ML 代理未学习相对 'simple' 的任务

Question

我尝试创建一个简单的 ML 代理（球）来学习朝向目标移动并与目标发生碰撞。

不幸的是，智能体似乎没有学习，只是一直在看似随机的位置四处移动。 5M步后，平均奖励保持在-1。

对我做错了什么有什么建议吗？

Tensorflow Cumulative reward graph

我的观察在这里：

/// <summary>
/// Observations:
/// 1: Distance to nearest target
/// 3: Vector to nearest target
/// 3: Target Position
/// 3: Agent position
/// 1: Agent Velocity X
/// 1: Agent Velocity Y
/// //12 observations in total
/// </summary>
/// <param name="sensor"></param>
public override void CollectObservations(VectorSensor sensor)
{

    //If nearest Target is null, observe an empty array and return early
    if (target == null)
    {
        sensor.AddObservation(new float[12]);
        return;
    }

    float distanceToTarget = Vector3.Distance(target.transform.position, this.transform.position);

    //Distance to nearest target (1 observervation)
    sensor.AddObservation(distanceToTarget);

    //Vector to nearest target (3 observations)
    Vector3 toTarget = target.transform.position - this.transform.position;

    sensor.AddObservation(toTarget.normalized);


    //Target position
    sensor.AddObservation(target.transform.localPosition);

    //Current Position
    sensor.AddObservation(this.transform.localPosition);

    //Agent Velocities
    sensor.AddObservation(rigidbody.velocity.x);
    sensor.AddObservation(rigidbody.velocity.y);
}

我的 YAML 文件配置：

    behaviors:
  PlayerAgent:
    trainer_type: ppo
    hyperparameters:
      batch_size: 512 #128
      buffer_size: 2048
      learning_rate: 3.0e-4
      beta: 5.0e-4
      epsilon: 0.2 #0.2
      lambd: 0.99
      num_epoch: 3 #3
      learning_rate_schedule: linear
    network_settings:
      normalize: false
      hidden_units: 32 #256
      num_layers: 2
      vis_encode_type: simple
    reward_signals:
      extrinsic:
        gamma: 0.99
        strength: 1.0
      curiosity:
        strength: 0.02
        gamma: 0.99
        encoding_size: 64
        learning_rate: 3.0e-4
    #keep_checkpoints: 5
    #checkpoint_interval: 500000
    max_steps: 5000000
    time_horizon: 64
    summary_freq: 10000
    threaded: true
    framework: tensorflow

Unity Inspector Component config

奖励（全部在代理脚本上）：

private void Update()
{

    //If Agent falls off the screen, give negative reward an end episode
    if (this.transform.position.y < 0)
    {
        AddReward(-1.0f);
        EndEpisode();
    }

    if(target != null)
    {
        Debug.DrawLine(this.transform.position, target.transform.position, Color.green);
    }

}

private void OnCollisionEnter(Collision collidedObj)
{
    //If agent collides with goal, provide reward
    if (collidedObj.gameObject.CompareTag("Goal"))
    {
        AddReward(1.0f);
        Destroy(target);
        EndEpisode();
    }
}

public override void OnActionReceived(float[] vectorAction)
{
    if (!target)
    {
        //Place and assign the target
        envController.PlaceTarget();
        target = envController.ProvideTarget();
    }

    Vector3 controlSignal = Vector3.zero;
    controlSignal.x = vectorAction[0];
    controlSignal.z = vectorAction[1];
    rigidbody.AddForce(controlSignal * moveSpeed, ForceMode.VelocityChange);

    // Apply a tiny negative reward every step to encourage action
    if (this.MaxStep > 0) AddReward(-1f / this.MaxStep);

}

Answer 1

你说你的环境有多难？如果很少达到目标，代理将无法学习。在这种情况下，您需要在智能体朝着正确的方向行事时添加一些内在奖励。这允许代理学习，即使奖励很少。

您设计奖励的方式也可能存在奖励黑客问题。如果智能体无法找到目标以获得更大的奖励，最有效的方法是尽快从平台上掉下来，以免在每个时间步受到小的惩罚。

ML 代理未学习相对 'simple' 的任务

ML agent not learning a relatively 'simple' task

c#

unity3d

ml-agent