V2.7 Normalized state

Normalized distance and rotation state.

Assets/ML-Agents/Timers/InGame_timers.json

@@ -1 +1 @@
-{"count":1,"self":15.2624832,"total":16.0374865,"children":{"InitializeActuators":{"count":16,"self":0.0020017999999999998,"total":0.0020017999999999998,"children":null},"InitializeSensors":{"count":16,"self":0.0020989999999999997,"total":0.0020989999999999997,"children":null},"AgentSendState":{"count":547,"self":0.0070130999999999995,"total":0.034057899999999995,"children":{"CollectObservations":{"count":4376,"self":0.0200301,"total":0.0200301,"children":null},"WriteActionMask":{"count":4376,"self":0.0015003,"total":0.0015003,"children":null},"RequestDecision":{"count":4376,"self":0.0055144,"total":0.0055144,"children":null}}},"DecideAction":{"count":547,"self":0.0085414999999999987,"total":0.0085414999999999987,"children":null},"AgentAct":{"count":547,"self":0.72779699999999992,"total":0.72779699999999992,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1670633960","unity_version":"2021.3.14f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2021.3.14f1\\Editor\\Unity.exe -projectpath C:\\Users\\UCUNI\\OneDrive\\Unity\\ML-Agents\\Aimbot-ParallelEnv -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-BIduOqLJT8GiF8SNWhGj_ -hubSessionId e2ebfc30-77ac-11ed-bf56-45d250d830d4 -accessToken aCi_2ERt33bo42jVTu8X3P-PvUkABd5hiU-fyHtjEnA00ef","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"InGame","end_time_seconds":"1670633976"}}
+{"count":1,"self":13.315304,"total":13.988529499999999,"children":{"InitializeActuators":{"count":16,"self":0.0014992,"total":0.0014992,"children":null},"InitializeSensors":{"count":16,"self":0.0010057,"total":0.0010057,"children":null},"AgentSendState":{"count":463,"self":0.0070088,"total":0.025683599999999997,"children":{"CollectObservations":{"count":3704,"self":0.0136738,"total":0.0136738,"children":null},"WriteActionMask":{"count":3704,"self":0.0010000999999999999,"total":0.0010000999999999999,"children":null},"RequestDecision":{"count":3704,"self":0.0040009,"total":0.0040009,"children":null}}},"DecideAction":{"count":463,"self":0.0090286,"total":0.0090286,"children":null},"AgentAct":{"count":463,"self":0.63550869999999993,"total":0.63550869999999993,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1670806723","unity_version":"2021.3.14f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2021.3.14f1\\Editor\\Unity.exe -projectpath C:\\Users\\UCUNI\\OneDrive\\Unity\\ML-Agents\\Aimbot-ParallelEnv -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-YRG3pCS8ZgFNZRYWWEQNT -hubSessionId bd156e60-79a0-11ed-822f-5975ccdc385f -accessToken Oh87gx5N8gBlKDUL5eNZyAhhMBi2H5U90gq84xokOa800ef","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"InGame","end_time_seconds":"1670806737"}}

Assets/Script/InGame/AgentWithGun.cs

@@ -63,7 +63,7 @@ public class AgentWithGun : Agent
     private string myTag = "";
     private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
     // scripts
-    private RaySensors rayScript;
+    private RaySensors raySensors;
     private CharacterController PlayerController;
     private EnvironmentUIControl EnvUICon;
     private ParameterContainer paramContainer;
@@ -82,7 +82,7 @@ private void Start()
         EnvUICon = EnvironmentUIControlObj.GetComponent<EnvironmentUIControl>();
         targetCon = TargetControllerObj.GetComponent<TargetController>();
         hudController = HUDObj.GetComponent<HUDController>();
-        rayScript = GetComponent<RaySensors>();
+        raySensors = GetComponent<RaySensors>();
         PlayerController = this.transform.GetComponent<CharacterController>();
         // Environment parameters
         lockMouse = paramContainer.lockMouse;
@@ -263,7 +263,7 @@ float ballistic()
             {
                 // while if attack mode
                 float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
-                if (targetDis <= rayScript.viewDistance)
+                if (targetDis <= raySensors.viewDistance)
                 {
                     // Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
                     if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
@@ -310,10 +310,10 @@ float facingReward()
                     isFacingtoEnemy = true;
                 }
             }
-            if (rayScript.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
+            if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
                 // have enemy in view
                 List<float> projectionDis = new List<float>();
-                foreach (GameObject thisEnemy in rayScript.inViewEnemies)
+                foreach (GameObject thisEnemy in raySensors.inViewEnemies)
                 {
                     // for each enemy in view
                     Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
@@ -346,7 +346,7 @@ float facingReward()
         {
             // attack mode
             float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
-            if(targetDis <= rayScript.viewDistance)
+            if(targetDis <= raySensors.viewDistance)
             {
                 // Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
                 if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
@@ -419,7 +419,7 @@ public override void OnEpisodeBegin()
         {
             EnvUICon.initChart();
         }
-        rayScript.updateRayInfo(); // update raycast
+        raySensors.updateRayInfo(); // update raycast
     }
     // ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
     // 观察情报
@@ -428,10 +428,10 @@ public override void CollectObservations(VectorSensor sensor)
         //List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
         //List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
 
-        float[] myObserve = { transform.localPosition.x, transform.localPosition.y, transform.localPosition.z, transform.eulerAngles.y/360f };
+        float[] myObserve = { transform.localPosition.x/raySensors.viewDistance, transform.localPosition.y / raySensors.viewDistance, transform.localPosition.z / raySensors.viewDistance, transform.eulerAngles.y/360f };
-        float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
+        float[] rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
-        float[] rayTagResultOnehot = rayScript.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
+        float[] rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
-        float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
+        float[] rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
         float[] targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
         float remainTime = targetCon.leftTime;
         gunReadyToggle = gunReady();
@@ -452,6 +452,11 @@ public override void CollectObservations(VectorSensor sensor)
             sensor.AddObservation(rayTagResult);
         }
         sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
+        /*foreach(float aaa in rayDisResult)
+        {
+            Debug.Log(aaa);
+        }
+        Debug.LogWarning("------------");*/
         //sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
         //sensor.AddObservation(raySensorNum); // raySensor数量 int
         //sensor.AddObservation(remainTime); // RemainTime int
@@ -473,7 +478,7 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
         shoot = mouseShoot;
         cameraControl(Mouse_X, 0);
         moveAgent(vertical, horizontal);
-        rayScript.updateRayInfo(); // update raycast
+        raySensors.updateRayInfo(); // update raycast
 
         //判断结束
         float sceneReward = 0f;

Assets/Script/InGame/TargetController.cs

@@ -63,6 +63,7 @@ public enum EndType { Win, Lose, Running, Num };
     private CharacterController agentCharaCon;
     private WorldUIController worldUICon;
     private HUDController hudCon;
+    private RaySensors raySensors;
 
     // Start is called before the first frame update
     void Start()
@@ -84,6 +85,7 @@ void Start()
         paramCon = ParameterContainerObj.GetComponent<ParameterContainer>();
         worldUICon = WorldUIObj.GetComponent<WorldUIController>();
         hudCon = HUDObj.GetComponent<HUDController>();
+        raySensors = AgentObj.GetComponent<RaySensors>();
         freeProb = 1 - attackProb - gotoProb - defenceProb;
         targetNum = (int)Targets.Num;
         if (freeProb < 0)
@@ -183,7 +185,7 @@ public void rollNewScene()
         }
         else
         {
-            Debug.Log("Free");
+            //Debug.Log("Free");
             targetTypeInt = (int)Targets.Free;
             enemyCont.destroyAllEnemys();
             enemyCont.randomInitEnemys(hudCon.enemyNum);
@@ -207,10 +209,10 @@ public void updateTargetStates()
         else
         {
             targetState[0] = targetTypeInt;
-            targetState[1] = targetPosition.x;
+            targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
-            targetState[2] = targetPosition.y;
+            targetState[2] = targetPosition.y / raySensors.viewDistance;
-            targetState[3] = targetPosition.z;
+            targetState[3] = targetPosition.z / raySensors.viewDistance;
-            targetState[4] = blockCont.thisBlock.firebasesAreaDiameter;
+            targetState[4] = blockCont.thisBlock.firebasesAreaDiameter / raySensors.viewDistance;
             targetState[5] = blockCont.thisBlock.belongRatio;
         }
     }

UserSettings/Layouts/default-2021.dwlt

@@ -15,9 +15,9 @@ MonoBehaviour:
   m_PixelRect:
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     x: -1073
-    y: -689
+    y: -653
     width: 1080
-    height: 631
+    height: 595
   m_ShowMode: 0
   m_Title: Game
   m_RootView: {fileID: 4}
@@ -38,12 +38,12 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   m_PixelRect:
     serializedVersion: 2
-    x: -33
+    x: 70
-    y: 148
+    y: 53
     width: 1840
     height: 1019
   m_ShowMode: 4
-  m_Title: Scene
+  m_Title: Inspector
   m_RootView: {fileID: 12}
   m_MinSize: {x: 875, y: 542}
   m_MaxSize: {x: 10000, y: 10000}
@@ -66,7 +66,7 @@ MonoBehaviour:
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-    height: 631
+    height: 595
   m_MinSize: {x: 100, y: 121}
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@@ -93,11 +93,11 @@ MonoBehaviour:
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+    height: 595
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-  controlID: 57
+  controlID: 152
 --- !u!114 &5
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@@ -149,7 +149,7 @@ MonoBehaviour:
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   vertical: 1
-  controlID: 126
+  controlID: 114
 --- !u!114 &7
 MonoBehaviour:
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@@ -166,9 +166,9 @@ MonoBehaviour:
   m_Position:
     serializedVersion: 2
     x: 0
-    y: 655
+    y: 358
     width: 500
-    height: 314
+    height: 611
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@@ -200,7 +200,7 @@ MonoBehaviour:
   m_MinSize: {x: 100, y: 200}
   m_MaxSize: {x: 8096, y: 16192}
   vertical: 1
-  controlID: 88
+  controlID: 123
 --- !u!114 &9
 MonoBehaviour:
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@@ -219,9 +219,9 @@ MonoBehaviour:
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     y: 0
     width: 500
-    height: 655
+    height: 358
-  m_MinSize: {x: 200, y: 200}
+  m_MinSize: {x: 202, y: 221}
-  m_MaxSize: {x: 4000, y: 4000}
+  m_MaxSize: {x: 4002, y: 4021}
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   m_Panes:
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@@ -252,7 +252,7 @@ MonoBehaviour:
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   vertical: 0
-  controlID: 125
+  controlID: 17
 --- !u!114 &11
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@@ -272,8 +272,8 @@ MonoBehaviour:
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     height: 969
-  m_MinSize: {x: 275, y: 50}
+  m_MinSize: {x: 276, y: 71}
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+  m_MaxSize: {x: 4001, y: 4021}
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   m_Panes:
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@@ -369,8 +369,8 @@ MonoBehaviour:
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     width: 878
     height: 589
-  m_MinSize: {x: 200, y: 200}
+  m_MinSize: {x: 201, y: 221}
-  m_MaxSize: {x: 4000, y: 4000}
+  m_MaxSize: {x: 4001, y: 4021}
   m_ActualView: {fileID: 21}
   m_Panes:
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@@ -397,9 +397,9 @@ MonoBehaviour:
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     x: -1073
-    y: -689
+    y: -653
     width: 1080
-    height: 610
+    height: 574
   m_ViewDataDictionary: {fileID: 0}
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@@ -410,7 +410,7 @@ MonoBehaviour:
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   m_TargetDisplay: 0
   m_ClearColor: {r: 0, g: 0, b: 0, a: 0}
-  m_TargetSize: {x: 1080, y: 589}
+  m_TargetSize: {x: 1080, y: 553}
   m_TextureFilterMode: 0
   m_TextureHideFlags: 61
   m_RenderIMGUI: 1
@@ -427,8 +427,8 @@ MonoBehaviour:
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     m_HBaseRangeMin: -540
     m_HBaseRangeMax: 540
-    m_VBaseRangeMin: -294.5
+    m_VBaseRangeMin: -276.5
-    m_VBaseRangeMax: 294.5
+    m_VBaseRangeMax: 276.5
     m_HAllowExceedBaseRangeMin: 1
     m_HAllowExceedBaseRangeMax: 1
     m_VAllowExceedBaseRangeMin: 1
@@ -447,9 +447,9 @@ MonoBehaviour:
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       width: 1080
-      height: 589
+      height: 553
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-    m_Translation: {x: 540, y: 294.5}
+    m_Translation: {x: 540, y: 276.5}
     m_MarginLeft: 0
     m_MarginRight: 0
     m_MarginTop: 0
@@ -457,12 +457,12 @@ MonoBehaviour:
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       serializedVersion: 2
       x: -540
-      y: -294.5
+      y: -276.5
       width: 1080
-      height: 589
+      height: 553
     m_MinimalGUI: 1
   m_defaultScale: 1
-  m_LastWindowPixelSize: {x: 1080, y: 610}
+  m_LastWindowPixelSize: {x: 1080, y: 574}
   m_ClearInEditMode: 1
   m_NoCameraWarning: 1
   m_LowResolutionForAspectRatios: 01000000000000000000
@@ -516,8 +516,8 @@ MonoBehaviour:
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   m_Pos:
     serializedVersion: 2
-    x: -33
+    x: 70
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+    y: 672
     width: 877
     height: 359
   m_ViewDataDictionary: {fileID: 0}
@@ -550,9 +550,9 @@ MonoBehaviour:
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   m_FolderTreeState:
     scrollPos: {x: 0, y: 0}
-    m_SelectedIDs: ea780000
+    m_SelectedIDs: ca780000
-    m_LastClickedID: 30954
+    m_LastClickedID: 30922
-    m_ExpandedIDs: 00000000a0780000a2780000a4780000a6780000a8780000e478000000ca9a3b
+    m_ExpandedIDs: 00000000a0780000a2780000a4780000a6780000a8780000c478000000ca9a3b
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@@ -656,8 +656,8 @@ MonoBehaviour:
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@@ -697,10 +697,10 @@ MonoBehaviour:
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   m_Pos:
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+    y: 83
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-    height: 634
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@@ -708,23 +708,23 @@ MonoBehaviour:
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     m_TreeViewState:
       scrollPos: {x: 0, y: 0}
-      m_SelectedIDs: fa41030048470300d64b030076420300683b03001c490300d24b0300
+      m_SelectedIDs: 46b50000
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+      m_ExpandedIDs: c0efffff1af0ffff9af1ffff32fbffffe0ab0000
       m_RenameOverlay:
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-        m_Name: Enviroment-NonChart
+        m_Name: 
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+        m_OriginalName: 
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-        m_UserData: 131890
+        m_UserData: 0
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+        m_OriginalEventType: 11
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@@ -754,8 +754,8 @@ MonoBehaviour:
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@@ -992,9 +992,9 @@ MonoBehaviour:
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   m_AudioPlay: 0
   m_Position:
-    m_Target: {x: -37.653114, y: 49.920357, z: -199.11137}
+    m_Target: {x: -235.76265, y: -96.757225, z: -37.648766}
     speed: 2
-    m_Value: {x: -37.653114, y: 49.920357, z: -199.11137}
+    m_Value: {x: -235.76265, y: -96.757225, z: -37.648766}
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@@ -1041,13 +1041,13 @@ MonoBehaviour:
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+    m_Target: {x: -0.3018964, y: -0.27848974, z: 0.09269831, w: -0.9070203}
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-    m_Value: {x: -0.412128, y: -0.074487135, z: 0.033832457, w: -0.90744567}
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+    m_Value: 103.20677
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@@ -1092,10 +1092,10 @@ MonoBehaviour:
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