//주변의 환경정보를 수집
public override void CollectObservations(MLAgents.Sensors.VectorSensor sensor)
{
//Brain 전달할 관측 데이터
sensor.AddObservation(targetTr.localPosition); //3
sensor.AddObservation(tr.localPosition); //3
sensor.AddObservation(mummyRb.velocity.x); //1
sensor.AddObservation(mummyRb.velocity.z); //1
}
public override void CollectObservations(MLAgents.Sensors.VectorSensor sensor)
{
// Target and Agent positions
sensor.AddObservation(Target.localPosition);
sensor.AddObservation(this.transform.localPosition);
// Agent velocity
sensor.AddObservation(rBody.velocity.x);
sensor.AddObservation(rBody.velocity.z);
}
// Collect all non-Raycast observations
public override void CollectObservations(MLAgents.Sensors.VectorSensor sensor)
{
// Check item carrying (1 int = 1 value)
sensor.AddObservation(item);
// Whether the penguin has eaten a fish (1 bool = 1 value)
sensor.AddObservation(isFull);
// Distance to the bin (1 float = 1 value)
sensor.AddObservation(Vector3.Distance(bin.transform.position, transform.position));
// Direction to bin (1 Vector3 = 3 values)
sensor.AddObservation((bin.transform.position - transform.position).normalized);
// Distance to the baby (1 float = 1 value)
sensor.AddObservation(Vector3.Distance(baby.transform.position, transform.position));
// Direction to baby (1 Vector3 = 3 values)
sensor.AddObservation((baby.transform.position - transform.position).normalized);
// Direction penguin is facing (1 Vector3 = 3 values)
sensor.AddObservation(transform.forward);
// 1 + 1 + 1 + 3 + 1 + 3 + 3 = 13 total values
}
//관측정보를 수집하고 브레인에 전달하는 역할
public override void CollectObservations(MLAgents.Sensors.VectorSensor sensor)
{
//#1. 관측정보
//에이전트의 위치와 바닥(중앙)의 위치간의 거리 : 떨어질수록 - 패널티
Vector3 dist1 = planeTr.localPosition - mummyTr.localPosition;
float norX1 = Mathf.Clamp(dist1.x, -1f, +1f);
float norZ1 = Mathf.Clamp(dist1.z, -1f, +1f);
//#2. 관측정보
Vector3 dist2 = targetTr.localPosition - mummyTr.localPosition;
float norX2 = Mathf.Clamp(dist2.x, -1f, +1f);
float norZ2 = Mathf.Clamp(dist2.z, -1f, +1f);
sensor.AddObservation(norX1);
sensor.AddObservation(norZ1);
sensor.AddObservation(norX2);
sensor.AddObservation(norZ2);
}