private void Update()
{
if (is_activated)
{
if (actions[action_index][0] == -1)
{
car_controller.Accelerate(0);
car_controller.Brake();
}
else
{
car_controller.Accelerate(actions[action_index][0]);
}
car_controller.Steer(actions[action_index][1]);
}
string full_log = "";
full_log += "Last Reward Recived: " + current_reward + "\n";
full_log += "Epsilon: " + epsilon + "\n";
full_log += "Actions Q Value: \n";
for (int i = 0; i < actions.Length; i++)
{
full_log += " " + actions_name[i] + ": " + last_q_values[i] + "\n";
}
//Log
for (int i = 0; i < log.Count; i++)
{
full_log += ">>" + log[i] + "\n";
}
text_log.text = full_log;
}
private void Update()
{
//Gas
if (Input.GetKey(KeyCode.UpArrow))
{
controller.Accelerate(1.0f);
}
else if (Input.GetKey(KeyCode.DownArrow))
{
controller.Brake();
}
else
{
controller.Accelerate(0.0f);
}
//Steer
float steer = 0.0f;
if (Input.GetKey(KeyCode.LeftArrow))
{
steer = -1.0f;
}
else if (Input.GetKey(KeyCode.RightArrow))
{
steer = 1.0f;
}
controller.Steer(steer);
}
private void Update()
{
if (!abort_learning)
{
if (actions[action_index][0] == -1)
{
car_controller.Accelerate(0);
car_controller.Brake();
}
else
{
car_controller.Accelerate(actions[action_index][0]);
}
car_controller.Steer(actions[action_index][1]);
if (text_log != null)
{
string full_log = "";
full_log += "Working Particle: " + working_particle + "\n";
full_log += "Current Reward: " + current_reward + "\n";
full_log += "Best Score: " + particle_swarm.GetBestScore() + "\n";
full_log += "Actions Q Value: \n";
for (int i = 0; i < actions.Length; i++)
{
full_log += " " + actions_name[i] + ": " + last_q_values[i] + "\n";
}
text_log.text = full_log;
}
}
}
/// <summary>
/// Executes code based on the actions received from the NN
/// </summary>
/// <param name="vectorAction">Actions to take</param>
public override void OnActionReceived(float[] vectorAction)
{
// Floor to int for error control
float forwardAmount = Mathf.FloorToInt(vectorAction[0]);
float steerAmount = Mathf.FloorToInt(vectorAction[1]);
if (!GameManager.instance.raceStarted || isFinished)
{
forwardAmount = 0f; steerAmount = 0f; return;
}
if (forwardAmount == 0f)
{
carController.Accelerate(0f);
}
else if (forwardAmount == 1f)
{
carController.Accelerate(1f);
}
else if (forwardAmount == 2f)
{
carController.Accelerate(-1f);
}
if (steerAmount == 0f)
{
carController.Steer(0f);
}
else if (steerAmount == 1f)
{
carController.Steer(1f);
}
else if (steerAmount == 2f)
{
carController.Steer(-1f);
}
// Add reward for actions
AddReward(CalculateRewardFromRPM());
if (isTraining)
{
if (StepCount > nextStepTimeout)
{
AddReward(-.5f);
EndEpisode();
}
}
}
private void Drive()
{
if (!isBraking)
{
controller.throttleInput = 1;
controller.Accelerate(controller.backLeftW, controller.backRightW);
}
}
private void Update()
{
controller.Accelerate(1.0f);
body.gameObject.transform.localPosition = new Vector3(
0,
body.gameObject.transform.localPosition.y,
body.gameObject.transform.localPosition.z
);
body.gameObject.transform.localRotation = Quaternion.Euler(
body.gameObject.transform.localRotation.eulerAngles.x,
0,
body.gameObject.transform.localRotation.eulerAngles.z
);
}
private void Update()
{
if (activate_car)
{
float[] network_inputs = car_camera.GetRays();
float[] network_outputs = network.Compute(network_inputs);
int action_index = ChoseAction(network_outputs);
float accel = actions[action_index][0];
float steer = actions[action_index][1];
controller.Accelerate(accel);
if (accel == -1)
{
controller.Brake();
}
controller.Steer(steer);
}
}
