IEnumerator Movement()
{
var keys = _keys[(int)Side];
while (true)
{
Action action = Idle;
if (Input.GetKey(keys[0]))
{
action = MoveUp;
}
if (Input.GetKey(keys[1]))
{
action = MoveDown;
}
if (Side == Player.Player1)
{
QAIManager.Imitate(this, GetState(), action);
}
if (Side == Player.Player2)
{
action();
}
yield return(new WaitForFixedUpdate());
}
}
// Use this for initialization
void Start()
{
IEnumerable <Vector3> positions = Goal.AllValidPositions();
var seeker = FindObjectOfType <GridWoman>();
var objMap = new Dictionary <Vector3, GameObject>();
var dirMap = new Dictionary <Vector3, Vector3>();
positions = positions.Where(p => !p.Equals(Goal.Position));
foreach (var position in positions)
{
var pos = position + new Vector3(0, 1, 0);
seeker.transform.position = pos;
var state = seeker.GetState();
var query = QAIManager.Query(state);
var max = query.MaxBy(kv => kv.Value);
var rotation = ActionToRotation(max.Key.ActionId);
var arrow = CreateArrow(pos, rotation, max.Value);
objMap.Add(pos, arrow);
dirMap.Add(pos, FollowAction(pos, max.Key.ActionId));
}
//Find cycles
foreach (var cyclePos in dirMap.Where(kv => dirMap.ContainsKey(kv.Value) && kv.Key == dirMap[kv.Value]))
{
objMap[cyclePos.Key].GetComponentInChildren <Renderer>().material.color = Color.cyan;
}
EditorApplication.isPaused = true;
}
void Start()
{
StartPosistion = transform.position;
_game = FindObjectOfType <PongGame>();
_ball = FindObjectOfType <PongBall>();
if (Side == Player.Player1)
{
_grid = new QGrid(16, transform,
new GridSettings {
Offset = new Vector3(9.8f, 0, 0), ResolutionX = 1.28f, ResolutionY = 1.28f
});
_vect = Vector <float> .Build.Dense(new[] { 1f });
QAIManager.InitAgent(this, new QOption {
LearningRate = 0.005f,
NetworkArgs = new [] { new CNNArgs {
FilterSize = 4, FilterCount = 1, PoolLayerSize = 2, Stride = 2
} },
MaxPoolSize = 2000,
BatchSize = 2000,
EpsilonStart = 0.5f,
EpsilonEnd = 0.1f,
Discount = 0.95f,
TrainingInterval = 20,
TrainingCycle = 10,
});
if (QAIManager.CurrentMode == QAIMode.Learning || QAIManager.CurrentMode == QAIMode.Testing)
{
Time.timeScale = 5f;
}
}
StartCoroutine(Movement());
}
void FixedUpdate()
{
if (Side == Player.Player1)
{
_grid.DebugDraw(v => Color.Lerp(Color.black, Color.white, v / 250f));
QAIManager.GetAction(GetState())();
}
}
public static void OpenWindow(QAIOptionWindow owner, QAIManager manager)
{
var w = (BenchmarkDialog)GetWindow(typeof(BenchmarkDialog), true, "Benchmark");
var p = w.position;
w._optionWindow = owner;
w._manager = manager;
p.x = Screen.currentResolution.width / 2f - p.width / 2f;
p.y = Screen.currentResolution.height / 2f - p.height;
p.height = 100;
w.position = p;
w.ShowPopup();
}
IEnumerator Spas()
{
while (true)
{
Action a = Brake;
if (Input.GetKey(SpeederKey))
{
a = FullSpeed;
}
QAIManager.Imitate(this, GetState(), a);
yield return(new WaitForFixedUpdate());
}
}
private void Start()
{
_grid = new QGrid(13, transform, new GridSettings {
NormalAxis = Axis.Y
});
_linearState = Vector <float> .Build.Dense(2);
_history = new LinkedList <QState>();
QAIManager.InitAgent(this, new QOption {
NetworkArgs = new [] { new CNNArgs {
FilterCount = 1, FilterSize = 1, PoolLayerSize = 1, Stride = 1
} }
});
}
public void FixedUpdate()
{
if (_testModel)
{
Instantiate(Resources.Load <ModelTest>("ModelTest"));
_testModel = false;
}
_grid.DebugDraw(value => value == 0 ? Color.red : value == 1 ? Color.gray : Color.yellow);
if (QAIManager.CurrentMode != QAIMode.Imitating)
{
var state = GetState();
QAIManager.GetAction(state)();
ArchiveState(state);
}
else
{
Action currentAction = null;
if (Key(KeyCode.UpArrow, KeyCode.W))
{
currentAction = MoveUp;
}
if (Key(KeyCode.DownArrow, KeyCode.S))
{
currentAction = MoveDown;
}
if (Key(KeyCode.RightArrow, KeyCode.D))
{
currentAction = MoveRight;
}
if (Key(KeyCode.LeftArrow, KeyCode.A))
{
currentAction = MoveLeft;
}
if (currentAction != null)
{
QAIManager.Imitate(this, GetState(), currentAction);
}
}
}
public Action GetLearningAction(QState state)
{
if (!ModelReady())
{
Iteration = 1;
Initialize(state.GridSize, state.VectorSize, state.Depth);
}
if (!_isFirstTurn)
{
if (state.IsTerminal)
{
StoreSARS(new SARS(_prevState, _prevAction, state));
_isFirstTurn = true;
return(null);
}
if (state.Equals(_prevState) && (Discretize || (!Discretize && _stateCounter <= 10)))
{
_stateCounter++;
return(_prevAction.Action);
}
StoreSARS(new SARS(_prevState, _prevAction, state));
}
var a = EpsilonGreedy(Epsilon(Iteration), state);
_prevAction = a;
_prevState = state;
_stateCounter = 0;
_isFirstTurn = false;
_trainingCounter++;
if (_trainingCounter >= TrainingInterval && Time.timeScale != 0)
{
var ts = Time.timeScale;
_trainingCounter = 0;
Time.timeScale = 0;
QAIManager.RunCoroutine(PrioritySweeping ? RunPriotizedTraining(ts) : RunTraining(ts));
}
return(a.Action);
}
// Use this for initialization
void Start()
{
GetComponentInChildren <SpriteRenderer>().shadowCastingMode = ShadowCastingMode.On;
_onTrack = true;
_distanceTravelled = StartPosition;
Track.GetPointAtDistance(_distanceTravelled);
_grid = new QGrid(16, transform, new GridSettings {
Offset = Vector3.up * 5.2f
});
_vector = Vector <float> .Build.Dense(10, 0);
_velocityBin = new Bin(0.01f, 0.25f, 0.5f, 75f);
_forceBin = new Bin(0.01f, 0.25f, 0.5f, 75f);
var options = new QOption {
Discretize = false,
MaxPoolSize = 2000,
BatchSize = 2000,
EpsilonStart = 0.7f,
Discount = 0.8f,
TrainingInterval = 50,
NetworkArgs = new [] { new CNNArgs {
FilterSize = 4, FilterCount = 1, PoolLayerSize = 2, Stride = 2
} }
};
options.Discretize = false;
// if(AiControlled || QAIManager.CurrentMode == QAIMode.Imitating) {
QAIManager.InitAgent(this, options);
if (QAIManager.CurrentMode == QAIMode.Learning)
{
Time.timeScale = 2.0f;
}
// }
StartCoroutine(Spas());
}
// Update is called once per frame
void FixedUpdate()
{
if (_onTrack)
{
if (AiControlled)
{
QAIManager.GetAction(GetState())();
}
UpdatePosistion();
}
LapNumber = (int)((_distanceTravelled - StartPosition) / Track.length);
if (LapNumber != PrevLap && LapNumber != 0)
{
PrevLap = LapNumber;
Debug.Log("Time: " + LapTime);
Debug.Log("Score: " + Track.length / LapTime);
LapTime = 0;
}
else
{
LapTime += Time.deltaTime;
}
}
void CarOffTrack(int dir)
{
_onTrack = false;
QAIManager.GetAction(GetState())();
StartCoroutine(DerailAnimation(dir));
}
