private void PreviewMapClicked()
{
MoveToPointPreview preview = FindObjectOfType <MoveToPointPreview>();
if (_previewSelectionMap.Value_ID >= 0)
{
preview.SelectedGeneId = _previewSelectionMap.Value_ID;
}
preview.GetComponent <PeriodicUpdate>()?.MarkToTrigger();
Debug.Log("PreviewClicked");
ParetoGeneBank.Genome gi = GeneBankManager.Inst.GetGenomeByID(_previewSelectionMap.Value_ID);
if (gi == null)
{
return;
}
MultiLayerPerception mlp = new MultiLayerPerception(MoveSimParams.GetDefault().mlpShape, Layer.FusedActivation.Relu6);
mlp.LoadWeights(gi._weights.ToArray());
_nnDisplay._TestMLP = mlp;
_nnDisplay.MarkDirtyRepaint();
Debug.Log("SetNNDisp");
}
void OnPeriodicUpdate()
{
if (GeneBankManager.Inst.GenomeCount <= 0)
{
return;
}
float3 state = MoveContext.GetRandomState(in _simParams);
ParetoGeneBank.Genome gi = GeneBankManager.Inst.GetGenomeByID(SelectedGeneId);
Debug.Log(SelectedGeneId);
if (gi == null)
{
return;
}
MultiLayerPerception mlp = new MultiLayerPerception(_simParams.mlpShape, Layer.FusedActivation.Relu6);
mlp.LoadWeights(gi._weights.ToArray());
IWorker worker = WorkerFactory.CreateWorker(WorkerFactory.Type.Auto, mlp.model, false);
Tensor inTensor = new Tensor(1, _simParams.mlpShape.inputSize);
for (int i = 0; i < _simParams.iterations; i++)
{
float2 obs = AcademyMove.Observe(state);
for (int iINode = 0; iINode < _simParams.mlpShape.inputSize; iINode++)
{
_observeBuffer[i][iINode] = (iINode < 2) ? obs[iINode] : inTensor[runIdx, iINode];
inTensor[runIdx, iINode] = _observeBuffer[i][iINode];
}
worker.SetInput(inTensor);
worker.Execute().FlushSchedule(true);
using (Tensor outTensor = worker.PeekOutput()) {
float2 act = 0;
Debug.Assert(0 <= outTensor[runIdx, 0] && outTensor[runIdx, 0] <= 6);
Debug.Assert(0 <= outTensor[runIdx, 1] && outTensor[runIdx, 1] <= 6);
act.x = math.remap(0, 6, 0, 1, outTensor[runIdx, 0]);
act.y = math.remap(0, 6, -1, 1, outTensor[runIdx, 1]);
for (int iINode = 2; iINode < _simParams.mlpShape.inputSize; iINode++)
{
inTensor[runIdx, iINode] = outTensor[runIdx, iINode];
}
float2 dir = new float2(math.cos(state.z), math.sin(state.z));
act = math.clamp(act, _simParams.actionSpaceMin, _simParams.actionSpaceMax);
_actBuffer[i] = act;
state.z += act.y * _simParams.dt;
state.xy += dir * act.x * _simParams.dt;
}
_stateBuffer[i] = state;
}
worker.Dispose();
inTensor.Dispose();
if (_NetDraw)
{
_NetDraw._TestMLP = mlp;
}
}
private void LogRemove(ParetoGeneBank.Genome gi) => _remLog.WriteLine(gi.GetYamlEntry());
private void LogAdd(ParetoGeneBank.Genome gi) => _addLog.WriteLine(gi.GetYamlEntry());
