Use navmesh as observation Learning agents 5.4

Development Programming & Scripting
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Hi!

I’m working on implementing agents that can navigate from point A to point B while avoiding obstacles (including non-static ones like crowds of people). So far, I’ve implemented a system capable of obstacle avoidance using Raycast. I’d like to enhance the system by incorporating the navmesh as an observation. Is this possible?

Thank you! :slight_smile:

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We haven’t tried it yet or looked into it. What were you hoping to accomplish with it?

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Our project’s ultimate objective is to develop an agent capable of navigating urban environments and reaching a specified destination while circumventing obstacles and crowded areas. My idea was that using the nav mesh as observation could improving the performance in this task in complex scenarios.

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Now I am using the following observations and rewards:

Observations: https://blueprintue.com/blueprint/0jzdgbud/

Rewards: https://blueprintue.com/blueprint/olyxk-7z/

Observations:

  1. Goal Position, Distance and Direction (the scale of position and distance is 5000)
  2. Rays collision distance and location, bool collision checker
  3. Time and pawn velocity

Rewards:

  1. Time Penality
  2. Goal Distance Reward
  3. Rays collision penality (distance from walls)
  4. Collision penality
  5. Direction penality (if there is a big angle between the last input and the forward vector I give a penality because I don’t want the pawn to go too much left or right)
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