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Bug Is this a bug in rayperception sensor 3D?

Discussion in 'ML-Agents' started by MAResearcher, Dec 2, 2023.

  1. MAResearcher

    MAResearcher

    Joined:
    Mar 31, 2022
    Posts:
    4
    Hello, I am a student working on a project using ml agent.

    I completed the learning in this project using a rayperceptionsensor3D with 20 rays.
    I used rayperceptionsensor3D, but I didn't know exactly what kind of observation I was collecting, so I tried to check it through an error message on the flip side.
    Therefore, after applying the model, I lowered the number of rays and checked the error message, and it came out as follows.

    upload_2023-12-2_14-34-11.png
    upload_2023-12-2_14-34-27.png
    In this situation, I have two questions.

    1. When Rays per direction was reduced to 0, the number of rays became 1, resulting in 5 shapes in error message. If so, I wonder what 5 observaions are.
    2. When rays per direction is 1, shape is 15. I think it should be 10, but I wonder why it's 15.
    (When the ray per direction went from 2 to 3, it increased by 10 as I expected)

    I'd appreciate it if you could answer:)
     
  2. smallg2023

    smallg2023

    Joined:
    Sep 2, 2018
    Posts:
    144
    each ray has 5 observations
    when you set to 0 it's 1 ray straight ahead = 5 obs
    when you set to 1 it's now 3 rays (the first and 1 either side) = 15 obs
    when set to 2 it's now 5 rays (the first and 2 either side) = 25 obs
    etc

    as for what is being detected, you can check with the rayoutput
    it checks
    1. hit anything? (bool)
    2. hit distance / fraction (float)
    3. hit a tagged object? (bool)
    4. tag index (int)
    5. object hit (gameobject)
     
    MAResearcher likes this.
  3. MAResearcher

    MAResearcher

    Joined:
    Mar 31, 2022
    Posts:
    4
    I solved it, I set a Max Ray Degrees to 180, So It's overlapped. thank you:)

    Thank you for your answer. I read document you sent me.
    upload_2023-12-3_14-21-21.png
    I think the observation is
    1. hit anything? (0 : hit 1 : miss)
    2. normalized distance to the object hit (0~1)
    3. n one-hot vector (about tag)

    Without an answer, I would never have solved it. Thank you so much.:D