public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_PrevActions);
sensor.AddObservation(Health * 2 - 1);
var v = Normalization.Sigmoid(m_Walker.LocalVelocity);
sensor.AddObservation(v.x);
sensor.AddObservation(v.z);
}
public override void CollectObservations(VectorSensor sensor)
{
Info.Position = transform.position;
Info.Forward = transform.forward;
road.UpdateInfo(Info);
if (Info.IsOffRoad)
{
AddReward(Mathf.Abs(Info.Deviation) * -offRoadPenaltyFactor);
}
else
{
AddReward(Vector3.Dot(Info.Frame.Forward, physics.Velocity) * speedRewardFactor);
}
sensor.AddObservation(Info.Angle / 180f);
sensor.AddObservation(Mathf.Clamp(Info.Deviation * 0.2f, -1f, 1f));
sensor.AddObservation(physics.Inclination3);
Vector3 v = physics.Localize(physics.Velocity);
sensor.AddObservation(Normalization.Sigmoid(v.x));
sensor.AddObservation(Normalization.Sigmoid(v.y));
// Forward Speed: 0 - 25 m/s => 0 - 90 km/h
// http://fooplot.com/#W3sidHlwZSI6MCwiZXEiOiJzcXJ0KHgqMC4wNCkqMi0xIiwiY29sb3IiOiIjMDAwMDAwIn0seyJ0eXBlIjoxMDAwLCJ3aW5kb3ciOlsiLTI1LjA2MzAwMTE5MjUzMjk2NSIsIjExNy45ODgxNDYyNjg0MDQzOSIsIi01LjgzMzQzOTgyNjk2NTMyMyIsIjguNDcxNjc0OTE5MTI4NDA3Il19XQ--
sensor.AddObservation(Mathf.Min(Mathf.Sqrt(Mathf.Max(v.z, 0f) * 0.04f) * 2f - 1f, 1f));
sensor.AddObservation(Normalization.Sigmoid(physics.AngularVelocity));
sensor.AddObservation(physics.WheelR.NormMotorTorque);
sensor.AddObservation(physics.WheelF.NormSteer);
sensor.AddObservation(physics.WheelR.NormBrakeTorque);
sensor.AddObservation(physics.WheelF.NormBrakeTorque);
sensor.AddObservation(physics.WheelR.GetHeightAboveGround());
sensor.AddObservation(physics.WheelF.GetHeightAboveGround());
Vector3 origin = GetRayOrigin();
foreach (int i in lookAhead)
{
Vector3 p = road.GetFrame(Info.Frame.Index + i).Position;
sensor.AddObservation((p - origin).normalized);
Debug.DrawRay(p, Vector3.up, Color.white);
}
foreach (float distance in rayObs)
{
// Buffered
sensor.AddObservation(distance);
}
CastRays(origin);
foreach (float distance in rayObs)
{
// Current
sensor.AddObservation(distance);
}
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(multicopter.Inclination);
sensor.AddObservation(Normalization.Sigmoid(
multicopter.LocalizeVector(multicopter.Rigidbody.velocity), 0.25f));
sensor.AddObservation(Normalization.Sigmoid(
multicopter.LocalizeVector(multicopter.Rigidbody.angularVelocity)));
foreach (var rotor in multicopter.Rotors)
{
sensor.AddObservation(rotor.CurrentThrust);
}
}
