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狗頭人哨兵攻擊 3

夏洛爾 | 2023-01-28 14:07:57 | 巴幣 0 | 人氣 158

Kobold Sentinel Attack V3

實驗目標:

1.設法用武器用力的打擊目標

實驗設計:

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

1.打擊得分變成僅限初擊

2.在打擊後，得分加上目標速度和角速度

實驗時間:

Step: 2.5e7

Time Elapsed: 114764s (31.88hr)

實驗結果:

實驗結果為失敗，狗頭人使用武器的意圖極弱

但是SAC相當的動感，沒有像很久之前會是木頭人

從現狀來看，狗頭人果然還是以衝撞為主

而後續實驗目前有兩個不衝突分歧

1.增加視線