private IEnumerator TakeGradualAIActionRoutine(float[] vectorAction)
{
// Interprets the actions as absolute positions
// Moves the Lamp's servo positions from their initial positions to their final positions over a duration of 2 seconds
int count = Lamp.NumberOfServos;
int[] endServoPositions = new int[count];
for (int i = 0; i < count; ++i)
{
endServoPositions[i] = lamp.GetServo(i).OffsetFromNormalized(Mathf.Clamp(vectorAction[i], -1f, 1f));
}
float duration = 2f;
float time = 0f;
int offset;
// Interpolate servo positions from their initial positions to their final (end) positions
while (time < duration)
{
time = Mathf.Min(time + Time.deltaTime, duration);
for (int i = 0; i < count; ++i)
{
offset = (int)Mathf.SmoothStep(initialServoPositions[i], endServoPositions[i], time / duration);
lamp.GetServo(i).SetOffset(offset);
}
yield return(null);
}
// Servos are now at their final positions, evaluate the action
ActionResultFlags resultFlags;
float reward = EvaluateAction(vectorAction, out resultFlags);
bool success = (resultFlags & ActionResultFlags.Success) != 0;
print(success ? "Success" : "Fail");
print("Reward: " + reward);
print("-----------\n");
AddReward(reward);
if (success)
{
++SuccessFulActions;
}
++ActionsTaken;
ResetAgentIfNotDone(); // agent is automatically reset if its done... so we only reset if not done to avoid double reset
ActionWasTaken?.Invoke();
if (requestOnStart)
{
// requestOnStart should probably be renamed, but basically we just assume movement automation
RequestDecision();
}
}
public override void AgentAction(float[] vectorAction, string textAction)
{
// The vectorAction parameter is our "output vector"
// Here the Agent decides how to take an action based on its actionType
// Instant: Snap the Lamp's servos into the final positions (primarily used during reinforcement learning training sessions)
// Gradual: Starts a coroutine that move the Lamp's servos into the final positions over a duration (primarily for viewing trained models and during imitation learning sessions)
// Player: Moves the Lamp's servos based on key presses (used to test lamp movement in the editor)
ActionResultFlags resultFlags;
switch (actionType)
{
case EActionType.Instant:
TakeInstantAIAction(vectorAction);
AddReward(EvaluateAction(vectorAction, out resultFlags));
if ((resultFlags & ActionResultFlags.Terminal) != 0)
{
Done();
}
else
{
ResetAgentIfNotDone();
}
ActionWasTaken?.Invoke();
break;
case EActionType.Gradual:
// Print actions
print("Action: " + vectorAction.AsString());
using (System.IO.StreamWriter file = new System.IO.StreamWriter(logFilePath, true))
{
file.WriteLine("Action: " + vectorAction.AsString());
}
TakeGradualAIAction(vectorAction);
break;
case EActionType.Player:
TakePlayerAction(vectorAction);
EvaluateAction(vectorAction, out resultFlags);
if ((resultFlags & ActionResultFlags.Success) != 0)
{
ResetAgentIfNotDone();
}
ActionWasTaken?.Invoke();
break;
}
}