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

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

• To reach the white ball

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

• Value of each propellers thrust (Continuous)

• Δ(Distance from Drone to ball)

• To do not miss the red ball while flying

• 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)

• Value of each propellers thrust (Continuous)

• 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)

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

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

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