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AT-ST Walker Agent using Unity ML-Agents

About the project

This machine learning agent (reinforcement learning agent) was developed for the Intelligent Systems module of the University of Applied Sciences Duesseldorf, Germany.

Technical details

  • Unity Version

    • 2020.3.7f1
  • Required packages

    • ML Agents (2.0.0-exp.1)
    • ML Agents Extensions (0.4.0-preview)
  • Project repository

    • Assets/
      • AT-ST_Walker/
      • ML-Agents/

ML-Agents Set-up

Compatible Versions

Version Python Package Unity Package
Release 17 0.26.0 2.0.0

Source-Files: https://github.com/Unity-Technologies/ml-agents/tree/release_17

Installing ML-Agents dependencies in Unity

  • If you open this project in Unity, this error might occur:

Unity Error

  • To solve it, download the Source-Files of ML-Agents Release 17 mentioned before.

  • In Unity:

    • Click "Continue" (Error window) and import missing packages manually over Window > Package Manager.

    Package Manager 1

    • Click the plus and choose Add package from disk...

    Package Manager 2

    • Find and open the package.json in the previously downloaded and unzipped package at ml-agents > com.unity.ml-agents.extensions.

    Package Manager 3

Installing ML-Agents dependencies for Python

  • In your Python env use
    • python -m pip install mlagents==0.26.0 to install the correct ML-Agents version, and
    • pip3 install torch -f https://download.pytorch.org/whl/torch_stable.html to download PyTorch.

Results

First (buggy) test

AT-ST Walker agent This is not the final result, just the output after the first incorrect test run and I love it

Final result: Youtube Video

Youtube Video of the walking AT-ST Walker Agent