Added shader for reflections from newest commit to fix problem with f…

…reeze

python_trainer/environment_parameters.py

@@ -0,0 +1,32 @@
+def set_parameters(data_channel) -> None:
+    # Wide - 15
+    # Slim - 10
+    data_channel.set_int_parameter("roadSize", 15)
+
+    # 0 -> Amazon road
+    # 1 -> Black & white road
+    data_channel.set_int_parameter("roadColor", 0)
+
+    data_channel.set_bool_parameter("randomBackgroundColor", True)
+
+    data_channel.set_float_parameter("changingBackgroundColorSpeed", 0.75)
+
+    # When the parameter 'backgroundColor' is not set, it is going to generate random colors
+    # Values of the channels are <0, 255>
+    # data_channel.set_color_parameter('backgroundColor', (255, 0, 0))
+
+    # How well you can see the reflection
+    # Default: 1.0
+    data_channel.set_float_parameter("reflectionStrength", 1.0)
+
+    # How scaled are the reflections in the X and Y directions
+    # Scaling both the numbers up will make the reflections smaller
+    # Default: 0.4
+    data_channel.set_float_parameter("noiseScaleX", 0.4)
+    # Default: 0.05
+    data_channel.set_float_parameter("noiseScaleY", 0.05)
+
+    # The animation speed of the reflection
+    # Range <0, 1>
+    # Default: 0.4
+    data_channel.set_float_parameter("noiseSpeed", 0.4)

python_trainer/train.py

@@ -5,6 +5,7 @@
 
 import torch
 from data_channel import DataChannel
+from environment_parameters import set_parameters
 from keyboard_listener import KeyboardListener
 from mlagents_envs.environment import UnityEnvironment
 from mlagents_envs.side_channel.engine_configuration_channel import EngineConfigurationChannel
@@ -86,17 +87,8 @@ def print_env_info(env: UnityEnvironment) -> None:
         side_channels=[engine_channel, data_channel],
     )
 
-    # Wide - 15
-    # Slim - 10
-    data_channel.set_int_parameter("roadSize", 15)
-    # 0 -> Amazon road
-    # 1 -> Black & white road
-    data_channel.set_int_parameter("roadColor", 0)
-    data_channel.set_bool_parameter("randomBackgroundColor", True)
-    data_channel.set_float_parameter("changingBackgroundColorSpeed", 0.75)
-    # When the parameter 'backgroundColor' is not set, the default color is the color of the amazon color
-    # Values of the channels are <0, 255>
-    # data_channel.set_color_parameter('backgroundColor', (255, 0, 0))
+    set_parameters(data_channel)
+
     engine_channel.set_configuration_parameters(time_scale=TIME_SCALE)
     env.reset()
 

python_trainer/variables.py

@@ -9,7 +9,7 @@
 REDUCE_TEMPERATURE = 1 / 25
 DISCOUNT = 0.95  # devalues future reward
 LEARNING_RATE = 0.0005
-NUM_TRAINING_EXAMPLES = 10000
+NUM_TRAINING_EXAMPLES = 5000
 MAX_TRAINED_EPOCHS = 500
 
 # Reward

unity_env/Assets/Materials/Deepracer - terrain.mat

@@ -8,7 +8,7 @@ Material:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_Name: Deepracer - terrain
-  m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
+  m_Shader: {fileID: 4800000, guid: 7bd43790af56d1df988076f434fb05d3, type: 3}
   m_Parent: {fileID: 0}
   m_ModifiedSerializedProperties: 0
   m_ValidKeywords: []
@@ -70,14 +70,21 @@ Material:
     - _GlossyReflections: 1
     - _Metallic: 0
     - _Mode: 0
+    - _NoiseScaleX: 1
+    - _NoiseScaleY: 1
     - _OcclusionStrength: 1
     - _Parallax: 0.02
+    - _ReflectionStrength: 1
+    - _SetTexture: 0
     - _SmoothnessTextureChannel: 0
     - _SpecularHighlights: 1
+    - _Speed: 0.5
     - _SrcBlend: 1
     - _UVSec: 0
     - _ZWrite: 1
     m_Colors:
     - _Color: {r: 0, g: 0.81960785, b: 0.5294118, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _MainColor: {r: 0, g: 0.81960785, b: 0.5294118, a: 1}
+    - _ReflectionColor: {r: 1, g: 1, b: 1, a: 1}
   m_BuildTextureStacks: []

unity_env/Assets/Materials/Road/Amazon road.mat

@@ -81,9 +81,12 @@ Material:
     - _Metallic: 0
     - _Mode: 0
     - _NoiseScale: 0.07
+    - _NoiseScaleX: 1
+    - _NoiseScaleY: 1
     - _OcclusionStrength: 1
     - _Parallax: 0.02
     - _ReflectionStrength: 4
+    - _SetTexture: 1
     - _Smoothness: 0
     - _SmoothnessTextureChannel: 1
     - _SpecularHighlights: 1
@@ -94,5 +97,7 @@ Material:
     m_Colors:
     - _Color: {r: 1, g: 1, b: 1, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _MainColor: {r: 1, g: 1, b: 0, a: 1}
+    - _ReflectionColor: {r: 1, g: 1, b: 1, a: 1}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
   m_BuildTextureStacks: []

unity_env/Assets/Materials/Road/Reflection.shader

@@ -3,9 +3,13 @@ Shader "Custom/Reflection"
     Properties
     {
         _MainTex ("Albedo (RGB)", 2D) = "white" {}
+        [Maincolor] _MainColor ("Main color", Color) = (1., 1., 0., 1.)
+        _SetTexture ("Texture set", Float) = 0.
         _ReflectionStrength ("Reflection strength", Float) = 1.0
-        _NoiseScale ("Noise scale", Float) = 1.0
+        _NoiseScaleX ("Noise scale X", Float) = 1.0
+        _NoiseScaleY ("Noise scale Y", Float) = 1.0
         _Speed ("Noise speed", Range(0, 1)) = 0.5
+        _ReflectionColor ("Reflection color", Color) = (1., 1., 1., 1.)
     }
     SubShader
     {
@@ -20,9 +24,13 @@ Shader "Custom/Reflection"
         #pragma target 3.0
 
         sampler2D _MainTex;
+        float4 _MainColor;
         float _ReflectionStrength;
-        float _NoiseScale;
+        float _NoiseScaleX;
+        float _NoiseScaleY;
         float _Speed;
+        float4 _ReflectionColor;
+        float _SetTexture;
 
         struct Input
         {
@@ -166,14 +174,17 @@ Shader "Custom/Reflection"
         void surf (Input IN, inout SurfaceOutputStandard o)
         {
             // float2 noiseInput = IN.uv_MainTex * _NoiseScale;
-            float2 noiseInput = IN.worldPos.xz * _NoiseScale;
+            float2 noiseInput = IN.worldPos.xz;
+            noiseInput.x *= _NoiseScaleX;
+            noiseInput.y *= _NoiseScaleY;
             float noiseValue = clamp(ClassicNoise(float3(noiseInput.x, noiseInput.y, _Time.y * _Speed)), 0.0, 1.0) * _ReflectionStrength;
             // float noiseValue = ClassicNoise(noiseInput);
 
-            fixed4 albedo = tex2D(_MainTex, IN.uv_MainTex);
-            o.Albedo = albedo + noiseValue;
+            fixed4 albedo = tex2D(_MainTex, IN.uv_MainTex) * _SetTexture + _MainColor * (1. - _SetTexture);
+
+            o.Albedo = albedo + noiseValue * _ReflectionColor.rgb;
         }
         ENDCG
     }
     FallBack "Diffuse"
-}
+}

unity_env/Assets/Scenes/Main.unity

@@ -723,6 +723,9 @@ MonoBehaviour:
   roadColor: 1
   backgroundColor: {r: 0, g: 0, b: 0, a: 0}
   randomBackgroundColor: 0
+  roadMaterials:
+  - {fileID: 2100000, guid: d63a402699f7f904c8bad171fdc44dca, type: 2}
+  - {fileID: 2100000, guid: 39a14f8831164d0b6b9637adb0cdbddf, type: 2}
 --- !u!1001 &7475695033151031654
 PrefabInstance:
   m_ObjectHideFlags: 0

unity_env/Assets/Scripts/TrainingReplicator.cs

@@ -28,6 +28,8 @@ public enum RoadColor
         private float changingColorSpeed;
         private bool displayRandomColorInMain = false;
 
+        public Material[] roadMaterials;
+
         struct HSV
         {
             public float hue;
@@ -71,13 +73,29 @@ void Start()
                 );
             }
 
+            SetMaterial();
+
             AddAreas();
 
             carCameras = GameObject.FindGameObjectsWithTag("CarCamera");
 
             ChangeCameraBackgroundColor();
         }
 
+        void SetMaterial()
+        {
+            foreach (var mat in roadMaterials)
+            {
+                mat.SetFloat(
+                    "_ReflectionStrength",
+                    DataChannel.getParameter("reflectionStrength", 1f)
+                );
+                mat.SetFloat("_NoiseScaleX", DataChannel.getParameter("noiseScaleX", 0.4f));
+                mat.SetFloat("_NoiseScaleY", DataChannel.getParameter("noiseScaleY", 0.05f));
+                mat.SetFloat("_Speed", DataChannel.getParameter("noiseSpeed", 0.3f));
+            }
+        }
+
         void Update()
         {
             if (randomBackgroundColor)