public override void AgentAction(float[] vectorAction, string textAction)
{
currentAngleDiff = Vector3.Angle(transform.up, Vector3.up);
if (currentAngleDiff < AngleGoal)
{
time += Time.deltaTime;
mat.color = Color.yellow;
if (time > 3)
{
AddReward(0.5f);
StartCoroutine(FlashColor(Color.green));
Done();
}
}
else
{
AddReward(-1f / agentParameters.maxStep);
time = 0;
StartCoroutine(FlashColor(Color.red, 0.5f));
}
////reward if angle decreases
//if (currentAngleDiff < previousAngleDiff)
//{
// AddReward(0.01f);
//}
//punish if angle increases
if (currentAngleDiff > previousAngleDiff)
{
AddReward(-0.02f);
}
//fail being upside down
if (Quaternion.Angle(transform.rotation, Quaternion.Euler(0, 1, 0)) > 90f)
{
AddReward(-1f);
StartCoroutine(FlashColor(Color.red));
AgentReset();
}
//punish over time
//AddReward(-1f / agentParameters.maxStep);
falcon.ThrustAUX(vectorAction[0]);
previousAngleDiff = currentAngleDiff;
}
void doThrust(float[] act)
{
int thruster = 0;
int action = Mathf.FloorToInt(act[0]);
switch (action)
{
case 0:
thruster = 0;
break;
case 1:
thruster = 1;
break;
case 2:
thruster = -1;
break;
}
falcon.ThrustAUX(thruster);
}
public override void AgentAction(float[] vectorAction, string textAction)
{
currentAngularVelocity = Mathf.Abs(rb.angularVelocity.magnitude);
currentAngleDiff = Vector3.Angle(transform.up, Vector3.up);
if (currentAngleDiff < AngleGoal)
{
AddReward(1);
StartCoroutine(Success(Color.green));
Done();
}
//punish if angle increases
if (currentAngleDiff < previousAngleDiff)
{
AddReward(0.01f);
}
//punish if angle increases
if (currentAngleDiff > previousAngleDiff)
{
AddReward(-0.05f);
}
//fail being upside down
if (Quaternion.Angle(transform.rotation, Quaternion.Euler(0, 1, 0)) > 90f)
{
AddReward(-1f);
StartCoroutine(Success(Color.red));
AgentReset();
}
//punish over time
AddReward(-1f / agentParameters.maxStep);
falcon.ThrustAUX(vectorAction[0]);
previousAngleDiff = currentAngleDiff;
previousAngularVelocity = currentAngularVelocity;
}