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README.md

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+---
+library_name: ml-agents
+tags:
+- Heli
+- deep-reinforcement-learning
+- reinforcement-learning
+- ML-Agents-Heli
+---
+
+  # **ppo** Agent playing **Heli**
+  This is a trained model of a **ppo** agent playing **Heli**
+  using the [Unity ML-Agents Library](https://github.com/Unity-Technologies/ml-agents).
+
+  ## Usage (with ML-Agents)
+  The Documentation: https://unity-technologies.github.io/ml-agents/ML-Agents-Toolkit-Documentation/
+
+  We wrote a complete tutorial to learn to train your first agent using ML-Agents and publish it to the Hub:
+  - A *short tutorial* where you teach Huggy the Dog 🐶 to fetch the stick and then play with him directly in your
+  browser: https://huggingface.co/learn/deep-rl-course/unitbonus1/introduction
+  - A *longer tutorial* to understand how works ML-Agents:
+  https://huggingface.co/learn/deep-rl-course/unit5/introduction
+
+  ### Resume the training
+  ```bash
+  mlagents-learn <your_configuration_file_path.yaml> --run-id=<run_id> --resume
+  ```
+
+  ### Watch your Agent play
+  You can watch your agent **playing directly in your browser**
+
+  1. If the environment is part of ML-Agents official environments, go to https://huggingface.co/unity
+  2. Step 1: Find your model_id: AtilliO/chopper_05
+  3. Step 2: Select your *.nn /*.onnx file
+  4. Click on Watch the agent play 👀
+  

config.json

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+{"default_settings": null, "behaviors": {"Heli": {"trainer_type": "ppo", "hyperparameters": {"batch_size": 256, "buffer_size": 10240, "learning_rate": 0.0002, "beta": 0.001, "epsilon": 0.2, "lambd": 0.95, "num_epoch": 3, "shared_critic": false, "learning_rate_schedule": "linear", "beta_schedule": "linear", "epsilon_schedule": "linear"}, "checkpoint_interval": 50000, "network_settings": {"normalize": true, "hidden_units": 512, "num_layers": 3, "vis_encode_type": "simple", "memory": null, "goal_conditioning_type": "hyper", "deterministic": false}, "reward_signals": {"extrinsic": {"gamma": 0.99, "strength": 1.0, "network_settings": {"normalize": false, "hidden_units": 128, "num_layers": 2, "vis_encode_type": "simple", "memory": null, "goal_conditioning_type": "hyper", "deterministic": false}}, "curiosity": {"gamma": 0.99, "strength": 0.02, "network_settings": {"normalize": false, "hidden_units": 256, "num_layers": 2, "vis_encode_type": "simple", "memory": null, "goal_conditioning_type": "hyper", "deterministic": false}, "learning_rate": 0.0003, "encoding_size": null}}, "init_path": null, "keep_checkpoints": 15, "even_checkpoints": false, "max_steps": 1250000, "time_horizon": 512, "summary_freq": 5000, "threaded": true, "self_play": null, "behavioral_cloning": null}, "LoaderG": {"trainer_type": "ppo", "hyperparameters": {"batch_size": 128, "buffer_size": 2048, "learning_rate": 0.0003, "beta": 0.01, "epsilon": 0.2, "lambd": 0.95, "num_epoch": 3, "shared_critic": false, "learning_rate_schedule": "linear", "beta_schedule": "linear", "epsilon_schedule": "linear"}, "checkpoint_interval": 500000, "network_settings": {"normalize": false, "hidden_units": 512, "num_layers": 2, "vis_encode_type": "simple", "memory": null, "goal_conditioning_type": "hyper", "deterministic": false}, "reward_signals": {"extrinsic": {"gamma": 0.99, "strength": 1.0, "network_settings": {"normalize": false, "hidden_units": 128, "num_layers": 2, "vis_encode_type": "simple", "memory": null, "goal_conditioning_type": "hyper", "deterministic": false}}, "curiosity": {"gamma": 0.99, "strength": 0.02, "network_settings": {"normalize": false, "hidden_units": 256, "num_layers": 2, "vis_encode_type": "simple", "memory": null, "goal_conditioning_type": "hyper", "deterministic": false}, "learning_rate": 0.0003, "encoding_size": null}}, "init_path": null, "keep_checkpoints": 5, "even_checkpoints": false, "max_steps": 2000000, "time_horizon": 256, "summary_freq": 5000, "threaded": true, "self_play": null, "behavioral_cloning": null}}, "env_settings": {"env_path": "./training-envs-executables/linux/ChopperLnxMon/ChopperLnxMon", "env_args": null, "base_port": 5005, "num_envs": 1, "num_areas": 1, "seed": -1, "max_lifetime_restarts": 10, "restarts_rate_limit_n": 1, "restarts_rate_limit_period_s": 60}, "engine_settings": {"width": 84, "height": 84, "quality_level": 5, "time_scale": 20, "target_frame_rate": -1, "capture_frame_rate": 60, "no_graphics": true}, "environment_parameters": null, "checkpoint_settings": {"run_id": "chopper_05", "initialize_from": null, "load_model": false, "resume": false, "force": false, "train_model": false, "inference": false, "results_dir": "results"}, "torch_settings": {"device": null}, "debug": false}

configuration.yaml

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+default_settings: null
+behaviors:
+  Heli:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 256
+      buffer_size: 10240
+      learning_rate: 0.0002
+      beta: 0.001
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      shared_critic: false
+      learning_rate_schedule: linear
+      beta_schedule: linear
+      epsilon_schedule: linear
+    checkpoint_interval: 50000
+    network_settings:
+      normalize: true
+      hidden_units: 512
+      num_layers: 3
+      vis_encode_type: simple
+      memory: null
+      goal_conditioning_type: hyper
+      deterministic: false
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+        network_settings:
+          normalize: false
+          hidden_units: 128
+          num_layers: 2
+          vis_encode_type: simple
+          memory: null
+          goal_conditioning_type: hyper
+          deterministic: false
+      curiosity:
+        gamma: 0.99
+        strength: 0.02
+        network_settings:
+          normalize: false
+          hidden_units: 256
+          num_layers: 2
+          vis_encode_type: simple
+          memory: null
+          goal_conditioning_type: hyper
+          deterministic: false
+        learning_rate: 0.0003
+        encoding_size: null
+    init_path: null
+    keep_checkpoints: 15
+    even_checkpoints: false
+    max_steps: 1250000
+    time_horizon: 512
+    summary_freq: 5000
+    threaded: true
+    self_play: null
+    behavioral_cloning: null
+  LoaderG:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 128
+      buffer_size: 2048
+      learning_rate: 0.0003
+      beta: 0.01
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      shared_critic: false
+      learning_rate_schedule: linear
+      beta_schedule: linear
+      epsilon_schedule: linear
+    checkpoint_interval: 500000
+    network_settings:
+      normalize: false
+      hidden_units: 512
+      num_layers: 2
+      vis_encode_type: simple
+      memory: null
+      goal_conditioning_type: hyper
+      deterministic: false
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+        network_settings:
+          normalize: false
+          hidden_units: 128
+          num_layers: 2
+          vis_encode_type: simple
+          memory: null
+          goal_conditioning_type: hyper
+          deterministic: false
+      curiosity:
+        gamma: 0.99
+        strength: 0.02
+        network_settings:
+          normalize: false
+          hidden_units: 256
+          num_layers: 2
+          vis_encode_type: simple
+          memory: null
+          goal_conditioning_type: hyper
+          deterministic: false
+        learning_rate: 0.0003
+        encoding_size: null
+    init_path: null
+    keep_checkpoints: 5
+    even_checkpoints: false
+    max_steps: 2000000
+    time_horizon: 256
+    summary_freq: 5000
+    threaded: true
+    self_play: null
+    behavioral_cloning: null
+env_settings:
+  env_path: ./training-envs-executables/linux/ChopperLnxMon/ChopperLnxMon
+  env_args: null
+  base_port: 5005
+  num_envs: 1
+  num_areas: 1
+  seed: -1
+  max_lifetime_restarts: 10
+  restarts_rate_limit_n: 1
+  restarts_rate_limit_period_s: 60
+engine_settings:
+  width: 84
+  height: 84
+  quality_level: 5
+  time_scale: 20
+  target_frame_rate: -1
+  capture_frame_rate: 60
+  no_graphics: true
+environment_parameters: null
+checkpoint_settings:
+  run_id: chopper_05
+  initialize_from: null
+  load_model: false
+  resume: false
+  force: false
+  train_model: false
+  inference: false
+  results_dir: results
+torch_settings:
+  device: null
+debug: false

run_logs/Player-0.log

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+Mono path[0] = '/content/ml-agents_cloud/training-envs-executables/linux/ChopperLnxMon/ChopperLnxMon_Data/Managed'
+Mono config path = '/content/ml-agents_cloud/training-envs-executables/linux/ChopperLnxMon/ChopperLnxMon_Data/MonoBleedingEdge/etc'
+Preloaded 'lib_burst_generated.so'
+Preloaded 'libgrpc_csharp_ext.x64.so'
+PlayerPrefs - Creating folder: /root/.config/unity3d/Unity Technologies
+PlayerPrefs - Creating folder: /root/.config/unity3d/Unity Technologies/HeliCloud
+Unable to load player prefs
+Initialize engine version: 2022.3.4f1 (35713cd46cd7)
+[Subsystems] Discovering subsystems at path /content/ml-agents_cloud/training-envs-executables/linux/ChopperLnxMon/ChopperLnxMon_Data/UnitySubsystems
+Forcing GfxDevice: Null
+GfxDevice: creating device client; threaded=0; jobified=0
+NullGfxDevice:
+    Version:  NULL 1.0 [1.0]
+    Renderer: Null Device
+    Vendor:   Unity Technologies
+Begin MonoManager ReloadAssembly
+- Loaded All Assemblies, in  0.150 seconds
+- Finished resetting the current domain, in  0.002 seconds
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run_logs/training_status.json

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