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Ruo-Ping Dong
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Hybrid FoodCollector (#4746)
* use continuous action for moving and discrete for shooting * update models
1 parent 8617dc9 commit 35a00c9

19 files changed

+217
-134
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Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab

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Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab

Lines changed: 41 additions & 11 deletions
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