Unity MlAgents 我的模型不必要地跳跃

Question

我不熟悉使用 Unity 和 ML-Agents。我已经为我的模型创建了一个环境并开始在那里进行训练。然而，我的模型在脚本中的每时每刻都在跳跃，即使在没有必要的时候也是如此。我已经给出了负面反馈，以防止它不必要地跳跃，但它一直在跳跃。我该如何解决这个问题？

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;

public class MovetoGoal : Agent
{
[SerializeField] private Transform targetTransform;
[SerializeField] private Transform restart;
[SerializeField] private Rigidbody2D rb;
public float JumpPower = 0.1f;
private bool isGrounded = true;
private float previousDistanceToPlayer;
private float totalReward;
public override void OnEpisodeBegin()
{
    transform.position = restart.transform.position;
}
public override void CollectObservations(VectorSensor sensor)
{
    sensor.AddObservation(transform.localPosition);
    sensor.AddObservation(targetTransform.localPosition);
    sensor.AddObservation(rb.velocity);
}
public override void OnActionReceived(ActionBuffers actions)
{
    float moveX = actions.ContinuousActions[0];
    int jump = actions.DiscreteActions[0];
    rb.velocity = new Vector2(moveX * 8f, rb.velocity.y);
    if (jump != 0 && isGrounded)
    {
        rb.velocity = new Vector2(rb.velocity.x, JumpPower);
        isGrounded = false;
        SetReward(-100f);
        totalReward = totalReward - 1f;
    }
    float distanceToPlayer = Vector2.Distance(transform.position, targetTransform.position);

    // If the agent gets too far away from the player, give a negative reward
    if (distanceToPlayer >= previousDistanceToPlayer)
    {
        SetReward(-0.1f);
        totalReward = totalReward - 0.1f;       
    }

    // If the agent gets closer to the player, give a positive reward
    if (distanceToPlayer < previousDistanceToPlayer)
    {
        SetReward(0.1f);
        totalReward = totalReward + 0.1f;
    }

    // Update the previous distance to the player for the next time step
    previousDistanceToPlayer = distanceToPlayer;
}
public override void Heuristic(in ActionBuffers actionsOut)
{
    ActionSegment<float> continousActions = actionsOut.ContinuousActions;
    continousActions[0] = Input.GetAxisRaw("Horizontal");
}
private void OnTriggerEnter2D(Collider2D other)
{
    if (other.gameObject.tag == "Goal")
    {
        //Debug.Log(totalReward);
        SetReward(+1f);
        totalReward = totalReward + 1f;
        EndEpisode();
    }
    if (other.gameObject.tag == "Wall")
    {
        //Debug.Log(totalReward);
        SetReward(-1f);
        totalReward = totalReward - 1f;
        EndEpisode();
    }
}
void OnCollisionEnter2D(Collision2D col)
{
    if (col.gameObject.tag == "Ground")
    {
        isGrounded = true;
    }
}
}

这是模型脚本。我可以做任何改进吗？