狼 靜立 V4

2.非弱點肢體

if(wolfBodies[i].damageCoef > 0f){clampReward += -0.01f * wolfBodies[i].damageCoef;}

3.

//Set: judge.endEpisode = true//Set: judge.episodeLength = 10f//Set: useClampReward = trueif(weaknessOnGround){LogWeaknessOnGround();if(inferenceMode){brainMode = BrainMode.GetUp;SetModel("WolfGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}else{//===Train Stand===AddReward(-1f);judge.outLife++;judge.Reset();return;//===Train Other===// brainMode = BrainMode.GetUp;// SetModel("WolfGetUp", getUpBrain);// behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}else if(wolfRoot.localPosition.y < -10f){if(inferenceMode){brainMode = BrainMode.GetUp;SetModel("WolfGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}else{//===Train Stand===AddReward(-1f);judge.outY++;judge.Reset();return;//===Train Other===// brainMode = BrainMode.GetUp;// SetModel("WolfGetUp", getUpBrain);// behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}else if(targetDistance > 500f){judge.Reset();}else{targetSmoothPosition = targetPositionBuffer.GetSmoothVal();headDir = targetSmoothPosition - stageBase.InverseTransformPoint(wolfHeadRb.position);rootDir = targetSmoothPosition - stageBase.InverseTransformPoint(wolfRootRb.position);flatTargetVelocity = rootDir;flatTargetVelocity.y = 0f;targetDistance = flatTargetVelocity.magnitude;Vector3 forwardDir = flatTargetVelocity.normalized;Vector3 flatLeftDir = Vector3.Cross(flatTargetVelocity, Vector3.up);lookAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfHead.right * -1f, headDir));//SideUpupAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfHead.forward, flatLeftDir));spineLookAngle = Mathf.InverseLerp(180f, 30f, Vector3.Angle(wolfSpine.right*-1f, forwardDir));//SideUpspineUpAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfSpine.forward, flatLeftDir));rootLookAngle = Mathf.InverseLerp(180f, 30f, Vector3.Angle(wolfRoot.forward, forwardDir));//SideUprootUpAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfRoot.right*-1f, flatLeftDir));float velocityReward = GetVelocityReward(8f * currentSize);float angularReward = GetAngularVelocityReward(10f);float standReward = (wolfLeftFeetBody.isStand? 0.25f : 0f) + (wolfRightFeetBody.isStand? 0.25f : 0f) + (wolfLeftHandBody.isStand? 0.25f : 0f) + (wolfRightHandBody.isStand? 0.25f : 0f);leftThighAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfLeftThigh.right, Vector3.up));leftCalfAngle = Mathf.InverseLerp(180f, 10f, Vector3.Angle(wolfLeftCalf.right, Vector3.up));rightThighAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfRightThigh.right, Vector3.up));rightCalfAngle = Mathf.InverseLerp(180f, 10f, Vector3.Angle(wolfRightCalf.right, Vector3.up));leftUpperArmAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfLeftUpperArm.right, Vector3.up));leftForeArmAngle = Mathf.InverseLerp(180f, 10f, Vector3.Angle(wolfLeftForeArm.right, Vector3.up));rightUpperArmAngle = Mathf.InverseLerp(180f, 0f, Vector3.Angle(wolfRightUpperArm.right, Vector3.up));rightForeArmAngle = Mathf.InverseLerp(180f, 10f, Vector3.Angle(wolfRightForeArm.right, Vector3.up));// ===Train Stand===if(Time.fixedTime - landingMoment > landingBufferTime){bool outVelocity = velocityReward > Mathf.Lerp(1f, 0.3f, (Time.fixedTime - landingMoment - landingBufferTime)/5f);bool outAngularVelocity = angularReward > Mathf.Lerp(1f, 0.5f, (Time.fixedTime - landingMoment - landingBufferTime)/5f);bool outSpeed = outVelocity || outAngularVelocity;float aimLimit = Mathf.Lerp(0f, 0.9f, (Time.fixedTime - landingMoment - landingBufferTime)/3f);float aimLimit2 = Mathf.Lerp(0f, 0.9f, (Time.fixedTime - landingMoment - landingBufferTime)/3f);bool outDirection = lookAngle < aimLimit2 || upAngle < aimLimit2 || spineLookAngle < aimLimit2 || rootLookAngle < aimLimit2;bool outMotion = spineUpAngle < aimLimit || rootUpAngle < aimLimit;if( outSpeed || outDirection || outMotion){// AddReward(-1f);if(outSpeed){clampReward += -0.005f;Debug.Log("outSpeed");Debug.Log("outVelocity: " + outVelocity);Debug.Log("outAngularVelocity: " + outAngularVelocity);judge.outSpeed++;}if(outDirection){clampReward += -0.005f;Debug.Log("outDirection");Debug.Log("lookAngle: " + lookAngle);Debug.Log("upAngle: " + upAngle);Debug.Log("spineLookAngle: " + spineLookAngle);Debug.Log("rootLookAngle: " + rootLookAngle);judge.outDirection++;}if(outMotion){clampReward += -0.005f;Debug.Log("outMotion");Debug.Log("spineUpAngle: " + spineUpAngle);Debug.Log("rootUpAngle: " + rootUpAngle);judge.outMotion++;}sharpingBuffer.PushVal(-1f);// judge.Reset();// return;}else{sharpingBuffer.PushVal(0f);}sharpingVal = sharpingBuffer.GetSmoothVal();// Debug.Log( sharpingBuffer.GetSmoothVal() );if( sharpingBuffer.GetSmoothVal() < sharpingResetThreshould){AddReward(-1f);judge.Reset();return;}}//===Train Stand===lastReward = (1f-velocityReward) * 0.01f + (1f-angularReward) * 0.01f+ (lookAngle + upAngle + spineLookAngle + spineUpAngle + rootLookAngle + rootUpAngle) * 0.005f + standReward * 0.01f+ (leftThighAngle + leftCalfAngle + rightThighAngle + rightCalfAngle + leftUpperArmAngle + leftForeArmAngle + rightUpperArmAngle + rightForeArmAngle) * 0.003f+ (1f - exertionRatio) * 0.006f;if(lookAngle > 0.9f && upAngle > 0.9f  && spineLookAngle > 0.9f  && rootLookAngle > 0.9f && velocityReward < 0.3f && angularReward < 0.5f && standReward > 0.9f&& leftThighAngle > 0.8f && rightThighAngle > 0.8f && leftUpperArmAngle > 0.8f && rightUpperArmAngle > 0.8f){//===Train Stand===// Debug.Log("Stand");lastReward += 0.01f;//===Enter Run===// ConfirmArrived();// brainMode = BrainMode.Run;// SetModel("WolfTrain", runBrain);// behaviorParameters.BehaviorType = BehaviorType.Default;// landingMoment = Time.fixedTime;}//===Train Stand===if(useClampReward){lastReward = lastReward+clampReward;if(lastReward < 0f) lastReward = 0f;}totalReward += lastReward;AddReward( lastReward );}

大致來說