Unity Drone Environments for RL

About

There are drone environments made by InSpace. You can test your algorithm in these environments with default settings. Besides, you can change some settings(state, action, reward, ...) too. Most will be changed within DroneAgent.cs script file. And You can make any environments with this drone agent. If you want to see another environments, click here

Environment

• Windows10 64bit
• Unity 2019.1.0f2 Personal
• Unity ML-Agents v0.8
• VisualStudio 2017

Drone Flight Environment

Goal

• To reach the white ball

State

• Vector from drone to ball
• Up-vector of drone
• Front-vector of drone
• Velocity vector of drone
• Angular velocity vector of drone

Action

• Value of each propellers thrust (Continuous)

Reward

• Δ(Distance from Drone to ball)

Drone Juggling Environment

Goal

• To do not miss the red ball while flying

State

• Vector from drone to ball
• Vecotr from current drone position to drone initial position
• Up-vector of drone
• Front-vector of drone
• Velocity vector of drone
• Angular velocity vector of drone
• Normalized vector of Δ(ball position)

Action

• Value of each propellers thrust (Continuous)

Reward

• y-axis value of up-vector / CONSTANT
• 1 / (CONSTANT + distance from current drone position to drone initial position)
• 1 / (CONSTANT + distance from current ball position to ball initial position)

Getting Started

Change Setting & Make Environment

If you want to change setting(state, action, reward) or make new environment, open UnitySDK with Unity.
(Drone environments are located in Assets/DRONEENV.)

If you need a tutorial about Unity ML-Agents, click here

RL algorithm test

You can test your algorithm with notebooks/getting-started.ipynb.

Player Mode

You can control the agent using a keyboard with playermodes/DRONEENV/DRONEENV.exe.

Player Control

Keyboard Key	Action
Q	Thrust generation of the first propeller
W	Thrust generation of the second propeller
A	Thrust generation of the third propeller
S	Thrust generation of the fourth propeller