1.任何弱點觸地皆失敗 (尾巴、武器和Calf並非弱點)

2.當武器OnCollisionEnter Player

//enterCoef = 0.05f

agent.AddReward( Mathf.Clamp01(collision.impulse.magnitude * enterCoef) );

3.

//Set: judge.endEpisode = true//Set: judge.episodeLength = 3.3f//Set: weapon, tail not weakness//Set: useClampReward = trueif(weaknessOnGround){if(inferenceMode){brainMode = BrainMode.GetUp;SetModel("KoboldGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}else{// ===Train Attack===if(!hitTarget){float survivedTime = Time.fixedTime - arrivedMoment;if(survivedTime < judge.episodeLength ){AddReward( (survivedTime - judge.episodeLength) * 0.1f );}}judge.outLife++;judge.Reset();return;//===Train Other===// brainMode = BrainMode.GetUp;// SetModel("KoboldGetUp", getUpBrain);// behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}else if(koboldRoot.localPosition.y < -1f){if(inferenceMode){brainMode = BrainMode.GetUp;SetModel("KoboldGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}else{// ===Train Attack===if(!hitTarget){float survivedTime = Time.fixedTime - arrivedMoment;if(survivedTime < judge.episodeLength ){AddReward( (survivedTime - judge.episodeLength) * 0.3f );}}judge.outY++;judge.Reset();return;// ===Train Other===// brainMode = BrainMode.GetUp;// SetModel("KoboldGetUp", getUpBrain);// behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}else{if(hitTarget){// float myVelocity = velocityBuffer.GetSmoothVal().magnitude;// float myAngularVelocity = Vector3.Project(angularVelocityBuffer.GetSmoothVal(), Vector3.up).magnitude;float targetVelocity = targetVelocityBuffer.GetSmoothVal().magnitude;float targetAngularVelocity = targetAngularVelocityBuffer.GetSmoothVal().magnitude;// velocityCoef = Mathf.InverseLerp(15f, 0f, myVelocity );// float angularVelocityCoef = Mathf.InverseLerp(0f, 30f, myAngularVelocity );velocityCoef = Mathf.InverseLerp(0f, 20f, targetVelocity );float angularVelocityCoef = Mathf.InverseLerp(0f, 30f, targetAngularVelocity );lastReward = velocityCoef * 0.05f + angularVelocityCoef * 0.05f;totalReward += lastReward;AddReward(lastReward);}}

//大致來說