我一直在研究一个自我平衡的代理，它努力保持腰部在某个高度。最近，我升级了“大腿”部分，允许其在三个轴上旋转，而不是之前的两个轴。完成这些修改后，我还调整了ml agents代码以支持子传感器，现在这些代理似乎无法再在多个代理/区域中正常工作。我不知道为什么会这样。为了说明清楚，唯一工作的代理表现得比平时更加“爆炸”。当它独自行动时，它在尝试平衡时会更加平静。可能我在过程中搞错了其他东西？如果有人有任何想法，我都愿意听取。谢谢！

代理脚本：

using MLAgents;using System;using System.Collections;using System.Collections.Generic;using UnityEngine;using MLAgents.Sensor;using Random = UnityEngine.Random;public class BalanceAgent : Agent{    private BalancingArea area;    public GameObject floor;    public GameObject sensor;    public GameObject waist;    public GameObject wFront;           //Used to check balance of waist.    public GameObject wBack;           //Used to check balance of waist.    public GameObject hipR;    public GameObject hipL;    public GameObject buttR;    public GameObject buttL;    public GameObject thighR;    public GameObject thighL;    public GameObject legR;    public GameObject legL;    public GameObject footR;    public GameObject footL;    public float bodyMoveSensitivity = 3f;    public static GameObject[] bodyParts = new GameObject[11];    public static HingeJoint[] hingeParts = new HingeJoint[11];    public static JointLimits[] jntLimParts = new JointLimits[11];    public static Vector3[] posStart = new Vector3[11];    public static Vector3[] eulerStart = new Vector3[11];    public void Start() {        bodyParts = new GameObject[] { waist /*0*/, buttR /*1*/, buttL /*2*/, thighR /*3*/, thighL /*4*/, legR /*5*/, legL /*6*/, footR /*7*/, footL /*8*/, hipR /*9*/, hipL /*10*/};        for (int i = 0; i < bodyParts.Length; i++) {            posStart[i] = bodyParts[i].transform.position;            eulerStart[i] = bodyParts[i].transform.eulerAngles;            if (bodyParts[i].GetComponent<HingeJoint>() != null) {                hingeParts[i] = bodyParts[i].GetComponent<HingeJoint>();                hingeParts[i].limits = jntLimParts[i];            }        }    }    public override void InitializeAgent() {        base.InitializeAgent();        area = GetComponentInParent<BalancingArea>();    }    public override void AgentReset() {        floor.transform.eulerAngles = new Vector3(Random.Range(-15, 15), 0, Random.Range(-15, 15));             //Floor rotation        for (int i = 0; i < bodyParts.Length; i++) {            bodyParts[i].transform.position = posStart[i];            bodyParts[i].transform.eulerAngles = eulerStart[i];            bodyParts[i].GetComponent<Rigidbody>().velocity = Vector3.zero;            bodyParts[i].GetComponent<Rigidbody>().angularVelocity = Vector3.zero;        }        waist.transform.eulerAngles = new Vector3(0, Random.Range(0, 360), 0);        jntLimParts[1].max = 0;        jntLimParts[1].min = jntLimParts[2].max - 1;        hingeParts[1].limits = jntLimParts[2];        jntLimParts[2].max = 0;        jntLimParts[2].min = jntLimParts[2].max - 1;        hingeParts[2].limits = jntLimParts[2];        jntLimParts[3].max = 15;        jntLimParts[3].min = jntLimParts[3].max - 1;        hingeParts[3].limits = jntLimParts[3];        jntLimParts[4].max = 15;        jntLimParts[4].min = jntLimParts[4].max - 1;        hingeParts[4].limits = jntLimParts[4];        jntLimParts[5].max  = -15;        jntLimParts[5].min = jntLimParts[5].max - 1;        hingeParts[5].limits = jntLimParts[5];        jntLimParts[6].max = -15;        jntLimParts[6].min = jntLimParts[6].max - 1;        hingeParts[6].limits = jntLimParts[6];        jntLimParts[7].max = 15;        jntLimParts[7].min = jntLimParts[7].max - 1;        hingeParts[7].limits = jntLimParts[7];        jntLimParts[8].max = 15;        jntLimParts[8].min = jntLimParts[8].max - 1;        hingeParts[8].limits = jntLimParts[8];        jntLimParts[9].max = 0;        jntLimParts[9].min = jntLimParts[9].max - 1;        hingeParts[9].limits = jntLimParts[9];        jntLimParts[10].max = 0;        jntLimParts[10].min = jntLimParts[10].max - 1;        hingeParts[10].limits = jntLimParts[10];    }    public override void AgentAction(float[] vectorAction) {        float buttRDir = 0;        int buttRVec = (int)vectorAction[0];        switch (buttRVec) {            case 1:                buttRDir = 0;                break;            case 2:                buttRDir = bodyMoveSensitivity;                break;            case 3:                buttRDir = -bodyMoveSensitivity;                break;        }        if (jntLimParts[1].max < 60 && jntLimParts[1].min > -60) {            jntLimParts[1].max += buttRDir;            jntLimParts[1].min = jntLimParts[1].max - 1;            hingeParts[1].limits = jntLimParts[1];        }        else {            if (jntLimParts[1].min <= -60) {                jntLimParts[1].max = -58;            }            else if (jntLimParts[1].max >= 60) {                jntLimParts[1].max = 59;            }            jntLimParts[1].min = jntLimParts[1].max - 1;        }        float buttLDir = 0;        int buttLVec = (int)vectorAction[1];        switch (buttLVec) {            case 1:                buttLDir = 0;                break;            case 2:                buttLDir = bodyMoveSensitivity;                break;            case 3:                buttLDir = -bodyMoveSensitivity;                break;        }        if (jntLimParts[2].max < 60 && jntLimParts[2].min > -60) {            jntLimParts[2].max += buttLDir;            jntLimParts[2].min = jntLimParts[2].max - 1;            hingeParts[2].limits = jntLimParts[2];        }        else {            if (jntLimParts[2].min <= -60) {                jntLimParts[2].max = -58;            }            else if (jntLimParts[2].max >= 60) {                jntLimParts[2].max = 59;            }            jntLimParts[2].min = jntLimParts[2].max - 1;        }    }}

回答：

遗憾的是，我不得不从头开始才能解决这个问题。完成后，我确保使用了更新版本的MLAgents，一切又恢复正常了。