Fix implementation of SAC

packages/editor/models/export-model.ts

@@ -1,4 +1,4 @@
-import { EntityType, ShapeModel, WorldModel } from "runtime/proto/world"
+import { EntityType, ShapeModel } from "runtime/proto/world"
 import { verticesToBytes } from "runtime/src/model/world/shape-model"
 import { ShapeState } from "../entities/shape/shape-state"
 import { WorldState } from "./world-state"

packages/learning/actor/model.json

@@ -0,0 +1 @@
+{"modelTopology":{"class_name":"Sequential","config":{"name":"sequential_3","layers":[{"class_name":"Sequential","config":{"name":"sequential_1","layers":[{"class_name":"Dense","config":{"units":32,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"normal","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense1","trainable":true,"batch_input_shape":[null,4],"dtype":"float32"}},{"class_name":"Dense","config":{"units":32,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"normal","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense2","trainable":true}}]}},{"class_name":"Dense","config":{"units":2,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"normal","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense5","trainable":true}}]},"keras_version":"tfjs-layers 4.19.0-rc.0","backend":"tensor_flow.js"},"weightsManifest":[{"paths":["weights.bin"],"weights":[{"name":"dense_Dense1/kernel","shape":[4,32],"dtype":"float32"},{"name":"dense_Dense1/bias","shape":[32],"dtype":"float32"},{"name":"dense_Dense2/kernel","shape":[32,32],"dtype":"float32"},{"name":"dense_Dense2/bias","shape":[32],"dtype":"float32"},{"name":"dense_Dense5/kernel","shape":[32,2],"dtype":"float32"},{"name":"dense_Dense5/bias","shape":[2],"dtype":"float32"}]}],"format":"layers-model","generatedBy":"TensorFlow.js tfjs-layers v4.19.0-rc.0","convertedBy":null}

packages/learning/critic/model.json

@@ -0,0 +1 @@
+{"modelTopology":{"class_name":"Sequential","config":{"name":"sequential_4","layers":[{"class_name":"Sequential","config":{"name":"sequential_2","layers":[{"class_name":"Dense","config":{"units":32,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"normal","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense3","trainable":true,"batch_input_shape":[null,4],"dtype":"float32"}},{"class_name":"Dense","config":{"units":32,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"normal","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense4","trainable":true}}]}},{"class_name":"Dense","config":{"units":1,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"normal","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense6","trainable":true}}]},"keras_version":"tfjs-layers 4.19.0-rc.0","backend":"tensor_flow.js"},"weightsManifest":[{"paths":["weights.bin"],"weights":[{"name":"dense_Dense3/kernel","shape":[4,32],"dtype":"float32"},{"name":"dense_Dense3/bias","shape":[32],"dtype":"float32"},{"name":"dense_Dense4/kernel","shape":[32,32],"dtype":"float32"},{"name":"dense_Dense4/bias","shape":[32],"dtype":"float32"},{"name":"dense_Dense6/kernel","shape":[32,1],"dtype":"float32"},{"name":"dense_Dense6/bias","shape":[1],"dtype":"float32"}]}],"format":"layers-model","generatedBy":"TensorFlow.js tfjs-layers v4.19.0-rc.0","convertedBy":null}

packages/learning/index.html

@@ -2,12 +2,10 @@
 <html lang="en" style="width: 100%; height: 95%; background-color: black">
     <head>
         <meta charset="UTF-8" />
-        <link rel="icon" type="image/svg+xml" href="/threejs-icon.svg" />
         <meta name="viewport" content="width=device-width, initial-scale=1.0" />
         <title>Polyburn</title>
     </head>
     <body style="width: 100%; height: 100%; margin: 0%">
-        <canvas id="scene" style="width: 100%; height: 100%"></canvas>
         <script type="module" src="/src/main.ts"></script>
     </body>
 </html>

packages/learning/package.json

@@ -2,8 +2,6 @@
     "name": "learning",
     "private": true,
     "version": "1.0.0",
-    "type": "commonjs",
-    "moduleResolution": "node",
     "scripts": {
         "rl-dev": "vite",
         "rl-local": "npx tsx ./src/main.ts",
@@ -12,33 +10,35 @@
     },
     "devDependencies": {
         "@types/node": "^20.12.7",
-        "@types/three": "^0.162.0",
         "autoprefixer": "^10.4.19",
         "postcss": "^8.4.38",
-        "runtime": "*",
-        "runtime-framework": "*",
-        "shared": "*",
         "tailwindcss": "^3.4.3",
         "tslib": "^2.6.2",
         "tsx": "^4.7.3",
         "typescript": "^5.4.2",
-        "vite": "^5.1.6"
+        "vite": "^5.2.10"
     },
     "dependencies": {
+        "@dimforge/rapier2d": "^0.12.0",
+        "@tensorflow/tfjs": "^4.19.0",
         "@tensorflow/tfjs-backend-webgl": "^4.19.0-rc.0",
         "@tensorflow/tfjs-backend-webgpu": "^4.19.0-rc.0",
-        "@tensorflow/tfjs-node": "^4.19.0-rc.0",
-        "@tensorflow/tfjs-node-gpu": "^4.19.0-rc.0",
         "@types/prompts": "^2.4.9",
         "@types/sat": "^0.0.35",
+        "@types/three": "^0.164.0",
         "eslint-config-custom": "*",
         "lil-gui": "^0.19.2",
         "poly-decomp-es": "^0.4.2",
         "ppo-tfjs": "^0.0.2",
         "prompts": "^2.4.2",
+        "protobufjs": "^7.2.6",
+        "runtime": "*",
+        "runtime-framework": "*",
         "sat": "^0.9.0",
-        "three": "^0.162.0",
+        "shared": "*",
+        "three": "^0.164.1",
         "tsconfig": "*",
+        "vite-node": "^1.5.3",
         "vite-plugin-top-level-await": "^1.4.1",
         "vite-plugin-wasm": "^3.3.0"
     },