| public static Sigmoid ( Vector3 v3, float scale = 1f ) : Vector3 | ||
| v3 | Vector3 | |
| scale | float | |
| Résultat | Vector3 | |
public override void CollectObservations(VectorSensor sensor)
{
if (sensor != null)
{
sensor.AddObservation(stats.steer);
float speed = Mathf.Clamp(stats.speed, 0f, 40f);
sensor.AddObservation(speed / 20f - 1f);
float angle = Mathf.Clamp(stats.orientation, -45f, 45f);
sensor.AddObservation(angle / 45f);
float offset = Mathf.Clamp(stats.offset, -Chunk.RoadExtent, Chunk.RoadExtent);
sensor.AddObservation(offset / Chunk.RoadExtent);
sensor.AddObservation(vehicle.Inclination);
sensor.AddObservation(Normalization.Sigmoid(vehicle.Velocity));
sensor.AddObservation(Normalization.Sigmoid(vehicle.AngularVelocity));
sensor.AddObservation(road.GetNormalizedObstacleDistances(60));
foreach (var dir in road.GetWayPointDirections(5, 16))
{
sensor.AddObservation(dir);
}
}
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_NormTargetSpeed);
sensor.AddObservation(NormTargetWalkAngle);
sensor.AddObservation(NormTargetLookAngle);
sensor.AddObservation(m_Body.Gyro);
sensor.AddObservation(Normalization.Sigmoid(m_Body.LocalVelocity));
sensor.AddObservation(Normalization.Sigmoid(m_Body.LocalAngularVelocity));
for (int i = 0; i < m_Bones.Length; i++)
{
sensor.AddObservation(m_Bones[i].NormAngle);
sensor.AddObservation(m_Bones[i].NormLocalVelocity);
}
foreach (var detector in m_GroundRayDetectors)
{
sensor.AddObservation(detector.GetGroundDistance());
}
foreach (var detector in m_GroundContactDetectors)
{
sensor.AddObservation(detector.HasGroundContact);
}
}
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);
}
}
