koobas.hobune.stream
ML Agents train with a third person character
I'm learning how to use ML agents and have some success training cubes to learn tasks. Following the ML Agents examples and modding them.
I'm now trying to swap out the agent / cube for a standard assets third person controller prefab. However as the third person controller doesn't move using rigidbody.AddForce the ML agents training behaviour doesn't seem to be able to move the agent / character, despite it all working perfectly using heuristic behaviour (in the behaviour parameters).
I wondered if anyone had any tips for how to integrate an animated third person character into an ML environment. Is it possible with the standard assets third person controller prefab.
In case any one is interested the code that is causing the problem is below.
The code that the ML behaviour uses to move the agent is below this message. It receives 7 inputs and in the ML Agents example (push block) uses these to directly move the agents rigidbody using AddForce
//transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
//m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed, ForceMode.VelocityChange);
These lines work well and do successfully train a cube (or any other rigidbody agent).
However when using the standard assets third person controller the agent is moved by calling the Move function from the third person controller script.
Char_Move = Forward*Vector3.forward + Right*Vector3.right;
// pass all parameters to the character control script
m_Character.Move(Char_Move, Char_Crouch, Char_Jump);
The character controller script doesn't seem to directly use AddForce. And the agent won't move during training (but is controllable by heuristic behaviour, keys WASD).
The full function is below.
Hoping somebody might have some pointers about how to go about this.
public void MoveAgent(float[] act)
{
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
Forward = 0;
Right = 0;
var action = Mathf.FloorToInt(act[0]);
// Goalies and Strikers have slightly different action spaces.
switch (action)
{
case 1:
Forward = 1f;
dirToGo = transform.forward * 1f;
break;
case 2:
Forward = -1f;
dirToGo = transform.forward * -1f;
break;
case 3:
Right = 1f;
rotateDir = transform.up * 1f;
break;
case 4:
Right = -1f;
rotateDir = transform.up * -1f;
break;
case 5:
//Right = 1f;
dirToGo = transform.right * -0.75f;
break;
case 6:
//Right = -1f;
dirToGo = transform.right * 0.75f;
break;
}
//transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
//m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed, ForceMode.VelocityChange);
Char_Move = Forward*Vector3.forward + Right*Vector3.right;
// pass all parameters to the character control script
m_Character.Move(Char_Move, Char_Crouch, Char_Jump);
Char_Jump = false;
}
