDualAgent_0_long.yaml ├── BallBalanceRotateWeightDualAgent_0_long_0.yaml ├── BallBalanceRotateWeightDualAgent_1.yaml ├── BallBalanceRotateWeightDualAgent_2.yaml ├── BallBalanceRotateWeightDualAgent_3.yaml ├── BallBalanceRotateWeightDualAgent_4.yaml ├── March23 │ ├── BallBalanceRotateWeightDualAgent_0.1_short.yaml │ ├── BallBalanceRotateWeightDualAgent_0.2_short.yaml │ ├── BallBalanceRotateWeightDualAgent_0.3_short.yaml │ ├── BallBalanceRotateWeightDualAgent_0.4.1_short.yaml │ ├── BallBalanceRotateWeightDualAgent_0.4.2_short.yaml │ ├── BallBalanceRotateWeightDualAgent_0.4.3_short.yaml │ ├── BallBalanceRotateWeightDualAgent_0.4.4_short.yaml │ └── BallBalanceRotateWeightDualAgent_0.4_short.yaml ├── curricula │ └── balanceAgent.yml └── trainer_config.yaml ├── docs └── buildImg.png └── trainer_config.yaml /.gitattributes: -------------------------------------------------------------------------------- 1 | *.nn filter=lfs diff=lfs merge=lfs -text 2 | -------------------------------------------------------------------------------- /.github/workflows/main.yml: -------------------------------------------------------------------------------- 1 | # This is a basic workflow to help you get started with Actions 2 | 3 | name: CI 4 | 5 | # Controls when the action will run. 6 | on: 7 | # Allows you to run this workflow manually from the Actions tab 8 | workflow_dispatch: 9 | 10 | # A workflow run is made up of one or more jobs that can run sequentially or in parallel 11 | jobs: 12 | # This workflow contains a single job called "build" 13 | aaaa: 14 | # The type of runner that the job will run on 15 | runs-on: ubuntu-latest 16 | 17 | # Steps represent a sequence of tasks that will be executed as part of the job 18 | steps: 19 | # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it 20 | - run: echo aaaaaaaaaaaaaaaaaaaaaaaaaa 21 | 22 | # Runs a single command using the runners shell 23 | - name: Run a one-line script 24 | run: echo Hello, world! 25 | 26 | # Runs a set of commands using the runners shell 27 | - name: Run a multi-line script 28 | run: | 29 | echo Add other actions to build, 30 | echo test, and deploy your project. 31 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Mm]emoryCaptures/ 12 | 13 | # Asset meta data should only be ignored when the corresponding asset is also ignored 14 | !/[Aa]ssets/**/*.meta 15 | 16 | # Uncomment this line if you wish to ignore the asset store tools plugin 17 | # /[Aa]ssets/AssetStoreTools* 18 | 19 | # Autogenerated Jetbrains Rider plugin 20 | [Aa]ssets/Plugins/Editor/JetBrains* 21 | 22 | # Visual Studio cache directory 23 | .vs/ 24 | 25 | # Gradle cache directory 26 | .gradle/ 27 | 28 | # Autogenerated VS/MD/Consulo solution and project files 29 | ExportedObj/ 30 | .consulo/ 31 | *.csproj 32 | *.unityproj 33 | *.sln 34 | *.suo 35 | *.tmp 36 | *.user 37 | *.userprefs 38 | *.pidb 39 | *.booproj 40 | *.svd 41 | *.pdb 42 | *.mdb 43 | *.opendb 44 | *.VC.db 45 | 46 | # Unity3D generated meta files 47 | *.pidb.meta 48 | *.pdb.meta 49 | *.mdb.meta 50 | 51 | # Unity3D generated file on crash reports 52 | sysinfo.txt 53 | 54 | # Builds 55 | *.apk 56 | *.unitypackage 57 | 58 | # Crashlytics generated file 59 | 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NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 11400000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d2f8a8489b8adaf489ad2bbf1a13e542 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9d1865df292308941b6f18468277afbf 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/BaseAgent.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5fbf951649c05654bb19df5aeb683935 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/DiscreteMovementAgent.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | using UnityEngine; 3 | using Unity.MLAgents; 4 | using Unity.MLAgents.Sensors; 5 | 6 | public class DiscreteMovementAgent : BaseAgent 7 | { 8 | public override void OnActionReceived(float[] vectorAction) 9 | { 10 | Vector3 movement = Vector3.zero; 11 | int forward = (int)vectorAction[0]; 12 | int backward = (int)vectorAction[1]; 13 | int right = (int)vectorAction[2]; 14 | int left = (int)vectorAction[3]; 15 | int distance = (int)vectorAction[4]; 16 | 17 | int push = (int)vectorAction[5]; 18 | 19 | if(forward == 1) 20 | { 21 | if (distance == 1) 22 | movement.x = 1; 23 | else 24 | movement.x = 0.5f; 25 | } 26 | else if (backward == 1) 27 | { 28 | if (distance == 1) 29 | movement.x = -1; 30 | else 31 | movement.x = -0.5f; 32 | } 33 | if (right == 1) 34 | { 35 | if (distance == 1) 36 | movement.z = -1; 37 | else 38 | movement.z = -0.5f; 39 | } 40 | else if (left == 1) 41 | { 42 | if (distance == 1) 43 | movement.z = 1; 44 | else 45 | movement.z = 0.5f; 46 | } 47 | 48 | if (push == 1 && pushTarget) 49 | pushTarget.Push(); 50 | 51 | 52 | rewardDisplay = GetCumulativeReward(); 53 | 54 | movement = movement * 0.5f; 55 | Quaternion rotation = Quaternion.Euler(movement); 56 | 57 | if (!IsConsuming && Time.fixedTime > GetPushTime()) 58 | this.transform.localPosition = rotation * this.transform.localPosition; 59 | } 60 | } 61 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/DiscreteMovementAgent.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7911588f15cc14f4689edb7090636af4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/FixedRotation.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1e0776c11f708d045a8d96e98c50e850 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/FixedRotation/FixedRotationNormalizedApexPoints.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b2bbb674c2df27549bef06d496c30974 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/FixedRotation/FixedRotationNormalizedWeightTouch.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | using UnityEngine; 3 | using Unity.MLAgents; 4 | using Unity.MLAgents.Sensors; 5 | 6 | public class FixedRotationNormalizedWeightTouch : BaseAgent 7 | { 8 | 9 | } 10 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/FixedRotation/FixedRotationNormalizedWeightTouch.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ae65a52925b55da42b4398d0bb6a735c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/FixedRotation/OCEAN Agents.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 84d04f76dc662b242b8f78288322e2ac 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/FixedRotation/OCEAN Agents/Conscientious.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: aebbd4b4ed75f794aa9ff33d47503df9 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/GamePlanetAgent.cs: -------------------------------------------------------------------------------- 1 | using System.Collections.Generic; 2 | using UnityEngine; 3 | using Unity.MLAgents; 4 | using Unity.MLAgents.Sensors; 5 | using UnityEngine.InputSystem; 6 | 7 | public class GamePlanetAgent : BaseAgent 8 | { 9 | public StrippedAgentController controller; 10 | public float rlMovementMagnitude; 11 | 12 | public override void OnActionReceived(float[] vectorAction) 13 | { 14 | Vector3 movement = Vector3.zero; 15 | movement.x = vectorAction[0]; 16 | movement.z = vectorAction[1]; 17 | 18 | var push = vectorAction[2]; 19 | 20 | if (push > 0) 21 | controller.Push(); 22 | 23 | movement = movement * 0.5f; 24 | Quaternion rotation = Quaternion.Euler(movement); 25 | var relpos = transform.position - GetPlanet().transform.position; 26 | var targetPos = rotation * relpos; 27 | var absPos = targetPos + GetPlanet().transform.position; 28 | 29 | var relPoint = WorldToRelativePoint(absPos) * rlMovementMagnitude; 30 | controller.Stamina = 1; 31 | 32 | controller.UpdateMotion(relPoint); 33 | } 34 | 35 | public Vector2 WorldToRelativePoint(Vector3 pt) 36 | { 37 | var position = transform.position; 38 | var invVec = transform.InverseTransformVector(pt - position); 39 | return new Vector2(invVec.x, invVec.z); 40 | } 41 | } 42 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/GamePlanetAgent.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d2a6f5e834783c248a0b50a86880e31a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/GrabAgents.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class GrabAgents : BaseAgent 6 | { 7 | public Joint planetJoint; 8 | public override void OnActionReceived(float[] vectorAction) 9 | { 10 | Vector3 movement = Vector3.zero; 11 | movement.x = vectorAction[0]; 12 | movement.z = vectorAction[1]; 13 | 14 | var push = vectorAction[2]; 15 | 16 | if (push > 0) 17 | { 18 | tensorboardObs.UpdateStatsRecorder(this.name + " Push Action", 1); 19 | } 20 | else 21 | { 22 | tensorboardObs.UpdateStatsRecorder(this.name + " Push Action", 0); 23 | planetJoint.connectedBody = null; 24 | } 25 | 26 | if (push > 0 && pushTarget && !pushTarget.IsStunned && Time.fixedTime > GetPushTime() && Time.fixedTime > GetPushActionTime()) 27 | { 28 | SetPushActionTime(Time.fixedTime + 2); 29 | pushTarget.Push(); 30 | } 31 | else if(push > 0 && !pushTarget) 32 | { 33 | planetJoint.connectedBody = GetPlanet(); 34 | SetHolding(true); 35 | } 36 | else 37 | { 38 | SetHolding(false); 39 | } 40 | 41 | rewardDisplay = GetCumulativeReward(); 42 | 43 | movement = movement * 0.5f; 44 | Quaternion rotation = Quaternion.Euler(movement); 45 | 46 | if (!IsConsuming && Time.fixedTime > GetPushTime() && Time.fixedTime > GetPushActionTime() && !GetHolding()) 47 | { 48 | IsStunned = false; 49 | this.transform.localPosition = rotation * this.transform.localPosition; 50 | } 51 | 52 | if (!(health >= 1) && IsConsuming) 53 | health += 0.005f; 54 | else if (!(health >= 1)) 55 | health += 0.001f; 56 | } 57 | } 58 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/GrabAgents.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5dc3cdcb36000d84c8349acd41429d30 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Agents/PlanetAgent.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6fe7c11698afdc541a3bbaf745c2adce 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/IInteractable.cs: -------------------------------------------------------------------------------- 1 | public interface IInteractable { } -------------------------------------------------------------------------------- /Assets/Scripts/IInteractable.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a3151171cd519da448bfe0bb1d6d949a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ae8e98d7c6078a640a454d38b0eb1176 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d7948c1ac7f9c7c459a3fd7e1b230708 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet/BasePlanet.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b7de83edfd3081740b0f4e543be7ee92 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet/BasicFiveAgentPlanet.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | public class BasicFiveAgentPlanet : BasePlanet 4 | { 5 | public override void AditionalResets() 6 | { 7 | 8 | } 9 | 10 | void FixedUpdate() 11 | { 12 | foreach (var weight in weights) 13 | { 14 | if (weight.transform.position.y < -15) 15 | { 16 | Reset(); 17 | Debug.Log("Weight Fell"); 18 | } 19 | } 20 | 21 | foreach (var agent in agents) 22 | { 23 | if (agent.transform.position.y < -15) 24 | { 25 | agent.SetReward(-1f); 26 | Reset(); 27 | Debug.Log("Agent fell"); 28 | break; 29 | } 30 | 31 | Planet.UpdateWeightPosition(agent.rBody, agent.transform.position); 32 | } 33 | 34 | foreach (var weight in weights) 35 | Planet.UpdateWeightPosition(weight.GetComponent(), weight.transform.position); 36 | 37 | if (GetStartTime() + 300 < Time.fixedTime) 38 | { 39 | Reset(); 40 | Debug.Log("Time ran out"); 41 | } 42 | 43 | float totalAngle = 0; 44 | float totalAgentAngle = 0; 45 | 46 | foreach (var weight in weights) 47 | { 48 | totalAngle += Vector3.Angle(weight.transform.position - Planet.transform.position, Vector3.up); 49 | } 50 | 51 | foreach (var agent in agents) 52 | { 53 | totalAgentAngle += Vector3.Angle(agent.transform.position - Planet.transform.position, Vector3.up); 54 | } 55 | 56 | totalAngle = totalAngle / weights.Count; 57 | totalAgentAngle = totalAgentAngle / agents.Count; 58 | 59 | foreach (var agent in agents) 60 | { 61 | agent.SetReward(Mathf.Pow(2,1 - totalAngle / 45)); 62 | 63 | if (agent.IsConsuming) 64 | { 65 | agent.SetReward(Mathf.Pow(3, 1 - totalAngle / 45)); 66 | } 67 | else 68 | { 69 | foreach (var weight in weights) 70 | { 71 | // if (Vector3.Distance(agent.transform.position, weight.transform.position) < 2f && weightTime + 10 < Time.fixedTime) 72 | if (Vector3.Distance(agent.transform.position, weight.transform.position) < 2f) 73 | { 74 | var consumePoints = weight.consumePoints; 75 | foreach (var consumePoint in consumePoints) 76 | { 77 | if (consumePoint.GetComponent().bounds.Intersects(agent.GetComponent().bounds) && consumePoint.CanConsume) 78 | { 79 | consumePoint.OnConsumption(agent); 80 | weight.GetComponent().mass += 1; 81 | } 82 | } 83 | } 84 | //if (weightTime + 10 < Time.fixedTime) 85 | agent.CanConsume(); 86 | } 87 | } 88 | } 89 | 90 | GetTensorObs().ProcessOceanRewards(agents, weights, Planet); 91 | } 92 | } 93 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet/BasicFiveAgentPlanet.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a069cce71cca7494d8a330cbf440b499 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet/GamePlanet.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cc930b6ac6756a841a936b54a28147f7 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet/GamePlanetManager.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | public class GamePlanetManager : BasePlanet 4 | { 5 | public override void AditionalResets() 6 | { 7 | throw new System.NotImplementedException(); 8 | } 9 | 10 | // Update is called once per frame 11 | void FixedUpdate() 12 | { 13 | foreach (var weight in weights) 14 | { 15 | if (weight.transform.position.y < -15) 16 | { 17 | Reset(); 18 | Debug.Log("Weight Fell"); 19 | } 20 | } 21 | 22 | foreach (var agent in agents) 23 | { 24 | if (agent.transform.position.y < -15) 25 | { 26 | Reset(); 27 | Debug.Log("Agent fell"); 28 | break; 29 | } 30 | 31 | Planet.UpdateWeightPosition(agent.rBody, agent.transform.position); 32 | } 33 | 34 | foreach (var weight in weights) 35 | Planet.UpdateWeightPosition(weight.GetComponent(), weight.transform.position); 36 | 37 | if (GetStartTime() + 300 < Time.fixedTime) 38 | { 39 | Reset(); 40 | Debug.Log("Time ran out"); 41 | } 42 | 43 | float totalAngle = 0; 44 | 45 | foreach (var weight in weights) 46 | { 47 | totalAngle += Vector3.Angle(weight.transform.position - Planet.transform.position, Vector3.up); 48 | } 49 | 50 | totalAngle = totalAngle / weights.Count; 51 | 52 | foreach (var agent in agents) 53 | { 54 | float stunnedRewardMod = 1; 55 | if (agent.IsStunned) 56 | stunnedRewardMod = 0.5f; 57 | 58 | agent.SetReward((1 - totalAngle / 45) * stunnedRewardMod * agent.health); 59 | 60 | if (agent.IsConsuming) 61 | agent.SetReward((1 + 1 - totalAngle / 45) * stunnedRewardMod * agent.health); 62 | else 63 | { 64 | foreach (var weight in weights) 65 | { 66 | // if (Vector3.Distance(agent.transform.position, weight.transform.position) < 2f && weightTime + 10 < Time.fixedTime) 67 | if (Vector3.Distance(agent.transform.position, weight.transform.position) < 2f) 68 | { 69 | var consumePoints = weight.consumePoints; 70 | foreach (var consumePoint in consumePoints) 71 | { 72 | if (consumePoint.GetComponent().bounds.Intersects(agent.GetComponent().bounds) && consumePoint.CanConsume) 73 | { 74 | consumePoint.OnConsumption(agent); 75 | } 76 | } 77 | } 78 | //if (weightTime + 10 < Time.fixedTime) 79 | agent.CanConsume(); 80 | } 81 | } 82 | } 83 | 84 | GetTensorObs().ProcessOceanRewards(agents, weights, Planet); 85 | } 86 | } 87 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet/GamePlanetManager.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a5a3b94c0af4858418001dc1ef9ebcca 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Planet/Game Planet/GrabPlanet.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 79f36bd42b3e3964f9150a6da2c86b6b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/PlanetSettings.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | [CreateAssetMenu (menuName = "Agence Settings/Planet Settings")] 6 | public class PlanetSettings : ScriptableObject 7 | { 8 | [Header ("Planet Settings")] 9 | [Tooltip("Angular (rotational) drag of the planet.")] 10 | public float angularDrag; 11 | [Tooltip("The mass of the planet")] 12 | public float mass; 13 | [Tooltip("The planet's max velocity (the max speed at which it can rotate).")] 14 | public float maxVelocity; 15 | [Tooltip("The planet's radius.")] 16 | public float radius; 17 | 18 | [Header("Rotation threshold settings")] 19 | [Tooltip("Angular acceleration above which to start rotating. Degrees per second.")] 20 | public float accelerationThreshold = 0; 21 | [Tooltip("Rate at which angular velocity goes to zero when below threshold. Degrees per second.")] 22 | [Range(0, 10f)]public float decelerationRate = 2; 23 | 24 | [Header ("Object Settings")] 25 | [Tooltip("The height relative to the top of the planet at which an object (Agent, seed, etc.) on the planet is considered to have fallen (and will be destroyed).")] 26 | public float killHeight = -30f; 27 | } 28 | -------------------------------------------------------------------------------- /Assets/Scripts/PlanetSettings.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7972a0cbf8764460783f00422d52b432 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/StrippedAgentController.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 08a5830beea8d474cbec1c9bd1dae631 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/TensorboardObs.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using Unity.MLAgents; 4 | using UnityEngine; 5 | 6 | public class TensorboardObs : MonoBehaviour 7 | { 8 | private StatsRecorder statsRecorder; 9 | // Start is called before the first frame update 10 | 11 | public void UpdateStatsRecorder(string key, float val) 12 | { 13 | statsRecorder = Academy.Instance.StatsRecorder; 14 | statsRecorder.Add(key, val); 15 | } 16 | 17 | public void ProcessOceanRewards(List agents, List weights, GamePlanet planet) 18 | { 19 | foreach (var agent in agents) 20 | { 21 | float openReward = 0.1f; 22 | float concientiousReward = 9 - (System.Math.Abs(planet.AngularVelocity.x) + System.Math.Abs(planet.AngularVelocity.y) + System.Math.Abs(planet.AngularVelocity.z)); 23 | float extrovertReward = 0.1f; 24 | float neuroticReward = 0; 25 | 26 | var agentAngle = Vector3.Angle(agent.transform.position - planet.transform.position, Vector3.up); 27 | neuroticReward = 1 - agentAngle / 45; 28 | 29 | foreach (var otherAgent in agents) 30 | { 31 | if (!agent.Equals(otherAgent) && otherAgent.IsConsuming) 32 | { 33 | openReward = -1; 34 | extrovertReward = 1; 35 | } 36 | } 37 | 38 | if (agent.IsConsuming) 39 | openReward = 1; 40 | 41 | UpdateStatsRecorder(agent.name + " Open", openReward); 42 | UpdateStatsRecorder(agent.name + " Concientious", concientiousReward); 43 | UpdateStatsRecorder(agent.name + " Extrovert", extrovertReward); 44 | UpdateStatsRecorder(agent.name + " Neurotic", neuroticReward); 45 | UpdateStatsRecorder(agent.name + " Open", openReward); 46 | } 47 | } 48 | } 49 | -------------------------------------------------------------------------------- /Assets/Scripts/TensorboardObs.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 330670a413e49fa4ba6444de3855ce25 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/TrainingConsumePoint.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using System.Threading; 4 | using UnityEngine; 5 | 6 | public class TrainingConsumePoint : MonoBehaviour 7 | { 8 | public bool CanConsume; 9 | private BaseAgent agent = null; 10 | private float ConsumeTimer; 11 | private float RechargeTimer; 12 | // Start is called before the first frame update 13 | void Start() 14 | { 15 | CanConsume = true; 16 | } 17 | 18 | public void OnConsumption(BaseAgent consumingAgent) 19 | { 20 | Debug.Log("Agent Consuming"); 21 | agent = consumingAgent; 22 | agent.Consume(this); 23 | CanConsume = false; 24 | ConsumeTimer = Time.fixedTime + 8; 25 | RechargeTimer = Time.fixedTime + 16; 26 | } 27 | 28 | // Update is called once per frame 29 | void Update() 30 | { 31 | if(Time.fixedTime > ConsumeTimer && agent) 32 | { 33 | Debug.Log("Agent Exit Consumption"); 34 | agent.IsConsuming = false; 35 | agent = null; 36 | } 37 | if(Time.fixedTime > RechargeTimer) 38 | { 39 | CanConsume = true; 40 | } 41 | } 42 | } 43 | -------------------------------------------------------------------------------- /Assets/Scripts/TrainingConsumePoint.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3c06161119aeb1842b02605a1019b542 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Weight.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Weight : MonoBehaviour 6 | { 7 | public bool Consumepoint1Active = true; 8 | public bool Consumepoint2Active = true; 9 | public bool Consumepoint3Active = true; 10 | 11 | public List consumePoints; 12 | public float minMass; 13 | public float maxMass; 14 | public int fixedUpdateLength; 15 | private Rigidbody rbody; 16 | private Animator animator; 17 | // Start is called before the first frame update 18 | void Start() 19 | { 20 | animator = GetComponentInChildren(); 21 | rbody = this.GetComponent(); 22 | } 23 | 24 | // Update is called once per frame 25 | void FixedUpdate() 26 | { 27 | Consumepoint1Active = !consumePoints[0].CanConsume; 28 | Consumepoint2Active = !consumePoints[1].CanConsume; 29 | Consumepoint3Active = !consumePoints[2].CanConsume; 30 | 31 | animator.SetBool("Consumepoint1Active", Consumepoint1Active); 32 | animator.SetBool("Consumepoint2Active", Consumepoint2Active); 33 | animator.SetBool("Consumepoint3Active", Consumepoint3Active); 34 | } 35 | 36 | public void Reset() 37 | { 38 | if(rbody) 39 | rbody.mass = minMass; 40 | } 41 | } 42 | -------------------------------------------------------------------------------- /Assets/Scripts/Weight.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 28d3cb9f818beaf49b8f799076c52fa4 3 | 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-------------------------------------------------------------------------------- /Assets/TextMesh Pro/Documentation/TextMesh Pro User Guide 2016.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/transformsai/AgenceTrainingEnvironment/2835d787a996aabc95852839506dfa99588c7e12/Assets/TextMesh Pro/Documentation/TextMesh Pro User Guide 2016.pdf -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Documentation/TextMesh Pro User Guide 2016.pdf.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1b8d251f9af63b746bf2f7ffe00ebb9b 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Fonts.meta: 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3 | timeCreated: 1484171803 4 | licenseType: Pro 5 | NativeFormatImporter: 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/LineBreaking Following Characters.txt: -------------------------------------------------------------------------------- 1 | )]｝〕〉》」』】〙〗〟’”｠»ヽヾーァィゥェォッャュョヮヵヶぁぃぅぇぉっゃゅょゎゕゖㇰㇱㇲㇳㇴㇵㇶㇷㇸㇹㇺㇻㇼㇽㇾㇿ々〻‐゠–〜?!‼⁇⁈⁉・、%,.:;。！？］）：；＝}¢°"†‡℃〆％，． -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/LineBreaking Following Characters.txt.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fade42e8bc714b018fac513c043d323b 3 | timeCreated: 1425440388 4 | licenseType: Store 5 | TextScriptImporter: 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/LineBreaking Leading Characters.txt: -------------------------------------------------------------------------------- 1 | ([｛〔〈《「『【〘〖〝‘“｟«$—…‥〳〴〵\［（{£¥"々〇〉》」＄｠￥￦ # -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/LineBreaking Leading Characters.txt.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d82c1b31c7e74239bff1220585707d2b 3 | timeCreated: 1425440388 4 | licenseType: Store 5 | TextScriptImporter: 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 99f836c9cb9345dba2e72c4a1f2d0695 3 | folderAsset: yes 4 | timeCreated: 1436068007 5 | licenseType: Pro 6 | DefaultImporter: 7 | userData: 8 | assetBundleName: 9 | assetBundleVariant: 10 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_Bitmap-Custom-Atlas.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 48bb5f55d8670e349b6e614913f9d910 3 | ShaderImporter: 4 | defaultTextures: [] 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_Bitmap-Mobile.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1e3b057af24249748ff873be7fafee47 3 | ShaderImporter: 4 | defaultTextures: [] 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh 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bc1ede39bf3643ee8e493720e4259791 3 | timeCreated: 1463704911 4 | licenseType: Pro 5 | ShaderImporter: 6 | defaultTextures: [] 7 | userData: 8 | assetBundleName: 9 | assetBundleVariant: 10 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_SDF-Mobile Overlay.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a02a7d8c237544f1962732b55a9aebf1 3 | ShaderImporter: 4 | defaultTextures: [] 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_SDF-Mobile.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fe393ace9b354375a9cb14cdbbc28be4 3 | ShaderImporter: 4 | defaultTextures: [] 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_SDF-Surface-Mobile.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 85187c2149c549c5b33f0cdb02836b17 3 | ShaderImporter: 4 | defaultTextures: [] 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_SDF-Surface.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f7ada0af4f174f0694ca6a487b8f543d 3 | ShaderImporter: 4 | defaultTextures: [] 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_SDF.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 68e6db2ebdc24f95958faec2be5558d6 3 | ShaderImporter: 4 | defaultTextures: [] 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_Sprite.shader: -------------------------------------------------------------------------------- 1 | Shader "TextMeshPro/Sprite" 2 | { 3 | Properties 4 | { 5 | _MainTex ("Sprite Texture", 2D) = "white" {} 6 | _Color ("Tint", Color) = (1,1,1,1) 7 | 8 | _StencilComp ("Stencil Comparison", Float) = 8 9 | _Stencil ("Stencil ID", Float) = 0 10 | _StencilOp ("Stencil Operation", Float) = 0 11 | _StencilWriteMask ("Stencil Write Mask", Float) = 255 12 | _StencilReadMask ("Stencil Read Mask", Float) = 255 13 | 14 | _ColorMask ("Color Mask", Float) = 15 15 | _ClipRect ("Clip Rect", vector) = (-32767, -32767, 32767, 32767) 16 | 17 | [Toggle(UNITY_UI_ALPHACLIP)] _UseUIAlphaClip ("Use Alpha Clip", Float) = 0 18 | } 19 | 20 | SubShader 21 | { 22 | Tags 23 | { 24 | "Queue"="Transparent" 25 | "IgnoreProjector"="True" 26 | "RenderType"="Transparent" 27 | "PreviewType"="Plane" 28 | "CanUseSpriteAtlas"="True" 29 | } 30 | 31 | Stencil 32 | { 33 | Ref [_Stencil] 34 | Comp [_StencilComp] 35 | Pass [_StencilOp] 36 | ReadMask [_StencilReadMask] 37 | WriteMask [_StencilWriteMask] 38 | } 39 | 40 | Cull Off 41 | Lighting Off 42 | ZWrite Off 43 | ZTest [unity_GUIZTestMode] 44 | Blend SrcAlpha OneMinusSrcAlpha 45 | ColorMask [_ColorMask] 46 | 47 | Pass 48 | { 49 | CGPROGRAM 50 | #pragma vertex vert 51 | #pragma fragment frag 52 | 53 | #include "UnityCG.cginc" 54 | #include "UnityUI.cginc" 55 | 56 | #pragma multi_compile __ UNITY_UI_CLIP_RECT 57 | #pragma multi_compile __ UNITY_UI_ALPHACLIP 58 | 59 | struct appdata_t 60 | { 61 | float4 vertex : POSITION; 62 | float4 color : COLOR; 63 | float2 texcoord : TEXCOORD0; 64 | }; 65 | 66 | struct v2f 67 | { 68 | float4 vertex : SV_POSITION; 69 | fixed4 color : COLOR; 70 | half2 texcoord : TEXCOORD0; 71 | float4 worldPosition : TEXCOORD1; 72 | }; 73 | 74 | fixed4 _Color; 75 | fixed4 _TextureSampleAdd; 76 | float4 _ClipRect; 77 | 78 | v2f vert(appdata_t IN) 79 | { 80 | v2f OUT; 81 | OUT.worldPosition = IN.vertex; 82 | OUT.vertex = UnityObjectToClipPos(OUT.worldPosition); 83 | 84 | OUT.texcoord = IN.texcoord; 85 | 86 | #ifdef UNITY_HALF_TEXEL_OFFSET 87 | OUT.vertex.xy += (_ScreenParams.zw-1.0)*float2(-1,1); 88 | #endif 89 | 90 | OUT.color = IN.color * _Color; 91 | return OUT; 92 | } 93 | 94 | sampler2D _MainTex; 95 | 96 | fixed4 frag(v2f IN) : SV_Target 97 | { 98 | half4 color = (tex2D(_MainTex, IN.texcoord) + _TextureSampleAdd) * IN.color; 99 | 100 | #if UNITY_UI_CLIP_RECT 101 | color.a *= UnityGet2DClipping(IN.worldPosition.xy, _ClipRect); 102 | #endif 103 | 104 | #ifdef UNITY_UI_ALPHACLIP 105 | clip (color.a - 0.001); 106 | #endif 107 | 108 | return color; 109 | } 110 | ENDCG 111 | } 112 | } 113 | } 114 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMP_Sprite.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cf81c85f95fe47e1a27f6ae460cf182c 3 | timeCreated: 1450517184 4 | licenseType: Pro 5 | ShaderImporter: 6 | defaultTextures: [] 7 | userData: 8 | assetBundleName: 9 | assetBundleVariant: 10 | -------------------------------------------------------------------------------- /Assets/TextMesh Pro/Resources/Shaders/TMPro.cginc: -------------------------------------------------------------------------------- 1 | float2 UnpackUV(float uv) 2 | { 3 | float2 output; 4 | output.x = floor(uv / 4096); 5 | output.y = uv - 4096 * output.x; 6 | 7 | return output * 0.001953125; 8 | } 9 | 10 | fixed4 GetColor(half d, fixed4 faceColor, fixed4 outlineColor, half outline, half softness) 11 | { 12 | half faceAlpha = 1-saturate((d - outline * 0.5 + softness * 0.5) / (1.0 + softness)); 13 | half outlineAlpha = saturate((d + outline * 0.5)) * sqrt(min(1.0, outline)); 14 | 15 | faceColor.rgb *= faceColor.a; 16 | outlineColor.rgb *= outlineColor.a; 17 | 18 | faceColor = lerp(faceColor, outlineColor, outlineAlpha); 19 | 20 | faceColor *= faceAlpha; 21 | 22 | return faceColor; 23 | } 24 | 25 | float3 GetSurfaceNormal(float4 h, float bias) 26 | { 27 | bool raisedBevel = step(1, fmod(_ShaderFlags, 2)); 28 | 29 | h += bias+_BevelOffset; 30 | 31 | float bevelWidth = max(.01, _OutlineWidth+_BevelWidth); 32 | 33 | // Track outline 34 | h -= .5; 35 | h /= bevelWidth; 36 | h = saturate(h+.5); 37 | 38 | if(raisedBevel) h = 1 - abs(h*2.0 - 1.0); 39 | h = lerp(h, sin(h*3.141592/2.0), _BevelRoundness); 40 | h = min(h, 1.0-_BevelClamp); 41 | h *= _Bevel * bevelWidth * _GradientScale * -2.0; 42 | 43 | float3 va = normalize(float3(1.0, 0.0, h.y - h.x)); 44 | float3 vb = normalize(float3(0.0, -1.0, h.w - h.z)); 45 | 46 | return cross(va, vb); 47 | } 48 | 49 | float3 GetSurfaceNormal(float2 uv, float bias, float3 delta) 50 | { 51 | // Read "height field" 52 | float4 h = {tex2D(_MainTex, uv - delta.xz).a, 53 | tex2D(_MainTex, uv + delta.xz).a, 54 | tex2D(_MainTex, uv - delta.zy).a, 55 | tex2D(_MainTex, uv + delta.zy).a}; 56 | 57 | return GetSurfaceNormal(h, bias); 58 | } 59 | 60 | float3 GetSpecular(float3 n, float3 l) 61 | { 62 | float spec = pow(max(0.0, dot(n, l)), _Reflectivity); 63 | return _SpecularColor.rgb * spec * _SpecularPower; 64 | } 65 | 66 | float4 GetGlowColor(float d, float scale) 67 | { 68 | float glow = d - (_GlowOffset*_ScaleRatioB) * 0.5 * scale; 69 | float t = lerp(_GlowInner, (_GlowOuter * _ScaleRatioB), step(0.0, glow)) * 0.5 * scale; 70 | glow = saturate(abs(glow/(1.0 + t))); 71 | glow = 1.0-pow(glow, _GlowPower); 72 | glow *= sqrt(min(1.0, t)); // Fade off glow thinner than 1 screen pixel 73 | return float4(_GlowColor.rgb, saturate(_GlowColor.a * glow * 2)); 74 | 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sampler2D _FaceTex; // Alpha : Signed Distance 3 | uniform float _FaceUVSpeedX; 4 | uniform float _FaceUVSpeedY; 5 | uniform fixed4 _FaceColor; // RGBA : Color + Opacity 6 | uniform float _FaceDilate; // v[ 0, 1] 7 | uniform float _OutlineSoftness; // v[ 0, 1] 8 | 9 | uniform sampler2D _OutlineTex; // RGBA : Color + Opacity 10 | uniform float _OutlineUVSpeedX; 11 | uniform float _OutlineUVSpeedY; 12 | uniform fixed4 _OutlineColor; // RGBA : Color + Opacity 13 | uniform float _OutlineWidth; // v[ 0, 1] 14 | 15 | uniform float _Bevel; // v[ 0, 1] 16 | uniform float _BevelOffset; // v[-1, 1] 17 | uniform float _BevelWidth; // v[-1, 1] 18 | uniform float _BevelClamp; // v[ 0, 1] 19 | uniform float _BevelRoundness; // v[ 0, 1] 20 | 21 | uniform sampler2D _BumpMap; // Normal map 22 | uniform float _BumpOutline; // v[ 0, 1] 23 | uniform float _BumpFace; // v[ 0, 1] 24 | 25 | uniform samplerCUBE _Cube; // Cube / sphere map 26 | uniform fixed4 _ReflectFaceColor; // RGB intensity 27 | uniform fixed4 _ReflectOutlineColor; 28 | //uniform float _EnvTiltX; // v[-1, 1] 29 | //uniform float _EnvTiltY; // v[-1, 1] 30 | uniform float3 _EnvMatrixRotation; 31 | uniform float4x4 _EnvMatrix; 32 | 33 | uniform fixed4 _SpecularColor; // RGB intensity 34 | uniform float _LightAngle; // v[ 0,Tau] 35 | uniform float _SpecularPower; // v[ 0, 1] 36 | uniform float _Reflectivity; // v[ 5, 15] 37 | uniform float _Diffuse; // v[ 0, 1] 38 | uniform float _Ambient; // v[ 0, 1] 39 | 40 | uniform fixed4 _UnderlayColor; // RGBA : Color + Opacity 41 | uniform float _UnderlayOffsetX; // v[-1, 1] 42 | uniform float _UnderlayOffsetY; // v[-1, 1] 43 | uniform float _UnderlayDilate; // v[-1, 1] 44 | uniform float _UnderlaySoftness; // v[ 0, 1] 45 | 46 | uniform fixed4 _GlowColor; // RGBA : Color + Intesity 47 | uniform float _GlowOffset; // v[-1, 1] 48 | uniform float _GlowOuter; // v[ 0, 1] 49 | uniform float _GlowInner; // v[ 0, 1] 50 | uniform float _GlowPower; // v[ 1, 1/(1+4*4)] 51 | 52 | // API 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-------------------------------------------------------------------------------- 1 | { 2 | "m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # AgenceTraining 2 | 3 | ### Requirements 4 | 5 | - [Ml-agents Release 1][1] 6 | - [Unity Version 2019.1.14][2] 7 | 8 | [1]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Installation.md 9 | [2]: https://unity3d.com/get-unity/download/archive 10 | 11 | ### Running Trainings 12 | 13 | To run a training, open the project in unity and create a build, including the game agents scene in the build. 14 | 15 | ![Build Info][buildInfo] 16 | 17 | [buildInfo]: https://raw.githubusercontent.com/transitional-forms-inc/AgenceTrainingEnvironment/master/docs/buildImg.png?token=AGB6HBTIUSXJ4BMSYFIMGGC7NTDUE 18 | 19 | Then run your training using ML-agents' _mlagents-learn_ command in your python environment. 20 | 21 | _Example Command: 'mlagents-learn config\config.yaml --env Builds\pushAgents\AgenceTrainingUpdate.exe --base-port 6530 --run-id pushAgents --keep-checkpoints 200'_ 22 | 23 | ### Creating New Trainings 24 | 25 | The best place to start with creating new trainings is in the planet script in your scene. In the gameAgents scene this is the BasicFiveAgentPlanet script. 26 | 27 | This script controls the rewards that are passed to the agent, plus the resetting of the environment. Please modify this script with new rewards or planet reset mechanics to drive new interactions in your agents. 28 | 29 | If you aren't recieving the results you'd like, also consider modifying your config file. More info [here](https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Training-Configuration-File.md). 30 | 31 | Do note, all submitted agents must have an unmodified observation and action space. Brains that extend or contract observations or actions will be rejected. 32 | 33 | ### Submitting Trainings 34 | 35 | If you come across interesting trainings, you can submit them for creative review by filling out this form: 36 | https://forms.gle/7nCBWBUXus3nAXCV7 37 | -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_1Layer.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 1024 6 | epsilon: 0.2 7 | hidden_units: 128 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: linear 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 1 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_3Layer.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 1024 6 | epsilon: 0.2 7 | hidden_units: 128 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: linear 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 3 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_4Layer.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 1024 6 | epsilon: 0.2 7 | hidden_units: 128 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: linear 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 4 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_constant.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 1024 6 | epsilon: 0.2 7 | hidden_units: 128 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: constant 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 2 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_highBuffer.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 2048 6 | epsilon: 0.2 7 | hidden_units: 128 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: linear 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 2 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_highHidden.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 1024 6 | epsilon: 0.2 7 | hidden_units: 256 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: linear 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 2 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_lowBuffer.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 512 6 | epsilon: 0.2 7 | hidden_units: 128 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: linear 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 2 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/BallBalanceRotateWeightDualAgent_0.4_long_lowHidden.yaml: -------------------------------------------------------------------------------- 1 | default: 2 | trainer: ppo 3 | batch_size: 128 4 | beta: 5.0e-3 5 | buffer_size: 1024 6 | epsilon: 0.2 7 | hidden_units: 64 8 | lambd: 0.95 9 | learning_rate: 3.0e-4 10 | learning_rate_schedule: linear 11 | max_steps: 1.0e7 12 | memory_size: 256 13 | normalize: false 14 | num_epoch: 3 15 | num_layers: 2 16 | time_horizon: 64 17 | sequence_length: 64 18 | summary_freq: 10000 19 | use_recurrent: false 20 | vis_encode_type: simple 21 | reward_signals: 22 | extrinsic: 23 | strength: 1.0 24 | gamma: 0.99 -------------------------------------------------------------------------------- /config/curricula/balanceAgent.yml: -------------------------------------------------------------------------------- 1 | BalanceAgent: 2 | measure: progress 3 | thresholds: [0.7, 0.8, 0.9, 1] 4 | min_lesson_length: 250 5 | signal_smoothing: true 6 | parameters: 7 | numWeights: [1, 2, 3, 4, 5] -------------------------------------------------------------------------------- /docs/buildImg.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/transformsai/AgenceTrainingEnvironment/2835d787a996aabc95852839506dfa99588c7e12/docs/buildImg.png --------------------------------------------------------------------------------