Question Ray Perception Sensor not working with CollectObservations()

currently working on training an Agent to park a car. Before using the ray perception sensor component this was my CollectObservations() method:

Code (CSharp):

1. Debug.Log("collect observations called");
2.         sensor.AddObservation(transform.localPosition);
3.         sensor.AddObservation(transform.rotation);
4.         sensor.AddObservation(carController.GetVelocity());
5.  
6.         Vector3 toTarget = targetParkingSpot.localPosition - transform.localPosition;
7.         Vector3 normalizedToTarget = toTarget.normalized;
8.         sensor.AddObservation(toTarget.magnitude);
9.         sensor.AddObservation(normalizedToTarget);
10.         sensor.AddObservation(rb.velocity.magnitude / maxSpeed);
11.         sensor.AddObservation(rb.angularVelocity.magnitude / maxAngularVelocity);
12.  
13.         sensor.AddObservation(targetParkingSpot.localPosition);
14.         sensor.AddObservation(targetParkingSpot.rotation);
15.  
16.         Vector3[] raycastDirections = { transform.forward, transform.right, -transform.right, transform.forward + transform.right, transform.forward - transform.right };
17.  
18.         foreach (Vector3 direction in raycastDirections)
19.         {
20.             if (Physics.Raycast(transform.localPosition, direction, out RaycastHit hit, maxRaycastDistance))
21.             {
22.                 float normalizedDistance = hit.distance / maxRaycastDistance;
23.                 sensor.AddObservation(normalizedDistance);
24.             }
25.             else
26.             {
27.                 sensor.AddObservation(-1f);
28.             }
29.         }

then when my agent wasn't responding or doing anything I figured CollectObservations() is at fault so I switched to ray perception sensors. However it the agent is still not moving and at seemingly random i get the "Fewer observations (0) made than vector observation size (21). The observations will be padded." warning. Here is how my scene is currently set up:

and this is my current script:

Code (CSharp):

1. using System.Collections;
2. using System.Collections.Generic;
3. using Unity.MLAgents;
4. using Unity.MLAgents.Sensors;
5. using UnityEngine;
6. using Unity.MLAgents.Actuators;
7.  
8. public class CarParkingAgent : Agent
9. {
10.     public Transform targetParkingSpot;
11.     public CarController carController;
12.     public float maxRaycastDistance = 10f;
13.     private Rigidbody rb;
14.     public float maxSpeed = 10f;
15.     public float maxAngularVelocity = 10f;
16.     private bool isCarParked = false;
17.     public Vector3 tensor;
18.     private bool lastFrameParkedStatus = false;
19.     private int currentStep = 0;
20.     private bool useHeuristic = true; // after ur done with BC just delete this whole logic
21.     //private float totalReward = 0f;
22.     private RayPerceptionSensorComponent3D RayPerceptionSensorComponent;
23.     private int observationCount = 0;
24.  
25.     void Awake()
26.     {
27.         RayPerceptionSensorComponent = GetComponent<RayPerceptionSensorComponent3D>();
28.         Debug.Log("Awake called");
29.         rb = GetComponent<Rigidbody>();
30.         rb.inertiaTensor = tensor;
31.         rb.inertiaTensor = new Vector3(1829.532f, 1974.514f, 391.8728f);
32.         useHeuristic = true;
33.     }
34.  
35.  
36.     private void FixedUpdate()
37.     {
38.         if (!isCarParked)
39.         {
40.             Debug.Log("car aint parked");
41.             isCarParked = IsCarOnParkingSpot();
42.         }
43.         //idk what this does but if i remove it my entire IsCarOnParkingSpot() stops working
44.         if (!lastFrameParkedStatus)
45.         {
46.             isCarParked = IsCarOnParkingSpot();
47.         }
48.         lastFrameParkedStatus = isCarParked;
49.     }
50.  
51.     private void Heuristic()
52.     {
53.         if (!useHeuristic)
54.         {
55.             return;
56.         }
57.         else
58.         {
59.             Debug.Log("using heuristics");
60.         }
61.  
62.  
63.         // Calculate target direction (normalized)
64.         Vector3 toTarget = targetParkingSpot.localPosition - transform.localPosition;
65.         Vector3 normalizedToTarget = toTarget.normalized;
66.  
67.         // Apply heuristic actions based on target direction
68.         float steering = Vector3.Dot(normalizedToTarget, transform.right);
69.         float accelerate = Mathf.Clamp01(Vector3.Dot(rb.velocity, transform.forward));
70.         float brake = 0f;
71.  
72.         // Apply actions
73.         carController.HandleMotor(accelerate, brake);
74.         carController.HandleSteering(steering);
75.     }
76.    
77.     public override void CollectObservations(VectorSensor sensor)
78.     {
79.         Debug.Log("collect observations called");
80.         // Observations related to the agent's position and orientation
81.         sensor.AddObservation(transform.localPosition);
82.         sensor.AddObservation(transform.rotation);
83.         sensor.AddObservation(carController.GetVelocity());
84.  
85.         // Observations related to the distance and direction to the target parking spot
86.         Vector3 toTarget = targetParkingSpot.localPosition - transform.localPosition;
87.         Vector3 normalizedToTarget = toTarget.normalized;
88.         sensor.AddObservation(toTarget.magnitude);
89.         sensor.AddObservation(normalizedToTarget);
90.  
91.         // Observations related to the agent's speed and angular velocity
92.         sensor.AddObservation(rb.velocity.magnitude / maxSpeed);
93.         sensor.AddObservation(rb.angularVelocity.magnitude / maxAngularVelocity);
94.  
95.         // Observations related to the target parking spot's position and rotation
96.         sensor.AddObservation(targetParkingSpot.localPosition);
97.         sensor.AddObservation(targetParkingSpot.rotation);
98.  
99.         observationCount += 9;
100.         Debug.Log("Observations made: " + observationCount);
101.  
102.     }
103.  
104.     public override void OnActionReceived(ActionBuffers actions)
105.     {
106.         Debug.Log("OnActionReceived called");
107.         currentStep++;
108.         float accelerate = Mathf.Clamp(actions.ContinuousActions[0], -1f, 1f);
109.         //Debug.Log("Accelerate: " + accelerate);
110.         float steering = Mathf.Clamp(actions.ContinuousActions[1], -1f, 1f);
111.         //Debug.Log("Steering: " + steering);
112.  
113.         float brake = Mathf.Clamp(actions.ContinuousActions[2], 0f, 1f);
114.         //Debug.Log("Brake: " + brake);
115.  
116.         carController.HandleMotor(accelerate, brake);
117.         carController.HandleSteering(steering);
118.  
119.     }
120.  
121.  
122.  
123.     public override void Heuristic(in ActionBuffers actionsOut)
124.     {
125.         var continuousActionsOut = actionsOut.ContinuousActions;
126.         continuousActionsOut[0] = Input.GetAxis("Vertical"); // Acceleration
127.         continuousActionsOut[1] = Input.GetAxis("Horizontal"); // Steering
128.         continuousActionsOut[2] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f; // Brake
129.     }
130.  
131.  
132.     public override void OnEpisodeBegin()
133.     {
134.         observationCount = 0;
135.         //totalReward = 0f;
136.         currentStep = 0;
137.         Debug.Log("new episode begun");
138.         ResetCarPosition();
139.         isCarParked = false;
140.         lastFrameParkedStatus = false;
141.     }
142.    
143.     public void OnTriggerEnter(Collider collision)
144.     {
145.         if (collision.gameObject.CompareTag("Obstacle"))
146.         {
147.             AddReward(-1.0f);
148.             ResetCarPosition();
149.             EndEpisode();
150.             isCarParked = false;
151.         }
152.         else if (collision.gameObject.CompareTag("ParkingSpot") && !isCarParked)
153.         {
154.             IsCarOnParkingSpot();
155.         }
156.     }
157.  
158.     public bool IsCarOnParkingSpot()
159.     {
160.         Vector3 toParkingSpot = targetParkingSpot.position - transform.position;
161.         //Debug.Log("Distance from parking spot: " + toParkingSpot.magnitude);
162.         if (toParkingSpot.magnitude < 1f)
163.         {
164.             AddReward(1.0f);
165.             isCarParked = true;
166.             ResetCarPosition();
167.             EndEpisode();
168.             return true;
169.         }
170.         isCarParked = false;
171.  
172.         return false;
173.     }
174.  
175.     private void ResetCarPosition()
176.     {
177.         rb.velocity = Vector3.zero;
178.         rb.angularVelocity = Vector3.zero;
179.  
180.         Vector3 localPosition = new Vector3(
181.             UnityEngine.Random.Range(-7f, -4f),
182.             0.1f,
183.             UnityEngine.Random.Range(-7f, 2f));
184.  
185.         //Debug.Log("Calculated Local Position: " + localPosition);
186.  
187.         transform.localPosition = localPosition;
188.         transform.localRotation = Quaternion.Euler(Vector3.zero);
189.  
190.     }
191.    
192. }

any help is greatly appreciated thankyou in advance.

 

can't see any reason it wouldn't be calling collect observations but it's hard to tell when they are being skipped with collapse on in the console.