게임인공지능 Ml-Agents - rollerball_config

using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
using UnityEngine;

public class RollerAgent : Agent
{
    [SerializeField]
    private Transform target;
    [SerializeField]
    private float force = 10;
    private Rigidbody rBody;


    private void Start()
    {
        this.rBody = this.GetComponent<Rigidbody>();
    }

    public override void OnEpisodeBegin()
    {
        this.Init();
    }

    public void Init()
    {
        if (this.transform.localPosition.y < 0)
        {
            this.rBody.angularVelocity = Vector3.zero;
            this.rBody.velocity = Vector3.zero;
            this.transform.localPosition = new Vector3(0, 0.5f, 0);
        }

        this.target.localPosition = new Vector3(Random.value * 8 - 4, 0.5f, Random.value * 8 - 4);
    }

    public override void CollectObservations(VectorSensor sensor)
    {
        sensor.AddObservation(this.transform.localPosition);    //3
        sensor.AddObservation(this.target.localPosition);       //3
        sensor.AddObservation(this.rBody.velocity.x);           //1
        sensor.AddObservation(this.rBody.velocity.z);           //1
    }

    public override void OnActionReceived(ActionBuffers actions)
    {
        Vector3 dir = Vector3.zero;
        dir.x = actions.ContinuousActions[0];
        dir.z = actions.ContinuousActions[1];
        this.rBody.AddForce(dir * this.force);

        var distance = Vector3.Distance(this.target.localPosition, this.transform.localPosition);
        if (distance < 1.42f)
        {
            this.SetReward(1.0f);
            this.EndEpisode();
        }
        else if (this.transform.localPosition.y < 0)
        {
            this.EndEpisode();
        }
    }

    public override void Heuristic(in ActionBuffers actionsOut)
    {
        var outAction = actionsOut.ContinuousActions;
        outAction[0] = Input.GetAxis("Horizontal");
        outAction[1] = Input.GetAxis("Vertical");
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;

public class Main : MonoBehaviour
{
    public Button btn;
    public RollerAgent agent;

    void Start()
    {
        btn.onClick.AddListener(() =>
        {
            this.agent.Init();
        });
    }
}

behaviors:
  RollerBall:
    trainer_type: ppo
    hyperparameters:
      batch_size: 10
      buffer_size: 100
      learning_rate: 3.0e-4
      beta: 5.0e-4
      epsilon: 0.2
      lambd: 0.99
      num_epoch: 3
      learning_rate_schedule: linear
    network_settings:
      normalize: false
      hidden_units: 128
      num_layers: 2
      vis_encode_type: simple
    reward_signals:
      extrinsic:
        gamma: 0.99
        strength: 1.0
    max_steps: 500000
    time_horizon: 64
    summary_freq: 10000