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Awesome Open Source

BananaPicker-Navigation

We train an agent to manuver in a 3-D environment avoiding blue bananas and picking yellow ones as fast as possible. We do this by implementing Deep Q network based on this research paper. The agent works thorugh Agent class in dqn_agent.py and the model architecture is described in model.py.

I have described my approach and the code in a more detailed manner in Report.pdf

Environment Details

"GIF"

The project environment is similar to, but not identical to the Banana Collector environment on the Unity ML-agents github page.

A reward of +1 is provided for collecting a yellow banana, and a reward of -1 is provided for collecting a blue banana. Thus, the goal of your agent is to collect as many yellow bananas as possible while avoiding blue bananas.

The state space has 37 dimensions and contains the agent's velocity, along with ray-based perception of objects around the agent's forward direction. Given this information, the agent has to learn how to best select actions. Four discrete actions are available, corresponding to:

  • 0 - move forward.
  • 1 - move backward.
  • 2 - turn left.
  • 3 - turn right.

The task is episodic, and in order to solve the environment, your agent must get an average score of +13 over 100 consecutive episodes.

Getting Started

  • pip install unityagents Unity Machine Learning Agents (ML-Agents) is an open-source Unity plugin that enables games and simulations to serve as environments for training intelligent agents. For game developers, these trained agents can be used for multiple purposes, including controlling NPC behavior (in a variety of settings such as multi-agent and adversarial), automated testing of game builds and evaluating different game design decisions pre-release.You can read more about ML-Agents by perusing the GitHub repository.
  • The user must install pytorch according to the specifications on his/her workspace. I used torch 1.4.0 and torchvision 0.4.2 corrosponding to CUDA 10.1. Although The code will also work on Non-CUDA versions of pytorch.
  • Other python modules like numpy and matplotlib should be installed.

Downloading and setting up Environment

For this project, you will not need to install Unity - this is because we are using pre-built environment, and you can download it from one of the links below. You need only select the environment that matches your operating system:

Unzip (or decompress) the file in this repository.

(For Windows users) Check out this link if you need help with determining if your computer is running a 32-bit version or 64-bit version of the Windows operating system.

(For AWS) If you'd like to train the agent on AWS (and have not enabled a virtual screen), then please use this link to obtain the "headless" version of the environment. You will not be able to watch the agent without enabling a virtual screen, but you will be able to train the agent. (To watch the agent, you should follow the instructions to enable a virtual screen, and then download the environment for the Linux operating system above.)

Instructions

  • After installing all the prerequisite requirements. You are good to go. Just run the first 2 cells and see of the environment is loading perfectly or not.

  • The environment if requires us to install Unity, I recommend, first download Unity hub and then unity from there (Unity Hub link). After that, you shoud see the output below on rerunning the top couple of cells. "Reference".

  • If the above procedure is working correctly, you are now fully equiped with the necessary tools. All that is left, is for you to learn from the Navigation.ipynb notebook.


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