env.reset() 질문입니다. about unity_ml_agents HOT 8 CLOSED

public override void AgentAction(float[] vectorAction, string textAction)
   {
       int maxPosition = academy.gridSize;
       int minPosition = -1;
       var positionX = (int)transform.position.x;
       var positionY = (int)transform.position.y;
       var positionZ = (int)transform.position.z;
      

       int action = Mathf.FloorToInt(vectorAction[0]);

       Vector3 targetPos = transform.position;

       switch (action)
       {
           //case NoAction:
           //    // do nothing
           //    break;
           case Forward:
               targetPos = transform.position + new Vector3(0f, 0, 1f);
               if (targetPos.z == maxPosition)
               {
                   targetPos = transform.position;
                   maskActions = false;
               }

               break;
           case Backward:
               targetPos = transform.position + new Vector3(0f, 0, -1f);
               if (targetPos.z == minPosition)
               {
                   targetPos = transform.position;
                   maskActions = false;
               }
               break;
           case Right:
               targetPos = transform.position + new Vector3(1f, 0, 0);
               if (targetPos.x == maxPosition)
               {
                   targetPos = transform.position;
                   maskActions = false;
               }
               break;
           case Left:
               targetPos = transform.position + new Vector3(-1f, 0, 0f);
               if (targetPos.x == minPosition)
               {
                   targetPos = transform.position;
                   maskActions = false;
               }
               break;
           case Up:

               targetPos = transform.position + new Vector3(0f, 1f, 0f);
               if (targetPos.y == maxPosition)
               {
                   targetPos = transform.position;
                   maskActions = false;
               }
               break;
           case Down:
               targetPos = transform.position + new Vector3(0f, -1f, 0f);
               if (targetPos.y == minPosition)
               {
                   targetPos = transform.position;
                   maskActions = false;
               }
               break;

           default:
               throw new ArgumentException("Invalid action value");
       }

       AddReward(-1);
       if (!maskActions)
       {
              **//setReward(-3f);**
       }
       else
       {
           preDist = (goal.transform.position - gameObject.transform.position).magnitude;
           Vector3 prevec = gameObject.transform.position;
           
           Collider[] blockTest = Physics.OverlapBox(targetPos, new Vector3(0.3f, 0.3f, 0.3f));
           if (blockTest.Where(col => col.gameObject.CompareTag("obstacle")).ToArray().Length == 0)
           {

               if (blockTest.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
               {
                   Done();
                   SetReward(100f);

               }

               else
               {
                   transform.position = targetPos;
                  
                   curDist = (goal.transform.position - gameObject.transform.position).magnitude;
                   if (curDist < preDist)
                   {
                       var reward =Math.Abs(curDist - preDist);
                       AddReward(reward + 1);
                   }
                   else
                   {
                       var reward = Math.Abs(curDist - preDist);
                       AddReward(-reward -1 );
                   }

                   if (isA)
                   {

                       Vector3 lastvec = gameObject.transform.position;
                       if ((lastvec.x != pprevec.x && lastvec.y == pprevec.y && lastvec.z == pprevec.z) || (lastvec.x == pprevec.x && lastvec.y != pprevec.y && lastvec.z == pprevec.z) || (lastvec.x == pprevec.x && lastvec.y == pprevec.y && lastvec.z != pprevec.z))
                       {
                           AddReward(1f);
                       }
                       else if (pprevec == lastvec)
                       {
                           AddReward(-1f);
                       }
                       else
                       {
                           AddReward(-1f);
                       }


                   }
                   isTwise = true;
                   if (isTwise)
                   {
                       pprevec = prevec;
                   }


                   isA = true;
               }
           }
           else
           {
               **//setReward(-3f);**
           }
          
       }
       if(GetReward() ==0 )
       {

       }
       double qwq = GetReward();
       Debug.Log(GetReward());
       maskActions = true;

   }