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diff --git a/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/DungeonEscapeEnvController.cs b/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/DungeonEscapeEnvController.cs
new file mode 100644
index 0000000000..74c296372e
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/DungeonEscapeEnvController.cs
@@ -0,0 +1,260 @@
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents;
+using UnityEngine;
+
+public class DungeonEscapeEnvController : MonoBehaviour
+{
+ [System.Serializable]
+ public class PlayerInfo
+ {
+ public PushAgentEscape Agent;
+ [HideInInspector]
+ public Vector3 StartingPos;
+ [HideInInspector]
+ public Quaternion StartingRot;
+ [HideInInspector]
+ public Rigidbody Rb;
+ [HideInInspector]
+ public Collider Col;
+ }
+
+ [System.Serializable]
+ public class DragonInfo
+ {
+ public SimpleNPC Agent;
+ [HideInInspector]
+ public Vector3 StartingPos;
+ [HideInInspector]
+ public Quaternion StartingRot;
+ [HideInInspector]
+ public Rigidbody Rb;
+ [HideInInspector]
+ public Collider Col;
+ public Transform T;
+ public bool IsDead;
+ }
+
+ ///
+ /// Max Academy steps before this platform resets
+ ///
+ ///
+ [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
+ private int m_ResetTimer;
+
+ ///
+ /// The area bounds.
+ ///
+ [HideInInspector]
+ public Bounds areaBounds;
+ ///
+ /// The ground. The bounds are used to spawn the elements.
+ ///
+ public GameObject ground;
+
+ Material m_GroundMaterial; //cached on Awake()
+
+ ///
+ /// We will be changing the ground material based on success/failue
+ ///
+ Renderer m_GroundRenderer;
+
+ public List AgentsList = new List();
+ public List DragonsList = new List();
+ private Dictionary m_PlayerDict = new Dictionary();
+ public bool UseRandomAgentRotation = true;
+ public bool UseRandomAgentPosition = true;
+ PushBlockSettings m_PushBlockSettings;
+
+ private int m_NumberOfRemainingPlayers;
+ public GameObject Key;
+ public GameObject Tombstone;
+ private SimpleMultiAgentGroup m_AgentGroup;
+ void Start()
+ {
+
+ // Get the ground's bounds
+ areaBounds = ground.GetComponent().bounds;
+ // Get the ground renderer so we can change the material when a goal is scored
+ m_GroundRenderer = ground.GetComponent();
+ // Starting material
+ m_GroundMaterial = m_GroundRenderer.material;
+ m_PushBlockSettings = FindObjectOfType();
+
+ //Reset Players Remaining
+ m_NumberOfRemainingPlayers = AgentsList.Count;
+
+ //Hide The Key
+ Key.SetActive(false);
+
+ // Initialize TeamManager
+ m_AgentGroup = new SimpleMultiAgentGroup();
+ foreach (var item in AgentsList)
+ {
+ item.StartingPos = item.Agent.transform.position;
+ item.StartingRot = item.Agent.transform.rotation;
+ item.Rb = item.Agent.GetComponent();
+ item.Col = item.Agent.GetComponent();
+ // Add to team manager
+ m_AgentGroup.RegisterAgent(item.Agent);
+ }
+ foreach (var item in DragonsList)
+ {
+ item.StartingPos = item.Agent.transform.position;
+ item.StartingRot = item.Agent.transform.rotation;
+ item.T = item.Agent.transform;
+ item.Col = item.Agent.GetComponent();
+ }
+
+ ResetScene();
+ }
+
+ // Update is called once per frame
+ void FixedUpdate()
+ {
+ m_ResetTimer += 1;
+ if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
+ {
+ m_AgentGroup.GroupEpisodeInterrupted();
+ ResetScene();
+ }
+ }
+
+ public void TouchedHazard(PushAgentEscape agent)
+ {
+ m_NumberOfRemainingPlayers--;
+ if (m_NumberOfRemainingPlayers == 0 || agent.IHaveAKey)
+ {
+ m_AgentGroup.EndGroupEpisode();
+ ResetScene();
+ }
+ else
+ {
+ agent.EndEpisode();
+ agent.gameObject.SetActive(false);
+ }
+ }
+
+ public void UnlockDoor()
+ {
+ m_AgentGroup.AddGroupReward(1f);
+ StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
+
+ print("Unlocked Door");
+ m_AgentGroup.EndGroupEpisode();
+
+ ResetScene();
+ }
+
+ public void KilledByBaddie(PushAgentEscape agent, Collision baddieCol)
+ {
+ baddieCol.gameObject.SetActive(false);
+ m_NumberOfRemainingPlayers--;
+ agent.EndEpisode();
+ agent.gameObject.SetActive(false);
+ print($"{baddieCol.gameObject.name} ate {agent.transform.name}");
+
+ //Spawn Tombstone
+ Tombstone.transform.SetPositionAndRotation(agent.transform.position, agent.transform.rotation);
+ Tombstone.SetActive(true);
+
+ //Spawn the Key Pickup
+ Key.transform.SetPositionAndRotation(baddieCol.collider.transform.position, baddieCol.collider.transform.rotation);
+ Key.SetActive(true);
+ }
+
+ ///
+ /// Use the ground's bounds to pick a random spawn position.
+ ///
+ public Vector3 GetRandomSpawnPos()
+ {
+ var foundNewSpawnLocation = false;
+ var randomSpawnPos = Vector3.zero;
+ while (foundNewSpawnLocation == false)
+ {
+ var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
+ areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
+
+ var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
+ areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
+ randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
+ if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
+ {
+ foundNewSpawnLocation = true;
+ }
+ }
+ return randomSpawnPos;
+ }
+
+ ///
+ /// Swap ground material, wait time seconds, then swap back to the regular material.
+ ///
+ IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+ {
+ m_GroundRenderer.material = mat;
+ yield return new WaitForSeconds(time); // Wait for 2 sec
+ m_GroundRenderer.material = m_GroundMaterial;
+ }
+
+ public void BaddieTouchedBlock()
+ {
+ m_AgentGroup.EndGroupEpisode();
+
+ // Swap ground material for a bit to indicate we scored.
+ StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
+ ResetScene();
+ }
+
+ Quaternion GetRandomRot()
+ {
+ return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+ }
+
+ void ResetScene()
+ {
+
+ //Reset counter
+ m_ResetTimer = 0;
+
+ //Reset Players Remaining
+ m_NumberOfRemainingPlayers = AgentsList.Count;
+
+ //Random platform rot
+ var rotation = Random.Range(0, 4);
+ var rotationAngle = rotation * 90f;
+ transform.Rotate(new Vector3(0f, rotationAngle, 0f));
+
+ //Reset Agents
+ foreach (var item in AgentsList)
+ {
+ var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
+ var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
+
+ item.Agent.transform.SetPositionAndRotation(pos, rot);
+ item.Rb.velocity = Vector3.zero;
+ item.Rb.angularVelocity = Vector3.zero;
+ item.Agent.MyKey.SetActive(false);
+ item.Agent.IHaveAKey = false;
+ item.Agent.gameObject.SetActive(true);
+ m_AgentGroup.RegisterAgent(item.Agent);
+ }
+
+ //Reset Key
+ Key.SetActive(false);
+
+ //Reset Tombstone
+ Tombstone.SetActive(false);
+
+ //End Episode
+ foreach (var item in DragonsList)
+ {
+ if (!item.Agent)
+ {
+ return;
+ }
+ item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
+ item.Agent.SetRandomWalkSpeed();
+ item.Agent.gameObject.SetActive(true);
+ }
+ }
+}
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diff --git a/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/PushAgentEscape.cs b/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/PushAgentEscape.cs
new file mode 100644
index 0000000000..6f31ce29b1
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/PushAgentEscape.cs
@@ -0,0 +1,137 @@
+using System.Collections;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Actuators;
+
+public class PushAgentEscape : Agent
+{
+
+ public GameObject MyKey; //my key gameobject. will be enabled when key picked up.
+ public bool IHaveAKey; //have i picked up a key
+ private PushBlockSettings m_PushBlockSettings;
+ private Rigidbody m_AgentRb;
+ private DungeonEscapeEnvController m_GameController;
+
+ public override void Initialize()
+ {
+ m_GameController = GetComponentInParent();
+ m_AgentRb = GetComponent();
+ m_PushBlockSettings = FindObjectOfType();
+ MyKey.SetActive(false);
+ IHaveAKey = false;
+ }
+
+ public override void OnEpisodeBegin()
+ {
+ MyKey.SetActive(false);
+ IHaveAKey = false;
+ }
+
+ public override void CollectObservations(VectorSensor sensor)
+ {
+ sensor.AddObservation(IHaveAKey);
+ }
+
+ ///
+ /// Moves the agent according to the selected action.
+ ///
+ public void MoveAgent(ActionSegment act)
+ {
+ var dirToGo = Vector3.zero;
+ var rotateDir = Vector3.zero;
+
+ var action = act[0];
+
+ switch (action)
+ {
+ case 1:
+ dirToGo = transform.forward * 1f;
+ break;
+ case 2:
+ dirToGo = transform.forward * -1f;
+ break;
+ case 3:
+ rotateDir = transform.up * 1f;
+ break;
+ case 4:
+ rotateDir = transform.up * -1f;
+ break;
+ case 5:
+ dirToGo = transform.right * -0.75f;
+ break;
+ case 6:
+ dirToGo = transform.right * 0.75f;
+ break;
+ }
+ transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
+ m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
+ ForceMode.VelocityChange);
+ }
+
+ ///
+ /// Called every step of the engine. Here the agent takes an action.
+ ///
+ public override void OnActionReceived(ActionBuffers actionBuffers)
+ {
+ // Move the agent using the action.
+ MoveAgent(actionBuffers.DiscreteActions);
+ }
+
+ void OnCollisionEnter(Collision col)
+ {
+ if (col.transform.CompareTag("lock"))
+ {
+ if (IHaveAKey)
+ {
+ MyKey.SetActive(false);
+ IHaveAKey = false;
+ m_GameController.UnlockDoor();
+ }
+ }
+ if (col.transform.CompareTag("dragon"))
+ {
+ m_GameController.KilledByBaddie(this, col);
+ MyKey.SetActive(false);
+ IHaveAKey = false;
+ }
+ if (col.transform.CompareTag("portal"))
+ {
+ m_GameController.TouchedHazard(this);
+ }
+ }
+
+ void OnTriggerEnter(Collider col)
+ {
+ //if we find a key and it's parent is the main platform we can pick it up
+ if (col.transform.CompareTag("key") && col.transform.parent == transform.parent && gameObject.activeInHierarchy)
+ {
+ print("Picked up key");
+ MyKey.SetActive(true);
+ IHaveAKey = true;
+ col.gameObject.SetActive(false);
+ }
+ }
+
+ public override void Heuristic(in ActionBuffers actionsOut)
+ {
+ var discreteActionsOut = actionsOut.DiscreteActions;
+ discreteActionsOut[0] = 0;
+ if (Input.GetKey(KeyCode.D))
+ {
+ discreteActionsOut[0] = 3;
+ }
+ else if (Input.GetKey(KeyCode.W))
+ {
+ discreteActionsOut[0] = 1;
+ }
+ else if (Input.GetKey(KeyCode.A))
+ {
+ discreteActionsOut[0] = 4;
+ }
+ else if (Input.GetKey(KeyCode.S))
+ {
+ discreteActionsOut[0] = 2;
+ }
+ }
+}
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new file mode 100644
index 0000000000..c2ecbc7099
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diff --git a/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/SimpleNPC.cs b/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/SimpleNPC.cs
new file mode 100644
index 0000000000..8887787216
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/SimpleNPC.cs
@@ -0,0 +1,45 @@
+// using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SimpleNPC : MonoBehaviour
+{
+
+ public Transform target;
+
+ private Rigidbody rb;
+
+ public float walkSpeed = 1;
+ // public ForceMode walkForceMode;
+ private Vector3 dirToGo;
+
+ // private Vector3 m_StartingPos;
+ // Start is called before the first frame update
+ void Awake()
+ {
+ rb = GetComponent();
+ // m_StartingPos = transform.position;
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+ }
+
+ void FixedUpdate()
+ {
+ dirToGo = target.position - transform.position;
+ dirToGo.y = 0;
+ rb.rotation = Quaternion.LookRotation(dirToGo);
+ // rb.AddForce(dirToGo.normalized * walkSpeed * Time.fixedDeltaTime, walkForceMode);
+ // rb.MovePosition(rb.transform.TransformDirection(Vector3.forward * walkSpeed * Time.deltaTime));
+ // rb.MovePosition(rb.transform.TransformVector() (Vector3.forward * walkSpeed * Time.deltaTime));
+ rb.MovePosition(transform.position + transform.forward * walkSpeed * Time.deltaTime);
+ }
+
+ public void SetRandomWalkSpeed()
+ {
+ walkSpeed = Random.Range(1f, 7f);
+ }
+}
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diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
new file mode 100644
index 0000000000..4a5d6425fd
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs
@@ -0,0 +1,143 @@
+using UnityEngine;
+using Random = UnityEngine.Random;
+using Unity.MLAgents;
+using UnityEngine.Events;
+
+namespace Unity.MLAgentsExamples
+{
+ ///
+ /// Utility class to allow target placement and collision detection with an agent
+ /// Add this script to the target you want the agent to touch.
+ /// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
+ ///
+ public class CollisionCallbacks : MonoBehaviour
+ {
+ // [System.Serializable] public class BoolEvent : UnityEvent { }
+ // [SerializeField] BoolEvent boolEvent = new BoolEvent();
+ // public void OnBoolEvent(bool value)
+ // {
+ // Debug.Log($"OnBoolEvent {value}");
+ // }
+
+
+ [Header("Collider Tag To Detect")]
+ public string tagToDetect = "agent"; //collider tag to detect
+
+ // [Header("Target Placement")]
+ // public float spawnRadius; //The radius in which a target can be randomly spawned.
+ // public bool respawnIfTouched; //Should the target respawn to a different position when touched
+ //
+ // [Header("Target Fell Protection")]
+ // public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
+ // public float fallDistance = 5; //distance below the starting height that will trigger a respawn
+ //
+ //
+ // private Vector3 m_startingPos; //the starting position of the target
+ // private Agent m_agentTouching; //the agent currently touching the target
+
+ [System.Serializable]
+ // public class TriggerEvent : UnityEvent
+ public class TriggerEvent : UnityEvent
+ {
+ }
+
+ [Header("Trigger Callbacks")]
+ public TriggerEvent onTriggerEnterEvent = new TriggerEvent();
+ public TriggerEvent onTriggerStayEvent = new TriggerEvent();
+ public TriggerEvent onTriggerExitEvent = new TriggerEvent();
+
+ [System.Serializable]
+ public class CollisionEvent : UnityEvent
+ {
+ }
+
+ [Header("Collision Callbacks")]
+ public CollisionEvent onCollisionEnterEvent = new CollisionEvent();
+ public CollisionEvent onCollisionStayEvent = new CollisionEvent();
+ public CollisionEvent onCollisionExitEvent = new CollisionEvent();
+
+ // // Start is called before the first frame update
+ // void OnEnable()
+ // {
+ // m_startingPos = transform.position;
+ // if (respawnIfTouched)
+ // {
+ // MoveTargetToRandomPosition();
+ // }
+ // }
+
+ // void Update()
+ // {
+ // if (respawnIfFallsOffPlatform)
+ // {
+ // if (transform.position.y < m_startingPos.y - fallDistance)
+ // {
+ // Debug.Log($"{transform.name} Fell Off Platform");
+ // MoveTargetToRandomPosition();
+ // }
+ // }
+ // }
+
+ // ///
+ // /// Moves target to a random position within specified radius.
+ // ///
+ // public void MoveTargetToRandomPosition()
+ // {
+ // var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius);
+ // newTargetPos.y = m_startingPos.y;
+ // transform.position = newTargetPos;
+ // }
+
+ private void OnCollisionEnter(Collision col)
+ {
+ if (col.transform.CompareTag(tagToDetect))
+ {
+ onCollisionEnterEvent.Invoke(col, transform);
+ // if (respawnIfTouched)
+ // {
+ // MoveTargetToRandomPosition();
+ // }
+ }
+ }
+
+ private void OnCollisionStay(Collision col)
+ {
+ if (col.transform.CompareTag(tagToDetect))
+ {
+ onCollisionStayEvent.Invoke(col, transform);
+ }
+ }
+
+ private void OnCollisionExit(Collision col)
+ {
+ if (col.transform.CompareTag(tagToDetect))
+ {
+ onCollisionExitEvent.Invoke(col, transform);
+ }
+ }
+
+ private void OnTriggerEnter(Collider col)
+ {
+ if (col.CompareTag(tagToDetect))
+ {
+ onTriggerEnterEvent.Invoke(col);
+ }
+ }
+
+ private void OnTriggerStay(Collider col)
+ {
+ if (col.CompareTag(tagToDetect))
+ {
+ onTriggerStayEvent.Invoke(col);
+ }
+ }
+
+ private void OnTriggerExit(Collider col)
+ {
+ if (col.CompareTag(tagToDetect))
+ {
+ onTriggerExitEvent.Invoke(col);
+ }
+ }
+ }
+}
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diff --git a/config/poca/DungeonEscape.yaml b/config/poca/DungeonEscape.yaml
new file mode 100644
index 0000000000..63ee94c75e
--- /dev/null
+++ b/config/poca/DungeonEscape.yaml
@@ -0,0 +1,26 @@
+behaviors:
+ DungeonEscape:
+ trainer_type: poca
+ hyperparameters:
+ batch_size: 1024
+ buffer_size: 10240
+ learning_rate: 0.0003
+ beta: 0.01
+ epsilon: 0.2
+ lambd: 0.95
+ num_epoch: 3
+ learning_rate_schedule: constant
+ network_settings:
+ normalize: false
+ hidden_units: 256
+ num_layers: 2
+ vis_encode_type: simple
+ reward_signals:
+ extrinsic:
+ gamma: 0.99
+ strength: 1.0
+ keep_checkpoints: 5
+ max_steps: 20000000
+ time_horizon: 64
+ summary_freq: 60000
+ threaded: true
diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md
index 7056b3c6ff..8bfa50228e 100644
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
@@ -476,3 +476,25 @@ blocks require all 3 agents to push and are worth +3.
and counterclockwise, move along four different face directions, or do nothing.
- Float Properties: None
- Benchmark Mean Reward: 11 (Group Reward)
+
+## Dungeon Escape
+
+
+- Set-up: Agents are trapped in a dungeon with a dragon, and must work together to escape.
+ To retrieve the key, one of the agents must find and slay the dragon, sacrificing itself
+ to do so. The dragon will drop a key for the others to use. The other agents can then pick
+ up this key and unlock the dungeon door. If the agents take too long, the dragon will escape
+ through a portal and the environment resets.
+- Goal: Unlock the dungeon door and leave.
+- Agents: The environment contains three Agents in a Multi Agent Group and one Dragon, which
+ moves in a predetermined pattern.
+- Agent Reward Function:
+ - +1 group reward if any agent successfully unlocks the door and leaves the dungeon.
+- Behavior Parameters:
+ - Observation space: A Ray Perception Sensor with separate tags for the walls, other agents,
+ the door, key, the dragon, and the dragon's portal. A single Vector Observation which indicates
+ whether the agent is holding a key.
+ - Actions: 1 discrete action branch with 7 actions, corresponding to turn clockwise
+ and counterclockwise, move along four different face directions, or do nothing.
+- Float Properties: None
+- Benchmark Mean Reward: 1.0 (Group Reward)
diff --git a/docs/images/dungeon_escape.png b/docs/images/dungeon_escape.png
new file mode 100644
index 0000000000..e9f3d66201
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