add: 1.13 task1

Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarAgentGridCollab.prefab

@@ -329,7 +329,7 @@ GameObject:
   - component: {fileID: 5601152702967375707}
   - component: {fileID: 3822330893343168228}
   - component: {fileID: 5628194071647130095}
-  m_Layer: 0
+  m_Layer: 2
   m_Name: CarAgentGridCollab
   m_TagString: blueAgent
   m_Icon: {fileID: 0}

Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarCatchingArea.prefab

@@ -59,28 +59,24 @@ MonoBehaviour:
     StartingPos: {x: 0, y: 0, z: 0}
     StartingRot: {x: 0, y: 0, z: 0, w: 0}
     StartingScale: {x: 0, y: 0, z: 0}
-    GoalPosition: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
   - Agent: {fileID: 7246486209573452180}
     StartingPos: {x: 0, y: 0, z: 0}
     StartingRot: {x: 0, y: 0, z: 0, w: 0}
     StartingScale: {x: 0, y: 0, z: 0}
-    GoalPosition: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
   - Agent: {fileID: 3964309580746521657}
     StartingPos: {x: 0, y: 0, z: 0}
     StartingRot: {x: 0, y: 0, z: 0, w: 0}
     StartingScale: {x: 0, y: 0, z: 0}
-    GoalPosition: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
   - Agent: {fileID: 4005891969102443327}
     StartingPos: {x: 0, y: 0, z: 0}
     StartingRot: {x: 0, y: 0, z: 0, w: 0}
     StartingScale: {x: 0, y: 0, z: 0}
-    GoalPosition: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
   UseRandomAgentRotation: 1
@@ -96,7 +92,7 @@ PrefabInstance:
     m_Modifications:
     - target: {fileID: 9194218059880268, guid: 8797a13bf18c2ab48bc8b884e5d4b04d, type: 3}
       propertyPath: m_VoxelSize
-      value: 12.5
+      value: 7.6666665
       objectReference: {fileID: 0}
     - target: {fileID: 431764501063180419, guid: 8797a13bf18c2ab48bc8b884e5d4b04d,
         type: 3}

Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarAgent.cs

@@ -1,4 +1,5 @@
-using UnityEngine;
+using Unity.Mathematics;
+using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
@@ -107,10 +108,13 @@ public void MoveAgent(ActionSegment<int> act)
     public override void OnActionReceived(ActionBuffers actionBuffers)
     {
         var rawAction = new Vector2(actionBuffers.ContinuousActions[0], actionBuffers.ContinuousActions[1]);
+        var clipAction = new Vector2(Mathf.Clamp(rawAction[0], -1f, 1f), Mathf.Clamp(rawAction[1], 0f, 1f));
 
         Debug.Log(this.transform.parent.gameObject.name +
                   ", " + this.name + "  onActionReceived: " + rawAction + "   " + transform.position);
-        var reverselyNormalizedPos2d = ReverselyNormalizePos2d(rawAction);
+
+        // var reverselyNormalizedPos2d = ReverselyNormalizePos2dCartesian(rawAction);
+        var reverselyNormalizedPos2d = ReverselyNormalizePos2dPolar(clipAction);
 
         // Add the reversely normalized action and the car's global position (because setDestination accept a global target position)
         var navigationGoal = transform.position +
@@ -124,12 +128,44 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
         // MoveAgent(actionBuffers.DiscreteActions);
     }
 
-    public Vector2 ReverselyNormalizePos2d(Vector2 pos)
+    // This method reversely normalized pos output by neural network using Cartesian coordinate system. The car itself acts as origin.
+    // So the legal decision range is a square whose side length is decisionRangeRadius.
+    public Vector2 ReverselyNormalizePos2dCartesian(Vector2 pos)
     {
         Vector2 ans = new Vector2(pos.x * decisionRangeRadius, pos.y * decisionRangeRadius);
         return ans;
     }
 
+    // This method reversely normalized pos output by neural network using Polar coordinate system. The car itself acts as origin.
+    // The legal decision range is a circle never hits any obstacles.
+    public Vector2 ReverselyNormalizePos2dPolar(Vector2 pos)
+    {
+        //pos.x is normalized angle, pos.y is normalized radius
+        var normalizedAngle = pos.x;
+        var normalizedRadius = pos.y;
+
+        // non-normalized angle
+        var angle = normalizedAngle * math.PI;
+        float radius = decisionRangeRadius;
+        Vector3 dir = new Vector3(math.cos(angle), 0, math.sin(angle));
+
+        // Physics.DefaultRaycastLayers means all layers will be considered during casting except Ignore Raycast layer.
+        RaycastHit hit;
+        if (Physics.Raycast(transform.position, dir, out hit, decisionRangeRadius, Physics.DefaultRaycastLayers))
+        {
+            radius = hit.distance;
+        }
+        // non-normalized radius
+        radius = normalizedRadius * radius;
+
+        Debug.Log(this.transform.parent.gameObject.name +
+                  ", " + this.name + "  onActionReceived: polar angle " + angle + "polar radius  " + radius);
+        Vector2 ans = new Vector2(radius * math.cos(angle), radius * math.sin(angle));
+        Debug.Log(this.transform.parent.gameObject.name +
+                  ", " + this.name + "  onActionReceived: polar target " + ans);
+        return ans;
+    }
+
 
     public override void Heuristic(in ActionBuffers actionsOut)
     {
@@ -159,5 +195,10 @@ public void FixedUpdate()
     {
         Debug.Log(this.transform.parent.gameObject.name +
                   ", " + this.name + "  FixedUpdate: " + carCatchingEnvController.ResetTimer + "   " + transform.position);
+
+        // Debug.Log( this.transform.parent.gameObject.name +
+        //            ", " + this.name + "  StepCount: " + StepCount);
+        // Debug.Log( this.transform.parent.gameObject.name +
+        //            ", " + this.name + "  CompleteEpisodes: " + CompletedEpisodes);
     }
 }

Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarCatchingEnvController.cs

@@ -21,7 +21,6 @@ public class CarInfo
 
         // StartingScale is used for collision detection between cars and walls during initialization
         [HideInInspector] public Vector3 StartingScale;
-        [HideInInspector] public Vector3 GoalPosition;
         [HideInInspector] public DecisionRequester DecisionRequester;
         [HideInInspector] public NavMeshAgent NavMeshAgent;
     }
@@ -77,13 +76,12 @@ void Start()
             item.StartingPos = itemTrans.position;
             item.StartingRot = itemTrans.rotation;
             item.StartingScale = itemTrans.localScale;
-            item.GoalPosition = itemTrans.position;
             item.DecisionRequester = item.Agent.GetComponent<DecisionRequester>();
             item.NavMeshAgent = item.Agent.GetComponent<NavMeshAgent>();
         }
 
         for (; RunningNum < AgentsList.Count && AgentsList[RunningNum].Agent.isRunning; ++RunningNum) ;
-
+        // Academy.Instance.OnEnvironmentReset += ResetScene;
         ResetScene();
     }
 
@@ -113,7 +111,7 @@ public Vector3 GetRandomSpawnPos(Quaternion rot)
         var agentHalfExtents = AgentsList[0].StartingScale * 0.5f;
         while (foundNewSpawnLocation == false)
         {
-            //Global Position = ground position + x,z local position + y
+            //Global Position = ground position + x,z   local position + y
             randomSpawnPos = ground.transform.position + GetRandomPos() + new Vector3(0f, localY, 0f);
             Debug.Log( this.name + "  GetRandomSpawnPos: " + randomSpawnPos);
             if (Physics.CheckBox(randomSpawnPos, agentHalfExtents, rot) == false)