void Start()
{
//nn = new Neuron.Network(2,5,1);
//nn.SetRandom(-0.5f, 0.5f);
nn = new Neuron.Network(256, 64, 8);
nn.SetRandom(-0.5f, 0.5f);
}
public void Start()
{
Application.runInBackground = true;
int dx = 8;
int dy = 8;
float distance = 5.0f;
leader = new RobotInfo();
leader.robot = CreateRobot();
leader.robot.transform.position = new Vector3(0, 0, -(dy + 1) * distance / 2.0f);
leader.robot.DoStart();
robotState = new RobotState(leader.robot.bodies.Length, leader.robot.muscles.Length);
int inputNum = leader.robot.inputs.Length;
int hideNum = 50;
int outNum = leader.robot.muscles.Length;
leader.network = new Neuron.Network(inputNum, hideNum, outNum);
leader.network.SetRandom(-0.5f, 0.5f);
for (int i = 0; i < dx; i++)
{
for (int j = 0; j < dy; j++)
{
RobotInfo robotInfo = new RobotInfo();
Robot robot = CreateRobot();
robot.transform.position = new Vector3(i * distance - (dx - 1) * distance / 2.0f, 0, j * distance - (dy - 1) * distance / 2.0f);
robot.DoStart();
robotInfo.robot = robot;
robotInfo.network = new Neuron.Network(inputNum, hideNum, outNum);
robotInfo.network.SetRandom(-0.5f, 0.5f);
robotInfo.startTime = Time.time;
robots.Add(robotInfo);
}
}
for (int i = 0; i < BestNum; i++)
{
Neuron.Network bn = new Neuron.Network(inputNum, hideNum, outNum);
bestNetworks[i] = (new RewardPair(0, bn));
}
Load();
}
public RewardPair(float reward, Neuron.Network network)
{
this.reward = reward;
this.network = network;
}