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//
// NSString+Tools.h
// TDS
//
// Created by JiangJiahao on 2018/4/24.
// Copyright © 2018年 dyy. All rights reserved.
//
#import <Foundation/Foundation.h>
@interface NSString (Tools)
- (NSString *)tds_URLEncodedString;
- (NSString *)tds_URLDecodedString;
///反转字符串
- (NSString *)tds_reverse;
// MD5 hash of the file on the filesystem specified by path
+ (NSString *)tds_stringWithMD5OfFile:(NSString *)path;
// The string's MD5 hash
- (NSString *)tds_MD5Hash;
// base64
- (NSString *)tds_base64Encode;
- (NSString *)tds_base64Decode;
// aes256
- (NSString *)tds_aes256Encrypt:(NSString *)key;
- (NSString *)tds_aes256Decrypt:(NSString *)key;
/// 是否是空字符串
+ (BOOL)tds_isEmpty:(NSString *)string;
- (NSDictionary *)tds_toDictionary;
@end
| jynew/jyx2/TapSdkFiles/TapTap/Common/Plugins/iOS/TapCommonSDK.framework/Headers/NSString+Tools.h/0 | {
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//
// XDGAutoLayout.h
// XDG
//
// Created by JiangJiahao on 2020/8/20.
// Copyright © 2020 JiangJiahao. All rights reserved.
// 简单自动布局类
#import <Foundation/Foundation.h>
#import <UIKit/UIKit.h>
NS_ASSUME_NONNULL_BEGIN
@interface TDSAutoLayout : NSObject
+ (void)openAutoLayout:(UIView *)targetView;
+ (void)safeAreaLayout:(BOOL)safe;
+ (NSLayoutConstraint *)layoutHeight:(UIView *)targetView height:(CGFloat)height;
+ (NSLayoutConstraint *)layoutWidth:(UIView *)targetView width:(CGFloat)width;
/// 相等约束相等布局
/// @param view1 view1
/// @param view2 view2
+ (void)layoutViewEqual:(UIView *)view1 toView:(UIView *)view2;
+ (NSLayoutConstraint *)layoutViewEqual:(UIView *)view1
toView:(UIView *)view2
attribute:(NSLayoutAttribute)attr;
+ (NSLayoutConstraint *)layoutViewEqual:(UIView *)view1
toView:(UIView *)view2
attribute:(NSLayoutAttribute)attr
offset:(CGFloat)offset;
+ (NSLayoutConstraint *)layoutViewEqual:(UIView *)view1
attribute:(NSLayoutAttribute)attr1
toView:(UIView *)view2
attribute:(NSLayoutAttribute)attr2;
/// 约束两个view相等
/// @param view1 view1
/// @param attr1 view1约束
/// @param view2 view2
/// @param attr2 view2约束
/// @param constant 距离
+ (NSLayoutConstraint *)layoutViewEqual:(UIView *)view1
attribute:(NSLayoutAttribute)attr1
toView:(UIView *)view2
attribute:(NSLayoutAttribute)attr2
constant:(CGFloat)constant;
/// 约束两个view，更大
/// @param view1 view1
/// @param attr1 view1约束
/// @param view2 view2
/// @param attr2 view2约束
/// @param constant 距离
+ (NSLayoutConstraint *)layoutViewGreater:(UIView *)view1
attribute:(NSLayoutAttribute)attr1
toView:(nullable UIView *)view2
attribute:(NSLayoutAttribute)attr2
constant:(CGFloat)constant;
/// 约束两个view，更小
/// @param view1 view1
/// @param attr1 view1约束
/// @param view2 view2
/// @param attr2 view2约束
/// @param constant 距离
+ (NSLayoutConstraint *)layoutViewLesser:(UIView *)view1
attribute:(NSLayoutAttribute)attr1
toView:(nullable UIView *)view2
attribute:(NSLayoutAttribute)attr2
constant:(CGFloat)constant;
@end
NS_ASSUME_NONNULL_END
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//
// Command.h
// EngineBridge
//
// Created by xe on 2020/9/28.
// Copyright © 2020 xe. All rights reserved.
//
#import <Foundation/Foundation.h>
NS_ASSUME_NONNULL_BEGIN
@interface TDSCommand : NSObject
@property (nonatomic,copy) NSString* service;
@property (nonatomic,copy) NSString* method;
@property (nonatomic,copy) NSString* args;
@property (nonatomic,copy) NSString* callbackId;
@property (nonatomic,assign) BOOL callback;
@property (nonatomic,assign) BOOL onceTime;
+ (TDSCommand*)constructorCommand:(NSString*)commandJSON;
- (NSString*)toJSON;
@end
NS_ASSUME_NONNULL_END
| jynew/jyx2/TapSdkFiles/TapTap/Common/Plugins/iOS/TapCommonSDK.framework/Headers/TDSCommand.h/0 | {
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//
// TDSDebounce.h
// TDSCommon
//
// Created by JiangJiahao on 2021/3/22.
//
#import <Foundation/Foundation.h>
/** 自定管理执行与释放时，标记调用来源： 对象/类地址_方法名_调用行数 */
#define TDSDebunceKey [NSString stringWithFormat:@"%p_%s_%d",self,__func__,__LINE__]
#define TDSDebunceKeyAppendCustom(customKey) [NSString stringWithFormat:@"%p_%s_%d%@",self,__func__,__LINE__,customKey]
NS_ASSUME_NONNULL_BEGIN
typedef void(^TDSDebounceTaskBlock)(void);
extern double const DEBOUNCE_INTERVAL; // 默认频率间隔，0.5s
/**
相邻调用若都在间隔时间内，则合并成一次调用
*/
@interface TDSDebounce : NSObject
#pragma mark - 自动管理
+ (TDSDebounce *)debounceWithDebounceKey:(NSString *)debounceKey taskBlock:(TDSDebounceTaskBlock)taskBlock;
+ (TDSDebounce *)debounceWithInterval:(NSTimeInterval)interval
debounceKey:(NSString *)debounceKey
taskBlock:(TDSDebounceTaskBlock)taskBlock;
/// 自动执行一个Debounce(防抖)任务。
/// 注意：适用调用不是异常频繁的任务，如用户按钮频繁点击限制
/// @param interval 防抖间隔，默认0.5s
/// @param queue 任务执行队列，默认主队列
/// @param debounceKey 任务来源标识，可使用默认宏 TDSDebunceKey 或 TDSDebunceKeyAppendCustom
/// @param taskBlock 需要执行的任务
+ (TDSDebounce *)debounceWithInterval:(NSTimeInterval)interval
onQueue:(dispatch_queue_t)queue
debounceKey:(NSString *)debounceKey
taskBlock:(TDSDebounceTaskBlock)taskBlock;
#pragma mark - 手动管理
+ (TDSDebounce *)manualDebounceWithTaskBlock:(TDSDebounceTaskBlock)taskBlock;
+ (TDSDebounce *)manualDebounceWithInterval:(NSTimeInterval)interval
taskBlock:(TDSDebounceTaskBlock)taskBlock;
/// 手动获取一个Debounce(防抖)任务,需要在不再使用时手动调用 dispose 释放
/// 注意：适合在任务会异常频繁执行时进行限制
/// @param interval 抖间隔，默认0.5s
/// @param queue 任务执行队列，默认主队列
/// @param taskBlock 需要执行的任务
+ (TDSDebounce *)manualDebounceWithInterval:(NSTimeInterval)interval
onQueue:(dispatch_queue_t)queue
taskBlock:(TDSDebounceTaskBlock)taskBlock;
#pragma mark - 执行与释放
/// 触发任务执行，手动管理时调用
- (void)invoke;
/// 销毁任务，手动管理时调用
- (void)dispose;
@end
#pragma mark - private classes
/**
调用后等待间隔时间超时以后触发，每次触发后重新计时
*/
@interface TDSDebounceTrailing : TDSDebounce
@end
/**
调用后立即触发，间隔时间未超时无法再次触发，每次触发后重新计时
*/
@interface TDSDebounceLeading : TDSDebounce
@end
/**
使用方法：
1.自动管理（自动执行/释放）
// 按钮事件或需要执行的函数，任务使用 Debounce 包裹
- (void)testDebounce {
[TDSDebounceLeading debounceWithInterval:0.8 debounceKey:TDSDebunceKey taskBlock:^{
// TODO 想要执行的任务
}];
}
2.手动管理 (创建时调用 manual 开头函数)
@property (nonatomic, strong) TDSDebounce *testDebouncer;
// 按钮事件或需要执行的函数，任务使用 Debounce 包裹
- (void)testDebounce {
if (!self.testDebouncer) {
self.testDebouncer = [TDSDebounceLeading manualDebounceWithTaskBlock:^{
// TODO 想要执行的任务
}];
}
[self.testDebouncer invoke];
}
// 在适当时机，如退出页面时释放
[self.testDebouncer dispose];
*/
NS_ASSUME_NONNULL_END
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//
// HttpResult.h
//
// Created by JiangJiahao on 2018/3/9.
// Copyright © 2018年 JiangJiahao. All rights reserved.
//
#import <Foundation/Foundation.h>
@interface TDSHttpResult : NSObject
@property (nonatomic,strong) NSData *data;
@property (nonatomic,strong) NSURLResponse *response;
@property (nonatomic,strong) NSError *error;
@property (nonatomic,strong) NSError *localError; // 本地错误
@property (nonatomic,copy) NSString *originUrl;
@property (nonatomic,copy) NSDictionary *resultDic;
// 多个get同时返回数据时使用
@property (nonatomic) NSArray *dataArr;
@end
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//
// TDSLoggerService.h
// TDSCommon
//
// Created by Insomnia on 2020/10/30.
//
#import <Foundation/Foundation.h>
NS_ASSUME_NONNULL_BEGIN
@interface TDSLoggerService : NSObject
+ (void)log:(NSString *)config tag:(NSString *)tag message:(NSString *)message;
@end
NS_ASSUME_NONNULL_END
| jynew/jyx2/TapSdkFiles/TapTap/Common/Plugins/iOS/TapCommonSDK.framework/Headers/TDSLoggerService.h/0 | {
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//
// TDSNetSubscriber.h
// TDSCommon
//
// Created by Insomnia on 2020/10/22.
//
#import <Foundation/Foundation.h>
@protocol TDSNetSubscriber <NSObject>
@optional
- (void)sendSuccess:(nullable id)value;
- (void)sendFailure:(nullable NSError *)error;
- (void)sendProgress:(nullable id)progress;
@end
NS_ASSUME_NONNULL_BEGIN
@interface TDSNetSubscriber : NSObject<TDSNetSubscriber>
+ (instancetype)subscriberWithSuccess:(void (^)(id x))success failure:(nullable void (^)(NSError *error))error progress:(nullable void (^)(id progress))progress;
@end
NS_ASSUME_NONNULL_END
| jynew/jyx2/TapSdkFiles/TapTap/Common/Plugins/iOS/TapCommonSDK.framework/Headers/TDSNetSubscriber.h/0 | {
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//
// TDSRouter.h
// TDSCommon
//
// Created by Insomnia on 2020/11/27.
//
#import <Foundation/Foundation.h>
NS_ASSUME_NONNULL_BEGIN
extern NSString *const TDSRouterURL;
extern NSString *const TDSRouterResp;
extern NSString *const TDSRouterParams;
typedef void (^TDSRouterHandler)(NSDictionary *params);
typedef void (^TDSRouterResponse)(NSDictionary *response);
/// TDS路由
@interface TDSRouter : NSObject
/// 注册路由
/// @param url 路由路径，例如tds://service，并支持带参数路由tds://service/:user/:age
/// @param handler 接收参数，包含了注册的 URL 中对应的变量， 如注册的 URL 为ds://service/:user那么，就会传一个 @{@"user": "tds_name"} 这样的字典过来
+ (void)registerServiceWithURL:(NSString *)url handler:(TDSRouterHandler)handler;
/// 反注册
/// @param url 路由路径
+ (void)unregisterServiceWithUrl:(NSString *)url;
/// 请求路由
/// @param url 路由路径
+ (void)requestWithURL:(NSString *)url;
/// 请求路由
/// @param url 路由路径
/// @param params 请求参数
+ (void)requestWithURL:(NSString *)url params:(NSDictionary * _Nullable)params;
/// 请求路由
/// @param url 路由路径
/// @param params 请求参数
/// @param response 返回值字典
+ (void)requestWithURL:(NSString *)url params:(NSDictionary * _Nullable)params response:(TDSRouterResponse _Nullable)response;
/// 是否存在服务
/// @param url 路由路径
+ (BOOL)hasServiceWithURL:(NSString *)url;
/// 自动拼接路由参数
/// @param url 路由路径，例如tds://service/:user/:age
/// @param params 数组顺序要与路由参数顺序对应
/// @return 生成URL 字符串
+ (NSString *)generateWithURL:(NSString *)url params:(NSArray *)params;
@end
NS_ASSUME_NONNULL_END
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//////////////////////////////////////////////////////////////////////////////////////////////////
//
// TDSWSSecurity.h
//
// Created by Austin and Dalton Cherry on on 9/3/15.
// Copyright (c) 2014-2017 Austin Cherry.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
//////////////////////////////////////////////////////////////////////////////////////////////////
#import <Foundation/Foundation.h>
#import <Security/Security.h>
@interface TDSWSSSLCert : NSObject
/**
Designated init for certificates
:param: data is the binary data of the certificate
:returns: a representation security object to be used with
*/
- (instancetype)initWithData:(NSData *)data;
/**
Designated init for public keys
:param: key is the public key to be used
:returns: a representation security object to be used with
*/
- (instancetype)initWithKey:(SecKeyRef)key;
@end
@interface TDSWSSecurity : NSObject
/**
Use certs from main app bundle
:param usePublicKeys: is to specific if the publicKeys or certificates should be used for SSL pinning validation
:returns: a representation security object to be used with
*/
- (instancetype)initWithCerts:(NSArray<TDSWSSSLCert*>*)certs publicKeys:(BOOL)publicKeys;
/**
Designated init
:param keys: is the certificates or public keys to use
:param usePublicKeys: is to specific if the publicKeys or certificates should be used for SSL pinning validation
:returns: a representation security object to be used with
*/
- (instancetype)initUsingPublicKeys:(BOOL)publicKeys;
/**
Should the domain name be validated? Default is YES.
*/
@property(nonatomic)BOOL validatedDN;
/**
Validate if the cert is legit or not.
:param: trust is the trust to validate
:param: domain to validate along with the trust (can be nil)
:return: YES or NO if valid.
*/
- (BOOL)isValid:(SecTrustRef)trust domain:(NSString*)domain;
@end
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//
// TapAuthResult.h
// TapCommonSDK
//
// Created by 黄驿峰 on 2022/1/27.
//
#import <Foundation/Foundation.h>
#import <TapCommonSDK/TapAuthAccessToken.h>
typedef NS_ENUM(NSInteger, TapAuthResultType) {
TapAuthResultTypeSuccess,
TapAuthResultTypeCancel,
TapAuthResultTypeError,
};
NS_ASSUME_NONNULL_BEGIN
@interface TapAuthResult : NSObject
@property (nonatomic, assign, readonly) TapAuthResultType type;
@property (nonatomic, strong, nullable, readonly) TapAuthAccessToken *token;
@property (nonatomic, strong, nullable, readonly) NSError *error;
+ (instancetype)successWithToken:(TapAuthAccessToken *)token;
+ (instancetype)failWithError:(NSError *)error;
+ (instancetype)cancel;
+ (instancetype)new NS_UNAVAILABLE;
- (instancetype)init NS_UNAVAILABLE;
@end
NS_ASSUME_NONNULL_END
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//
// TapDBDynamicPropertiesProxy.h
// TapDB
//
// Created by xe on 2021/4/13.
//
#import <Foundation/Foundation.h>
#import <TapCommonSDK/TapPropertiesDelegateProxy.h>
NS_ASSUME_NONNULL_BEGIN
@interface TapPropertiesHolder : NSObject
@property NSMutableDictionary<NSString*,TapPropertiesDelegateProxy*> *dic;
+ (TapPropertiesHolder*)shareInstance;
- (NSString*)getProperty:(NSString*)key;
@end
NS_ASSUME_NONNULL_END
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using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
namespace TapSDK.UI
{
public enum ELanguageType
{
cn = 1,
en = 2,
fr = 3,
}
public class LocalizationMgr: Singleton<LocalizationMgr>
{
private ELanguageType _currentLanguageType = ELanguageType.cn;
/// <summary>
/// 当前语言
/// </summary>
/// <value></value>
public ELanguageType CurrentLanguageType
{
get => _currentLanguageType;
}
/// <summary>
/// 设置当前语言
/// </summary>
/// <param name="newLanguageType"></param>
public void SetLanguageType(ELanguageType newLanguageType)
{
_currentLanguageType = newLanguageType;
}
}
}
| jynew/jyx2/TapSdkFiles/TapTap/Common/UI/Scripts/Base/LocalizationMgr.cs/0 | {
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"repo_id": "jynew",
"token_count": 410
} | 1,812 |
namespace TapSDK.UI
{
public interface IOpenPanelParameter {}
} | jynew/jyx2/TapSdkFiles/TapTap/Common/UI/Scripts/Params/IOpenPanelParameter.cs/0 | {
"file_path": "jynew/jyx2/TapSdkFiles/TapTap/Common/UI/Scripts/Params/IOpenPanelParameter.cs",
"repo_id": "jynew",
"token_count": 22
} | 1,813 |
// <auto-generated />
//
// To parse this JSON data, add NuGet 'LC.Newtonsoft.Json' then do:
//
// using Localization.AntiAddiction;
//
// var antiAddictionLocalizationItems = AntiAddictionLocalizationItems.FromJson(jsonString);
namespace Localization.AntiAddiction
{
using System;
using System.Collections.Generic;
using System.Globalization;
using LC.Newtonsoft.Json;
using LC.Newtonsoft.Json.Converters;
using TapSDK.UI;
public partial class AntiAddictionLocalizationItems
{
[JsonProperty("items")]
public Items Items { get; set; }
public Item Current
{
get
{
switch (LocalizationMgr.Instance.CurrentLanguageType)
{
case ELanguageType.cn:
return this.Items.Cn;
case ELanguageType.en:
return this.Items.En;
default:
return this.Items.Cn;
}
}
}
public const string PATH = "Config/AntiAddictionLocalization";
}
public partial class Items
{
[JsonProperty("cn")]
public Item Cn { get; set; }
[JsonProperty("en")]
public Item En { get; set; }
}
public partial class Item
{
[JsonProperty("NetError")]
public string NetError { get; set; }
[JsonProperty("NoVerification")]
public string NoVerification { get; set; }
[JsonProperty("EnterGame")]
public string EnterGame { get; set; }
[JsonProperty("ExitGame")]
public string ExitGame { get; set; }
[JsonProperty("Retry")]
public string Retry { get; set; }
}
public partial class AntiAddictionLocalizationItems
{
public static AntiAddictionLocalizationItems FromJson(string json) => JsonConvert.DeserializeObject<AntiAddictionLocalizationItems>(json, Localization.AntiAddiction.Converter.Settings);
}
public static class Serialize
{
public static string ToJson(this AntiAddictionLocalizationItems self) => JsonConvert.SerializeObject(self, Localization.AntiAddiction.Converter.Settings);
}
internal static class Converter
{
public static readonly JsonSerializerSettings Settings = new JsonSerializerSettings
{
MetadataPropertyHandling = MetadataPropertyHandling.Ignore,
DateParseHandling = DateParseHandling.None,
Converters =
{
new IsoDateTimeConverter { DateTimeStyles = DateTimeStyles.AssumeUniversal }
},
};
}
}
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test_editors:
- version: 2023.2
test_platforms:
- name: win
type: Unity::VM
image: package-ci/win11:v4
flavor: b1.large
---
{% for editor in test_editors %}
{% for platform in test_platforms %}
promotion_test_{{ platform.name }}_{{ editor.version }}:
name : Promotion Test {{ editor.version }} on {{ platform.name }}
agent:
type: {{ platform.type }}
image: {{ platform.image }}
flavor: {{ platform.flavor}}
variables:
UPMCI_PROMOTION: 1
commands:
- npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
- upm-ci package test --unity-version {{ editor.version }} --package-path com.unity.ml-agents
artifacts:
logs:
paths:
- "upm-ci~/test-results/**/*"
dependencies:
- .yamato/com.unity.ml-agents-pack.yml#pack
{% endfor %}
{% endfor %}
promotion_test_trigger:
name: Promotion Tests Trigger
dependencies:
{% for editor in test_editors %}
{% for platform in test_platforms %}
- .yamato/com.unity.ml-agents-promotion.yml#promotion_test_{{platform.name}}_{{editor.version}}
{% endfor %}
{% endfor %}
promote:
name: Promote to Production
agent:
type: Unity::VM
image: package-ci/win11:v4
flavor: b1.large
variables:
UPMCI_PROMOTION: 1
commands:
- npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
- upm-ci package promote --package-path com.unity.ml-agents
# triggers:
# tags:
# only:
# - /^(r|R)elease-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
artifacts:
artifacts:
paths:
- "upm-ci~/packages/*.tgz"
dependencies:
- .yamato/com.unity.ml-agents-pack.yml#pack
{% for editor in test_editors %}
{% for platform in test_platforms %}
- .yamato/com.unity.ml-agents-promotion.yml#promotion_test_{{ platform.name }}_{{ editor.version }}
{% endfor %}
{% endfor %}
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using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgentsExamples;
using Unity.MLAgents.Sensors;
using Random = UnityEngine.Random;
[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
public class CrawlerAgent : Agent
{
[Header("Walk Speed")]
[Range(0.1f, m_maxWalkingSpeed)]
[SerializeField]
[Tooltip(
"The speed the agent will try to match.\n\n" +
"TRAINING:\n" +
"For VariableSpeed envs, this value will randomize at the start of each training episode.\n" +
"Otherwise the agent will try to match the speed set here.\n\n" +
"INFERENCE:\n" +
"During inference, VariableSpeed agents will modify their behavior based on this value " +
"whereas the CrawlerDynamic & CrawlerStatic agents will run at the speed specified during training "
)]
//The walking speed to try and achieve
private float m_TargetWalkingSpeed = m_maxWalkingSpeed;
const float m_maxWalkingSpeed = 15; //The max walking speed
//The current target walking speed. Clamped because a value of zero will cause NaNs
public float TargetWalkingSpeed
{
get { return m_TargetWalkingSpeed; }
set { m_TargetWalkingSpeed = Mathf.Clamp(value, .1f, m_maxWalkingSpeed); }
}
//The direction an agent will walk during training.
[Header("Target To Walk Towards")]
public Transform TargetPrefab; //Target prefab to use in Dynamic envs
private Transform m_Target; //Target the agent will walk towards during training.
[Header("Body Parts")][Space(10)] public Transform body;
public Transform leg0Upper;
public Transform leg0Lower;
public Transform leg1Upper;
public Transform leg1Lower;
public Transform leg2Upper;
public Transform leg2Lower;
public Transform leg3Upper;
public Transform leg3Lower;
//This will be used as a stabilized model space reference point for observations
//Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
OrientationCubeController m_OrientationCube;
//The indicator graphic gameobject that points towards the target
DirectionIndicator m_DirectionIndicator;
JointDriveController m_JdController;
[Header("Foot Grounded Visualization")]
[Space(10)]
public bool useFootGroundedVisualization;
public MeshRenderer foot0;
public MeshRenderer foot1;
public MeshRenderer foot2;
public MeshRenderer foot3;
public Material groundedMaterial;
public Material unGroundedMaterial;
public override void Initialize()
{
SpawnTarget(TargetPrefab, transform.position); //spawn target
m_OrientationCube = GetComponentInChildren<OrientationCubeController>();
m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();
m_JdController = GetComponent<JointDriveController>();
//Setup each body part
m_JdController.SetupBodyPart(body);
m_JdController.SetupBodyPart(leg0Upper);
m_JdController.SetupBodyPart(leg0Lower);
m_JdController.SetupBodyPart(leg1Upper);
m_JdController.SetupBodyPart(leg1Lower);
m_JdController.SetupBodyPart(leg2Upper);
m_JdController.SetupBodyPart(leg2Lower);
m_JdController.SetupBodyPart(leg3Upper);
m_JdController.SetupBodyPart(leg3Lower);
}
/// <summary>
/// Spawns a target prefab at pos
/// </summary>
/// <param name="prefab"></param>
/// <param name="pos"></param>
void SpawnTarget(Transform prefab, Vector3 pos)
{
m_Target = Instantiate(prefab, pos, Quaternion.identity, transform.parent);
}
/// <summary>
/// Loop over body parts and reset them to initial conditions.
/// </summary>
public override void OnEpisodeBegin()
{
foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
{
bodyPart.Reset(bodyPart);
}
//Random start rotation to help generalize
body.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
UpdateOrientationObjects();
//Set our goal walking speed
TargetWalkingSpeed = Random.Range(0.1f, m_maxWalkingSpeed);
}
/// <summary>
/// Add relevant information on each body part to observations.
/// </summary>
public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
{
//GROUND CHECK
sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
if (bp.rb.transform != body)
{
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
}
}
/// <summary>
/// Loop over body parts to add them to observation.
/// </summary>
public override void CollectObservations(VectorSensor sensor)
{
var cubeForward = m_OrientationCube.transform.forward;
//velocity we want to match
var velGoal = cubeForward * TargetWalkingSpeed;
//ragdoll's avg vel
var avgVel = GetAvgVelocity();
//current ragdoll velocity. normalized
sensor.AddObservation(Vector3.Distance(velGoal, avgVel));
//avg body vel relative to cube
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVel));
//vel goal relative to cube
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(velGoal));
//rotation delta
sensor.AddObservation(Quaternion.FromToRotation(body.forward, cubeForward));
//Add pos of target relative to orientation cube
sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(m_Target.transform.position));
RaycastHit hit;
float maxRaycastDist = 10;
if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
{
sensor.AddObservation(hit.distance / maxRaycastDist);
}
else
sensor.AddObservation(1);
foreach (var bodyPart in m_JdController.bodyPartsList)
{
CollectObservationBodyPart(bodyPart, sensor);
}
}
public override void OnActionReceived(ActionBuffers actionBuffers)
{
// The dictionary with all the body parts in it are in the jdController
var bpDict = m_JdController.bodyPartsDict;
var continuousActions = actionBuffers.ContinuousActions;
var i = -1;
// Pick a new target joint rotation
bpDict[leg0Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
bpDict[leg1Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
bpDict[leg2Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
bpDict[leg3Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
bpDict[leg0Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
bpDict[leg1Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
bpDict[leg2Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
bpDict[leg3Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
// Update joint strength
bpDict[leg0Upper].SetJointStrength(continuousActions[++i]);
bpDict[leg1Upper].SetJointStrength(continuousActions[++i]);
bpDict[leg2Upper].SetJointStrength(continuousActions[++i]);
bpDict[leg3Upper].SetJointStrength(continuousActions[++i]);
bpDict[leg0Lower].SetJointStrength(continuousActions[++i]);
bpDict[leg1Lower].SetJointStrength(continuousActions[++i]);
bpDict[leg2Lower].SetJointStrength(continuousActions[++i]);
bpDict[leg3Lower].SetJointStrength(continuousActions[++i]);
}
void FixedUpdate()
{
UpdateOrientationObjects();
// If enabled the feet will light up green when the foot is grounded.
// This is just a visualization and isn't necessary for function
if (useFootGroundedVisualization)
{
foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
? groundedMaterial
: unGroundedMaterial;
foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
? groundedMaterial
: unGroundedMaterial;
foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
? groundedMaterial
: unGroundedMaterial;
foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
? groundedMaterial
: unGroundedMaterial;
}
var cubeForward = m_OrientationCube.transform.forward;
// Set reward for this step according to mixture of the following elements.
// a. Match target speed
//This reward will approach 1 if it matches perfectly and approach zero as it deviates
var matchSpeedReward = GetMatchingVelocityReward(cubeForward * TargetWalkingSpeed, GetAvgVelocity());
// b. Rotation alignment with target direction.
//This reward will approach 1 if it faces the target direction perfectly and approach zero as it deviates
var lookAtTargetReward = (Vector3.Dot(cubeForward, body.forward) + 1) * .5F;
AddReward(matchSpeedReward * lookAtTargetReward);
}
/// <summary>
/// Update OrientationCube and DirectionIndicator
/// </summary>
void UpdateOrientationObjects()
{
m_OrientationCube.UpdateOrientation(body, m_Target);
if (m_DirectionIndicator)
{
m_DirectionIndicator.MatchOrientation(m_OrientationCube.transform);
}
}
/// <summary>
///Returns the average velocity of all of the body parts
///Using the velocity of the body only has shown to result in more erratic movement from the limbs
///Using the average helps prevent this erratic movement
/// </summary>
Vector3 GetAvgVelocity()
{
Vector3 velSum = Vector3.zero;
Vector3 avgVel = Vector3.zero;
//ALL RBS
int numOfRb = 0;
foreach (var item in m_JdController.bodyPartsList)
{
numOfRb++;
velSum += item.rb.velocity;
}
avgVel = velSum / numOfRb;
return avgVel;
}
/// <summary>
/// Normalized value of the difference in actual speed vs goal walking speed.
/// </summary>
public float GetMatchingVelocityReward(Vector3 velocityGoal, Vector3 actualVelocity)
{
//distance between our actual velocity and goal velocity
var velDeltaMagnitude = Mathf.Clamp(Vector3.Distance(actualVelocity, velocityGoal), 0, TargetWalkingSpeed);
//return the value on a declining sigmoid shaped curve that decays from 1 to 0
//This reward will approach 1 if it matches perfectly and approach zero as it deviates
return Mathf.Pow(1 - Mathf.Pow(velDeltaMagnitude / TargetWalkingSpeed, 2), 2);
}
/// <summary>
/// Agent touched the target
/// </summary>
public void TouchedTarget()
{
AddReward(1f);
}
}
| ml-agents/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs/0 | {
"file_path": "ml-agents/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs",
"repo_id": "ml-agents",
"token_count": 4290
} | 1,829 |
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using System.Collections.Generic;
using Unity.MLAgents;
using UnityEngine;
public class SoccerEnvController : MonoBehaviour
{
[System.Serializable]
public class PlayerInfo
{
public AgentSoccer Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
}
/// <summary>
/// Max Academy steps before this platform resets
/// </summary>
/// <returns></returns>
[Tooltip("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
/// <summary>
/// The area bounds.
/// </summary>
/// <summary>
/// We will be changing the ground material based on success/failue
/// </summary>
public GameObject ball;
[HideInInspector]
public Rigidbody ballRb;
Vector3 m_BallStartingPos;
//List of Agents On Platform
public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
private SoccerSettings m_SoccerSettings;
private SimpleMultiAgentGroup m_BlueAgentGroup;
private SimpleMultiAgentGroup m_PurpleAgentGroup;
private int m_ResetTimer;
void Start()
{
m_SoccerSettings = FindObjectOfType<SoccerSettings>();
// Initialize TeamManager
m_BlueAgentGroup = new SimpleMultiAgentGroup();
m_PurpleAgentGroup = new SimpleMultiAgentGroup();
ballRb = ball.GetComponent<Rigidbody>();
m_BallStartingPos = new Vector3(ball.transform.position.x, ball.transform.position.y, ball.transform.position.z);
foreach (var item in AgentsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Rb = item.Agent.GetComponent<Rigidbody>();
if (item.Agent.team == Team.Blue)
{
m_BlueAgentGroup.RegisterAgent(item.Agent);
}
else
{
m_PurpleAgentGroup.RegisterAgent(item.Agent);
}
}
ResetScene();
}
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
{
m_BlueAgentGroup.GroupEpisodeInterrupted();
m_PurpleAgentGroup.GroupEpisodeInterrupted();
ResetScene();
}
}
public void ResetBall()
{
var randomPosX = Random.Range(-2.5f, 2.5f);
var randomPosZ = Random.Range(-2.5f, 2.5f);
ball.transform.position = m_BallStartingPos + new Vector3(randomPosX, 0f, randomPosZ);
ballRb.velocity = Vector3.zero;
ballRb.angularVelocity = Vector3.zero;
}
public void GoalTouched(Team scoredTeam)
{
if (scoredTeam == Team.Blue)
{
m_BlueAgentGroup.AddGroupReward(1 - (float)m_ResetTimer / MaxEnvironmentSteps);
m_PurpleAgentGroup.AddGroupReward(-1);
}
else
{
m_PurpleAgentGroup.AddGroupReward(1 - (float)m_ResetTimer / MaxEnvironmentSteps);
m_BlueAgentGroup.AddGroupReward(-1);
}
m_PurpleAgentGroup.EndGroupEpisode();
m_BlueAgentGroup.EndGroupEpisode();
ResetScene();
}
public void ResetScene()
{
m_ResetTimer = 0;
//Reset Agents
foreach (var item in AgentsList)
{
var randomPosX = Random.Range(-5f, 5f);
var newStartPos = item.Agent.initialPos + new Vector3(randomPosX, 0f, 0f);
var rot = item.Agent.rotSign * Random.Range(80.0f, 100.0f);
var newRot = Quaternion.Euler(0, rot, 0);
item.Agent.transform.SetPositionAndRotation(newStartPos, newRot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
}
//Reset Ball
ResetBall();
}
}
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# Extending Grid Sensors
## Overview
Grid Sensor provides a 2D observation that detects objects around an agent from a top-down view. Compared to RayCasts, it receives a full observation in a grid area without gaps, and the detection is not blocked by objects around the agents. This gives a more granular view while requiring a higher usage of compute resources.
One extra feature with Grid Sensors is that you can derive from the Grid Sensor base class to collect custom data besides the object tags, to include custom attributes as observations. This allows more flexibility for the use of GridSensor. This doc will elaborate how to create custom grid-based sensor class, and the sensors implementations provided in ml-agents package.
## Customized Grid Sensor
To create a custom grid sensor, you'll need to derive from two classes: `GridSensorBase` and `GridSensorComponent`.
### Deriving from `GridSensorBase`
This is the implementation of your sensor. This defines how your sensor process detected colliders,
what the data looks like, and how the observations are constructed from the detected objects.
Consider overriding the following methods depending on your use case:
* `protected virtual int GetCellObservationSize()`: Return the observation size per cell. Default to `1`.
* `protected virtual void GetObjectData(GameObject detectedObject, int tagIndex, float[] dataBuffer)`: Constructs observations from the detected object. The input provides the detected GameObject and the index of its tag (0-indexed). The observations should be written to the given `dataBuffer` and the buffer size is defined in `GetCellObservationSize()`. This data will be gathered from each cell and sent to the trainer as observation.
* `protected virtual bool IsDataNormalized()`: Return whether the observation is normalized to 0~1. This affects whether you're able to use compressed observations as compressed data only supports normalized data. Return `true` if all the values written in `GetObjectData` are within the range of (0, 1), otherwise return `false`. Default to `false`.
There might be cases when your data is not in the range of (0, 1) but you still wish to use compressed data to speed up training. If your data is naturally bounded within a range, normalize your data first to the possible range and fill the buffer with normalized data. For example, since the angle of rotation is bounded within `0 ~ 360`, record an angle `x` as `x/360` instead of `x`. If your data value is not bounded (position, velocity, etc.), consider setting a reasonable min/max value and use that to normalize your data.
* `protected internal virtual ProcessCollidersMethod GetProcessCollidersMethod()`: Return the method to process colliders detected in a cell. This defines the sensor behavior when multiple objects with detectable tags are detected within a cell.
Currently two methods are provided:
* `ProcessCollidersMethod.ProcessClosestColliders` (Default): Process the closest collider to the agent. In this case each cell's data is represented by one object.
* `ProcessCollidersMethod.ProcessAllColliders`: Process all detected colliders. This is useful when the data from each cell is additive, for instance, the count of detected objects in a cell. When using this option, the input `dataBuffer` in `GetObjectData()` will contain processed data from other colliders detected in the cell. You'll more likely want to add/subtract values from the buffer instead of overwrite it completely.
### Deriving from `GridSensorComponent`
To create your sensor, you need to override the sensor component and add your sensor to the creation.
Specifically, you need to override `GetGridSensors()` and return an array of grid sensors you want to use in the component.
It can be used to create multiple different customized grid sensors, or you can also include the ones provided in our package (listed in the next section).
Example:
```
public class CustomGridSensorComponent : GridSensorComponent
{
protected override GridSensorBase[] GetGridSensors()
{
return new GridSensorBase[] { new CustomGridSensor(...)};
}
}
```
## Grid Sensor Types
Here we list out two types of grid sensor we provide in our package: `OneHotGridSensor` and `CountingGridSensor`.
Their implementations are also a good reference for making you own ones.
### OneHotGridSensor (provided in `com.unity.ml-agents`)
This is the default sensor used by `GridSensorComponent`. It detects objects with detectable tags and the observation is the one-hot representation of the detected tag index.
The implementation of the sensor is defined as following:
* `GetCellObservationSize()`: `detectableTags.Length`
* `IsDataNormalized()`: `true`
* `ProcessCollidersMethod()`: `ProcessCollidersMethod.ProcessClosestColliders`
* `GetObjectData()`:
```
protected override void GetObjectData(GameObject detectedObject, int tagIndex, float[] dataBuffer)
{
dataBuffer[tagIndex] = 1;
}
```
### CountingGridSensor (provided in `com.unity.ml-agents.extensions`)
This is an example of using all colliders detected in a cell. It counts the number of objects detected for each detectable tag. The sensor cannot be used with data compression.
The implementation of the sensor is defined as following:
* `GetCellObservationSize()`: `detectableTags.Length`
* `IsDataNormalized()`: `false`
* `ProcessCollidersMethod()`: `ProcessCollidersMethod.ProcessAllColliders`
* `GetObjectData()`:
```
protected override void GetObjectData(GameObject detectedObject, int tagIndex, float[] dataBuffer)
{
dataBuffer[tagIndex] += 1;
}
```
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using System;
using Unity.MLAgents.Sensors;
namespace Unity.MLAgents.Extensions.Sensors
{
/// <summary>
/// Settings that define the observations generated for physics-based sensors.
/// </summary>
[Serializable]
public struct PhysicsSensorSettings
{
/// <summary>
/// Whether to use model space (relative to the root body) translations as observations.
/// </summary>
public bool UseModelSpaceTranslations;
/// <summary>
/// Whether to use model space (relative to the root body) rotations as observations.
/// </summary>
public bool UseModelSpaceRotations;
/// <summary>
/// Whether to use local space (relative to the parent body) translations as observations.
/// </summary>
public bool UseLocalSpaceTranslations;
/// <summary>
/// Whether to use local space (relative to the parent body) translations as observations.
/// </summary>
public bool UseLocalSpaceRotations;
/// <summary>
/// Whether to use model space (relative to the root body) linear velocities as observations.
/// </summary>
public bool UseModelSpaceLinearVelocity;
/// <summary>
/// Whether to use local space (relative to the parent body) linear velocities as observations.
/// </summary>
public bool UseLocalSpaceLinearVelocity;
/// <summary>
/// Whether to use joint-specific positions and angles as observations.
/// </summary>
public bool UseJointPositionsAndAngles;
/// <summary>
/// Whether to use the joint forces and torques that are applied by the solver as observations.
/// </summary>
public bool UseJointForces;
/// <summary>
/// Creates a PhysicsSensorSettings with reasonable default values.
/// </summary>
/// <returns></returns>
public static PhysicsSensorSettings Default()
{
return new PhysicsSensorSettings
{
UseModelSpaceTranslations = true,
UseModelSpaceRotations = true,
};
}
/// <summary>
/// Whether any model space observations are being used.
/// </summary>
public bool UseModelSpace
{
get { return UseModelSpaceTranslations || UseModelSpaceRotations || UseModelSpaceLinearVelocity; }
}
/// <summary>
/// Whether any local space observations are being used.
/// </summary>
public bool UseLocalSpace
{
get { return UseLocalSpaceTranslations || UseLocalSpaceRotations || UseLocalSpaceLinearVelocity; }
}
}
internal static class ObservationWriterPhysicsExtensions
{
/// <summary>
/// Utility method for writing a PoseExtractor to an ObservationWriter.
/// </summary>
/// <param name="writer"></param>
/// <param name="settings"></param>
/// <param name="poseExtractor"></param>
/// <param name="baseOffset">The offset into the ObservationWriter to start writing at.</param>
/// <returns>The number of observations written.</returns>
public static int WritePoses(this ObservationWriter writer, PhysicsSensorSettings settings, PoseExtractor poseExtractor, int baseOffset = 0)
{
var offset = baseOffset;
if (settings.UseModelSpace)
{
foreach (var pose in poseExtractor.GetEnabledModelSpacePoses())
{
if (settings.UseModelSpaceTranslations)
{
writer.Add(pose.position, offset);
offset += 3;
}
if (settings.UseModelSpaceRotations)
{
writer.Add(pose.rotation, offset);
offset += 4;
}
}
foreach (var vel in poseExtractor.GetEnabledModelSpaceVelocities())
{
if (settings.UseModelSpaceLinearVelocity)
{
writer.Add(vel, offset);
offset += 3;
}
}
}
if (settings.UseLocalSpace)
{
foreach (var pose in poseExtractor.GetEnabledLocalSpacePoses())
{
if (settings.UseLocalSpaceTranslations)
{
writer.Add(pose.position, offset);
offset += 3;
}
if (settings.UseLocalSpaceRotations)
{
writer.Add(pose.rotation, offset);
offset += 4;
}
}
foreach (var vel in poseExtractor.GetEnabledLocalSpaceVelocities())
{
if (settings.UseLocalSpaceLinearVelocity)
{
writer.Add(vel, offset);
offset += 3;
}
}
}
return offset - baseOffset;
}
}
}
| ml-agents/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsSensorSettings.cs/0 | {
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using UnityEngine;
using NUnit.Framework;
using Unity.MLAgents.Extensions.Sensors;
namespace Unity.MLAgents.Extensions.Tests.Sensors
{
public class RigidBodyPoseExtractorTests
{
[TearDown]
public void RemoveGameObjects()
{
var objects = GameObject.FindObjectsOfType<GameObject>();
foreach (var o in objects)
{
UnityEngine.Object.DestroyImmediate(o);
}
}
[Test]
public void TestNullRoot()
{
var poseExtractor = new RigidBodyPoseExtractor(null);
// These should be no-ops
poseExtractor.UpdateLocalSpacePoses();
poseExtractor.UpdateModelSpacePoses();
Assert.AreEqual(0, poseExtractor.NumPoses);
}
[Test]
public void TestSingleBody()
{
var go = new GameObject();
var rootRb = go.AddComponent<Rigidbody>();
var poseExtractor = new RigidBodyPoseExtractor(rootRb);
Assert.AreEqual(1, poseExtractor.NumPoses);
// Also pass the GameObject
poseExtractor = new RigidBodyPoseExtractor(rootRb, go);
Assert.AreEqual(1, poseExtractor.NumPoses);
}
[Test]
public void TestNoBodiesFound()
{
// Check that if we can't find any bodies under the game object, we get an empty extractor
var gameObj = new GameObject();
var rootRb = gameObj.AddComponent<Rigidbody>();
var otherGameObj = new GameObject();
var poseExtractor = new RigidBodyPoseExtractor(rootRb, otherGameObj);
Assert.AreEqual(0, poseExtractor.NumPoses);
// Add an RB under the other GameObject. Constructor will find a rigid body, but not the root.
otherGameObj.AddComponent<Rigidbody>();
poseExtractor = new RigidBodyPoseExtractor(rootRb, otherGameObj);
Assert.AreEqual(0, poseExtractor.NumPoses);
}
[Test]
public void TestTwoBodies()
{
// * rootObj
// - rb1
// * go2
// - rb2
// - joint
var rootObj = new GameObject();
var rb1 = rootObj.AddComponent<Rigidbody>();
var go2 = new GameObject();
var rb2 = go2.AddComponent<Rigidbody>();
go2.transform.SetParent(rootObj.transform);
var joint = go2.AddComponent<ConfigurableJoint>();
joint.connectedBody = rb1;
var poseExtractor = new RigidBodyPoseExtractor(rb1);
Assert.AreEqual(2, poseExtractor.NumPoses);
rb1.position = new Vector3(1, 0, 0);
rb1.rotation = Quaternion.Euler(0, 13.37f, 0);
rb1.velocity = new Vector3(2, 0, 0);
Assert.AreEqual(rb1.position, poseExtractor.GetPoseAt(0).position);
Assert.IsTrue(rb1.rotation == poseExtractor.GetPoseAt(0).rotation);
Assert.AreEqual(rb1.velocity, poseExtractor.GetLinearVelocityAt(0));
// Check DisplayNodes gives expected results
var displayNodes = poseExtractor.GetDisplayNodes();
Assert.AreEqual(2, displayNodes.Count);
Assert.AreEqual(rb1, displayNodes[0].NodeObject);
Assert.AreEqual(false, displayNodes[0].Enabled);
Assert.AreEqual(rb2, displayNodes[1].NodeObject);
Assert.AreEqual(true, displayNodes[1].Enabled);
}
[Test]
public void TestTwoBodiesVirtualRoot()
{
// * virtualRoot
// * rootObj
// - rb1
// * go2
// - rb2
// - joint
var virtualRoot = new GameObject("I am vroot");
var rootObj = new GameObject();
var rb1 = rootObj.AddComponent<Rigidbody>();
var go2 = new GameObject();
go2.AddComponent<Rigidbody>();
go2.transform.SetParent(rootObj.transform);
var joint = go2.AddComponent<ConfigurableJoint>();
joint.connectedBody = rb1;
var poseExtractor = new RigidBodyPoseExtractor(rb1, null, virtualRoot);
Assert.AreEqual(3, poseExtractor.NumPoses);
// "body" 0 has no parent
Assert.AreEqual(-1, poseExtractor.GetParentIndex(0));
// body 1 has parent 0
Assert.AreEqual(0, poseExtractor.GetParentIndex(1));
var virtualRootPos = new Vector3(0, 2, 0);
var virtualRootRot = Quaternion.Euler(0, 42, 0);
virtualRoot.transform.position = virtualRootPos;
virtualRoot.transform.rotation = virtualRootRot;
Assert.AreEqual(virtualRootPos, poseExtractor.GetPoseAt(0).position);
Assert.IsTrue(virtualRootRot == poseExtractor.GetPoseAt(0).rotation);
Assert.AreEqual(Vector3.zero, poseExtractor.GetLinearVelocityAt(0));
// Same as above test, but using index 1
rb1.position = new Vector3(1, 0, 0);
rb1.rotation = Quaternion.Euler(0, 13.37f, 0);
rb1.velocity = new Vector3(2, 0, 0);
Assert.AreEqual(rb1.position, poseExtractor.GetPoseAt(1).position);
Assert.IsTrue(rb1.rotation == poseExtractor.GetPoseAt(1).rotation);
Assert.AreEqual(rb1.velocity, poseExtractor.GetLinearVelocityAt(1));
}
[Test]
public void TestBodyPosesEnabledDictionary()
{
// * rootObj
// - rb1
// * go2
// - rb2
// - joint
var rootObj = new GameObject();
var rb1 = rootObj.AddComponent<Rigidbody>();
var go2 = new GameObject();
var rb2 = go2.AddComponent<Rigidbody>();
go2.transform.SetParent(rootObj.transform);
var joint = go2.AddComponent<ConfigurableJoint>();
joint.connectedBody = rb1;
var poseExtractor = new RigidBodyPoseExtractor(rb1);
// Expect the root body disabled and the attached one enabled.
Assert.IsFalse(poseExtractor.IsPoseEnabled(0));
Assert.IsTrue(poseExtractor.IsPoseEnabled(1));
var bodyPosesEnabled = poseExtractor.GetBodyPosesEnabled();
Assert.IsFalse(bodyPosesEnabled[rb1]);
Assert.IsTrue(bodyPosesEnabled[rb2]);
// Swap the values
bodyPosesEnabled[rb1] = true;
bodyPosesEnabled[rb2] = false;
var poseExtractor2 = new RigidBodyPoseExtractor(rb1, null, null, bodyPosesEnabled);
Assert.IsTrue(poseExtractor2.IsPoseEnabled(0));
Assert.IsFalse(poseExtractor2.IsPoseEnabled(1));
}
}
}
| ml-agents/com.unity.ml-agents.extensions/Tests/Runtime/Sensors/RigidBodyPoseExtractorTests.cs/0 | {
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# About ML-Agents package (`com.unity.ml-agents`)
The _ML-Agents_ package contains the primary C# SDK for the [Unity ML-Agents
Toolkit].
The package allows you to convert any Unity scene into a learning environment
and train character behaviors using a variety of machine learning algorithms.
Additionally, it allows you to embed these trained behaviors back into Unity
scenes to control your characters. More specifically, the package provides the
following core functionalities:
- Define Agents: entities, or characters, whose behavior will be learned. Agents
are entities that generate observations (through sensors), take actions, and
receive rewards from the environment.
- Define Behaviors: entities that specify how an agent should act. Multiple
agents can share the same Behavior and a scene may have multiple Behaviors.
- Record demonstrations of an agent within the Editor. You can use
demonstrations to help train a behavior for that agent.
- Embedding a trained behavior into the scene via the [Unity Inference Engine].
Embedded behaviors allow you to switch an Agent between learning and
inference.
Note that the _ML-Agents_ package does not contain the machine learning
algorithms for training behaviors. The _ML-Agents_ package only supports
instrumenting a Unity scene, setting it up for training, and then embedding the
trained model back into your Unity scene. The machine learning algorithms that
orchestrate training are part of the companion [Python package].
Note that we also provide an _ML-Agents Extensions_ package
(`com.unity.ml-agents.extensions`) that contains early/experimental features
that you may find useful. This package is only available from the [ML-Agents
GitHub repo].
## Package contents
The following table describes the package folder structure:
| **Location** | **Description** |
| ---------------------- | ----------------------------------------------------------------------- |
| _Documentation~_ | Contains the documentation for the Unity package. |
| _Editor_ | Contains utilities for Editor windows and drawers. |
| _Plugins_ | Contains third-party DLLs. |
| _Runtime_ | Contains core C# APIs for integrating ML-Agents into your Unity scene. |
| _Runtime/Integrations_ | Contains utilities for integrating ML-Agents into specific game genres. |
| _Tests_ | Contains the unit tests for the package. |
<a name="Installation"></a>
## Installation
To install this _ML-Agents_ package, follow the instructions in the [Package
Manager documentation].
To install the companion Python package to enable training behaviors, follow the
[installation instructions] on our [GitHub repository].
### Advanced Installation
With the changes to Unity Package Manager in 2021, experimental packages will not show up in the package list and have to be installed manually. There are two recommended ways to install the package manually:
#### Github via Package Manager
In Unity 2019.4 or later, open the Package Manager, hit the "+" button, and select "Add package from git URL".
In the dialog that appears, enter
```
git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents#release_21
```
You can also edit your project's `manifest.json` directly and add the following line to the `dependencies`
section:
```
"com.unity.ml-agents": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents#release_21",
```
See [Git dependencies](https://docs.unity3d.com/Manual/upm-git.html#subfolder) for more information. Note that this
may take several minutes to resolve the packages the first time that you add it.
#### Local Installation for Development
[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_21_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the
[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_21_docs/docs/Installation.md#advanced-local-installation-for-development-1) directions.
## Requirements
This version of the Unity ML-Agents package is compatible with the following
versions of the Unity Editor:
- 2019.4 and later
## Known Limitations
### Training
Training is limited to the Unity Editor and Standalone builds on Windows, MacOS,
and Linux with the Mono scripting backend. Currently, training does not work
with the IL2CPP scripting backend. Your environment will default to inference
mode if training is not supported or is not currently running.
### Inference
Inference is executed via the
[Unity Inference Engine](https://docs.unity3d.com/Packages/com.unity.sentis@latest/index.html).
**CPU**
All platforms supported.
**GPU**
All platforms supported except:
- WebGL and GLES 3/2 on Android / iPhone
**NOTE:** Mobile platform support includes:
- Vulkan for Android
- Metal for iOS.
### Headless Mode
If you enable Headless mode, you will not be able to collect visual observations
from your agents.
### Rendering Speed and Synchronization
Currently the speed of the game physics can only be increased to 100x real-time.
The Academy also moves in time with FixedUpdate() rather than Update(), so game
behavior implemented in Update() may be out of sync with the agent decision
making. See [Execution Order of Event Functions] for more information.
You can control the frequency of Academy stepping by calling
`Academy.Instance.DisableAutomaticStepping()`, and then calling
`Academy.Instance.EnvironmentStep()`
### Unity Inference Engine Models
Currently, only models created with our trainers are supported for running
ML-Agents with a neural network behavior.
## Helpful links
If you are new to the Unity ML-Agents package, or have a question after reading
the documentation, you can checkout our [GitHub Repository], which also includes
a number of ways to [connect with us] including our [ML-Agents Forum].
In order to improve the developer experience for Unity ML-Agents Toolkit, we have added in-editor analytics.
Please refer to "Information that is passively collected by Unity" in the
[Unity Privacy Policy](https://unity3d.com/legal/privacy-policy).
[unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents
[unity inference engine]: https://docs.unity3d.com/Packages/com.unity.sentis@latest/index.html
[package manager documentation]: https://docs.unity3d.com/Manual/upm-ui-install.html
[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_21_docs/docs/Installation.md
[github repository]: https://github.com/Unity-Technologies/ml-agents
[python package]: https://github.com/Unity-Technologies/ml-agents
[execution order of event functions]: https://docs.unity3d.com/Manual/ExecutionOrder.html
[connect with us]: https://github.com/Unity-Technologies/ml-agents#community-and-feedback
[ml-agents forum]: https://forum.unity.com/forums/ml-agents.453/
[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_21_docs/com.unity.ml-agents.extensions
| ml-agents/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md/0 | {
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using UnityEngine;
using UnityEditor;
using Unity.MLAgents.Sensors;
namespace Unity.MLAgents.Editor
{
internal class RayPerceptionSensorComponentBaseEditor : UnityEditor.Editor
{
bool m_RequireSensorUpdate;
protected void OnRayPerceptionInspectorGUI(bool is3d)
{
#if !MLA_UNITY_PHYSICS_MODULE
if (is3d)
{
EditorGUILayout.HelpBox("The Physics Module is not currently present. " +
"Please add it to your project in order to use the Ray Perception APIs in the " +
$"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning);
}
#endif
#if !MLA_UNITY_PHYSICS2D_MODULE
if (!is3d)
{
EditorGUILayout.HelpBox("The Physics2D Module is not currently present. " +
"Please add it to your project in order to use the Ray Perception APIs in the " +
$"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning);
}
#endif
var so = serializedObject;
so.Update();
// Drawing the RayPerceptionSensorComponent
EditorGUI.BeginChangeCheck();
EditorGUI.indentLevel++;
// Don't allow certain fields to be modified during play mode.
// * SensorName affects the ordering of the Agent's observations
// * The number of tags and rays affects the size of the observations.
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_DetectableTags"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_RaysPerDirection"), true);
}
EditorGUI.EndDisabledGroup();
EditorGUILayout.PropertyField(so.FindProperty("m_MaxRayDegrees"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_SphereCastRadius"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_RayLength"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_RayLayerMask"), true);
// Because the number of observation stacks affects the observation shape,
// it is not editable during play mode.
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
EditorGUILayout.PropertyField(so.FindProperty("m_ObservationStacks"), new GUIContent("Stacked Raycasts"), true);
}
EditorGUI.EndDisabledGroup();
if (is3d)
{
EditorGUILayout.PropertyField(so.FindProperty("m_StartVerticalOffset"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_EndVerticalOffset"), true);
}
EditorGUILayout.PropertyField(so.FindProperty("m_AlternatingRayOrder"), true);
if (is3d)
{
EditorGUILayout.PropertyField(so.FindProperty("m_UseBatchedRaycasts"), true);
}
EditorGUILayout.PropertyField(so.FindProperty("rayHitColor"), true);
EditorGUILayout.PropertyField(so.FindProperty("rayMissColor"), true);
EditorGUI.indentLevel--;
if (EditorGUI.EndChangeCheck())
{
m_RequireSensorUpdate = true;
}
so.ApplyModifiedProperties();
UpdateSensorIfDirty();
}
void UpdateSensorIfDirty()
{
if (m_RequireSensorUpdate)
{
var sensorComponent = serializedObject.targetObject as RayPerceptionSensorComponentBase;
sensorComponent?.UpdateSensor();
m_RequireSensorUpdate = false;
}
}
}
[CustomEditor(typeof(RayPerceptionSensorComponent2D), editorForChildClasses: true)]
[CanEditMultipleObjects]
internal class RayPerceptionSensorComponent2DEditor : RayPerceptionSensorComponentBaseEditor
{
public override void OnInspectorGUI()
{
OnRayPerceptionInspectorGUI(false);
}
}
[CustomEditor(typeof(RayPerceptionSensorComponent3D), editorForChildClasses: true)]
[CanEditMultipleObjects]
internal class RayPerceptionSensorComponent3DEditor : RayPerceptionSensorComponentBaseEditor
{
public override void OnInspectorGUI()
{
OnRayPerceptionInspectorGUI(true);
}
}
}
| ml-agents/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs/0 | {
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using System;
using System.Collections.Generic;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
namespace Unity.MLAgents.Analytics
{
internal struct InferenceEvent
{
/// <summary>
/// Hash of the BehaviorName.
/// </summary>
public string BehaviorName;
public string SentisModelSource;
public long SentisModelVersion;
public string SentisModelProducer;
public string SentisPackageVersion;
/// <summary>
/// Whether inference is performed on CPU (0) or GPU (1).
/// </summary>
public int InferenceDevice;
public List<EventObservationSpec> ObservationSpecs;
public EventActionSpec ActionSpec;
public List<EventActuatorInfo> ActuatorInfos;
public int MemorySize;
public long TotalWeightSizeBytes;
public string ModelHash;
}
/// <summary>
/// Simplified version of ActionSpec struct for use in analytics
/// </summary>
[Serializable]
internal struct EventActionSpec
{
public int NumContinuousActions;
public int NumDiscreteActions;
public int[] BranchSizes;
public static EventActionSpec FromActionSpec(ActionSpec actionSpec)
{
var branchSizes = actionSpec.BranchSizes ?? Array.Empty<int>();
return new EventActionSpec
{
NumContinuousActions = actionSpec.NumContinuousActions,
NumDiscreteActions = actionSpec.NumDiscreteActions,
BranchSizes = branchSizes,
};
}
}
/// <summary>
/// Information about an actuator.
/// </summary>
[Serializable]
internal struct EventActuatorInfo
{
public int BuiltInActuatorType;
public int NumContinuousActions;
public int NumDiscreteActions;
public static EventActuatorInfo FromActuator(IActuator actuator)
{
BuiltInActuatorType builtInActuatorType = Actuators.BuiltInActuatorType.Unknown;
if (actuator is IBuiltInActuator builtInActuator)
{
builtInActuatorType = builtInActuator.GetBuiltInActuatorType();
}
var actionSpec = actuator.ActionSpec;
return new EventActuatorInfo
{
BuiltInActuatorType = (int)builtInActuatorType,
NumContinuousActions = actionSpec.NumContinuousActions,
NumDiscreteActions = actionSpec.NumDiscreteActions
};
}
}
/// <summary>
/// Information about one dimension of an observation.
/// </summary>
[Serializable]
internal struct EventObservationDimensionInfo
{
public int Size;
public int Flags;
}
/// <summary>
/// Simplified summary of Agent observations for use in analytics
/// </summary>
[Serializable]
internal struct EventObservationSpec
{
public string SensorName;
public string CompressionType;
public int BuiltInSensorType;
public int ObservationType;
public EventObservationDimensionInfo[] DimensionInfos;
public static EventObservationSpec FromSensor(ISensor sensor)
{
var obsSpec = sensor.GetObservationSpec();
var shape = obsSpec.Shape;
var dimProps = obsSpec.DimensionProperties;
var dimInfos = new EventObservationDimensionInfo[shape.Length];
for (var i = 0; i < shape.Length; i++)
{
dimInfos[i].Size = shape[i];
dimInfos[i].Flags = (int)dimProps[i];
}
var builtInSensorType =
(sensor as IBuiltInSensor)?.GetBuiltInSensorType() ?? Sensors.BuiltInSensorType.Unknown;
return new EventObservationSpec
{
SensorName = sensor.GetName(),
CompressionType = sensor.GetCompressionSpec().SensorCompressionType.ToString(),
BuiltInSensorType = (int)builtInSensorType,
ObservationType = (int)obsSpec.ObservationType,
DimensionInfos = dimInfos,
};
}
}
internal struct RemotePolicyInitializedEvent
{
public string TrainingSessionGuid;
/// <summary>
/// Hash of the BehaviorName.
/// </summary>
public string BehaviorName;
public List<EventObservationSpec> ObservationSpecs;
public EventActionSpec ActionSpec;
public List<EventActuatorInfo> ActuatorInfos;
/// <summary>
/// This will be the same as TrainingEnvironmentInitializedEvent if available, but
/// TrainingEnvironmentInitializedEvent maybe not always be available with older trainers.
/// </summary>
public string MLAgentsEnvsVersion;
public string TrainerCommunicationVersion;
}
internal struct TrainingEnvironmentInitializedEvent
{
public string TrainingSessionGuid;
public string TrainerPythonVersion;
public string MLAgentsVersion;
public string MLAgentsEnvsVersion;
public string TorchVersion;
public string TorchDeviceType;
public int NumEnvironments;
public int NumEnvironmentParameters;
public string RunOptions;
}
[Flags]
internal enum RewardSignals
{
Extrinsic = 1 << 0,
Gail = 1 << 1,
Curiosity = 1 << 2,
Rnd = 1 << 3,
}
[Flags]
internal enum TrainingFeatures
{
BehavioralCloning = 1 << 0,
Recurrent = 1 << 1,
Threaded = 1 << 2,
SelfPlay = 1 << 3,
Curriculum = 1 << 4,
}
internal struct TrainingBehaviorInitializedEvent
{
public string TrainingSessionGuid;
public string BehaviorName;
public string TrainerType;
public RewardSignals RewardSignalFlags;
public TrainingFeatures TrainingFeatureFlags;
public string VisualEncoder;
public int NumNetworkLayers;
public int NumNetworkHiddenUnits;
public string Config;
}
}
| ml-agents/com.unity.ml-agents/Runtime/Analytics/Events.cs/0 | {
"file_path": "ml-agents/com.unity.ml-agents/Runtime/Analytics/Events.cs",
"repo_id": "ml-agents",
"token_count": 2546
} | 1,868 |
using System;
using System.Collections.Generic;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
namespace Unity.MLAgents
{
public struct CommunicatorInitParameters
{
/// <summary>
/// Port to listen for connections on.
/// </summary>
public int port;
/// <summary>
/// The name of the environment.
/// </summary>
public string name;
/// <summary>
/// The version of the Unity SDK.
/// </summary>
public string unityPackageVersion;
/// <summary>
/// The version of the communication API.
/// </summary>
public string unityCommunicationVersion;
/// <summary>
/// The RL capabilities of the C# codebase.
/// </summary>
public UnityRLCapabilities CSharpCapabilities;
}
public struct UnityRLInitParameters
{
/// <summary>
/// A random number generator (RNG) seed sent from the python process to Unity.
/// </summary>
public int seed;
/// <summary>
/// The number of areas to replicate if Training Area Replication is used in the scene.
/// </summary>
public int numAreas;
/// <summary>
/// The library version of the python process.
/// </summary>
public string pythonLibraryVersion;
/// <summary>
/// The version of the communication API that python is using.
/// </summary>
public string pythonCommunicationVersion;
/// <summary>
/// The RL capabilities of the Trainer codebase.
/// </summary>
public UnityRLCapabilities TrainerCapabilities;
}
internal struct UnityRLInputParameters
{
/// <summary>
/// Boolean sent back from python to indicate whether or not training is happening.
/// </summary>
public bool isTraining;
}
/// <summary>
/// Delegate for handling quit events sent back from the communicator.
/// </summary>
public delegate void QuitCommandHandler();
/// <summary>
/// Delegate for handling reset parameter updates sent from the communicator.
/// </summary>
public delegate void ResetCommandHandler();
/// <summary>
/// Delegate to handle UnityRLInputParameters updates from the communicator.
/// </summary>
/// <param name="inputParams"></param>
internal delegate void RLInputReceivedHandler(UnityRLInputParameters inputParams);
/**
This is the interface of the Communicators.
This does not need to be modified nor implemented to create a Unity environment.
When the Unity Communicator is initialized, it will wait for the External Communicator
to be initialized as well. The two communicators will then exchange their first messages
that will usually contain information for initialization (information that does not need
to be resent at each new exchange).
By convention a Unity input is from External to Unity and a Unity output is from Unity to
External. Inputs and outputs are relative to Unity.
By convention, when the Unity Communicator and External Communicator call exchange, the
exchange is NOT simultaneous but sequential. This means that when a side of the
communication calls exchange, the other will receive the result of its previous
exchange call.
This is what happens when A calls exchange a single time:
A sends data_1 to B -> B receives data_1 -> B generates and sends data_2 -> A receives data_2
When A calls exchange, it sends data_1 and receives data_2
Since the messages are sent back and forth with exchange and simultaneously when calling
initialize, External sends two messages at initialization.
The structure of the messages is as follows:
UnityMessage
...Header
...UnityOutput
......UnityRLOutput
......UnityRLInitializationOutput
...UnityInput
......UnityRLInput
......UnityRLInitializationInput
UnityOutput and UnityInput can be extended to provide functionalities beyond RL
UnityRLOutput and UnityRLInput can be extended to provide new RL functionalities
*/
public interface ICommunicator : IDisposable
{
/// <summary>
/// Quit was received by the communicator.
/// </summary>
event QuitCommandHandler QuitCommandReceived;
/// <summary>
/// Reset command sent back from the communicator.
/// </summary>
event ResetCommandHandler ResetCommandReceived;
/// <summary>
/// Sends the academy parameters through the Communicator.
/// Is used by the academy to send the AcademyParameters to the communicator.
/// </summary>
/// <returns>Whether the connection was successful.</returns>
/// <param name="initParameters">The Unity Initialization Parameters to be sent.</param>
/// <param name="initParametersOut">The External Initialization Parameters received</param>
bool Initialize(CommunicatorInitParameters initParameters, out UnityRLInitParameters initParametersOut);
/// <summary>
/// Registers a new Brain to the Communicator.
/// </summary>
/// <param name="name">The name or key uniquely identifying the Brain.</param>
/// <param name="actionSpec"> Description of the actions for the Agent.</param>
void SubscribeBrain(string name, ActionSpec actionSpec);
/// <summary>
/// Sends the observations of one Agent.
/// </summary>
/// <param name="brainKey">Batch Key.</param>
/// <param name="info">Agent info.</param>
/// <param name="sensors">The list of ISensors of the Agent.</param>
void PutObservations(string brainKey, AgentInfo info, List<ISensor> sensors);
/// <summary>
/// Signals the ICommunicator that the Agents are now ready to receive their action
/// and that if the communicator has not yet received an action for one of the Agents
/// it needs to get one at this point.
/// </summary>
void DecideBatch();
/// <summary>
/// Gets the AgentActions based on the batching key.
/// </summary>
/// <param name="key">A key to identify which behavior actions to get.</param>
/// <param name="agentId">A key to identify which Agent actions to get.</param>
/// <returns></returns>
ActionBuffers GetActions(string key, int agentId);
}
}
| ml-agents/com.unity.ml-agents/Runtime/Communicator/ICommunicator.cs/0 | {
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| ml-agents/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/UnityRlInput.cs.meta/0 | {
"file_path": "ml-agents/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/UnityRlInput.cs.meta",
"repo_id": "ml-agents",
"token_count": 92
} | 1,871 |
using System.Collections.Generic;
using Unity.Sentis;
using UnityEngine.Profiling;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Policies;
using Unity.MLAgents.Sensors;
namespace Unity.MLAgents.Inference
{
internal struct AgentInfoSensorsPair
{
public AgentInfo agentInfo;
public List<ISensor> sensors;
}
internal class ModelRunner
{
List<AgentInfoSensorsPair> m_Infos = new List<AgentInfoSensorsPair>();
Dictionary<int, ActionBuffers> m_LastActionsReceived = new Dictionary<int, ActionBuffers>();
List<int> m_OrderedAgentsRequestingDecisions = new List<int>();
ITensorAllocator m_TensorAllocator;
TensorGenerator m_TensorGenerator;
TensorApplier m_TensorApplier;
ModelAsset m_Model;
string m_ModelName;
InferenceDevice m_InferenceDevice;
IWorker m_Engine;
bool m_Verbose = false;
bool m_DeterministicInference;
string[] m_OutputNames;
IReadOnlyList<TensorProxy> m_InferenceInputs;
List<TensorProxy> m_InferenceOutputs;
Dictionary<string, Tensor> m_InputsByName;
Dictionary<int, List<float>> m_Memories = new Dictionary<int, List<float>>();
SensorShapeValidator m_SensorShapeValidator = new SensorShapeValidator();
bool m_ObservationsInitialized;
/// <summary>
/// Initializes the Brain with the Model that it will use when selecting actions for
/// the agents
/// </summary>
/// <param name="model"> The Sentis model to load </param>
/// <param name="actionSpec"> Description of the actions for the Agent.</param>
/// <param name="inferenceDevice"> Inference execution device. CPU is the fastest
/// option for most of ML Agents models. </param>
/// <param name="seed"> The seed that will be used to initialize the RandomNormal
/// and Multinomial objects used when running inference.</param>
/// <param name="deterministicInference"> Inference only: set to true if the action selection from model should be
/// deterministic. </param>
/// <exception cref="UnityAgentsException">Throws an error when the model is null
/// </exception>
public ModelRunner(
ModelAsset model,
ActionSpec actionSpec,
InferenceDevice inferenceDevice,
int seed = 0,
bool deterministicInference = false)
{
Model sentisModel;
m_Model = model;
m_ModelName = model?.name;
m_InferenceDevice = inferenceDevice;
m_DeterministicInference = deterministicInference;
m_TensorAllocator = new TensorCachingAllocator();
if (model != null)
{
#if SENTIS_VERBOSE
m_Verbose = true;
#endif
// TODO check w/Alex about verbosity level
// D.logEnabled = m_Verbose;
sentisModel = ModelLoader.Load(model);
var failedCheck = SentisModelParamLoader.CheckModelVersion(
sentisModel
);
if (failedCheck != null)
{
if (failedCheck.CheckType == SentisModelParamLoader.FailedCheck.CheckTypeEnum.Error)
{
throw new UnityAgentsException(failedCheck.Message);
}
}
BackendType executionDevice;
// WorkerFactory.Type executionDevice;
switch (inferenceDevice)
{
case InferenceDevice.ComputeShader:
executionDevice = BackendType.GPUCompute;
break;
case InferenceDevice.PixelShader:
executionDevice = BackendType.GPUPixel;
break;
case InferenceDevice.Burst:
executionDevice = BackendType.CPU;
break;
case InferenceDevice.Default: // fallthrough
default:
executionDevice = BackendType.CPU;
break;
}
m_Engine = WorkerFactory.CreateWorker(executionDevice, sentisModel, m_Verbose);
}
else
{
sentisModel = null;
m_Engine = null;
}
m_InferenceInputs = sentisModel.GetInputTensors();
m_OutputNames = sentisModel.GetOutputNames(m_DeterministicInference);
m_TensorGenerator = new TensorGenerator(
seed, m_TensorAllocator, m_Memories, sentisModel, m_DeterministicInference);
m_TensorApplier = new TensorApplier(
actionSpec, seed, m_TensorAllocator, m_Memories, sentisModel, m_DeterministicInference);
m_InputsByName = new Dictionary<string, Tensor>();
m_InferenceOutputs = new List<TensorProxy>();
}
public InferenceDevice InferenceDevice
{
get { return m_InferenceDevice; }
}
public ModelAsset Model
{
get { return m_Model; }
}
void PrepareSentisInputs(IReadOnlyList<TensorProxy> infInputs)
{
m_InputsByName.Clear();
for (var i = 0; i < infInputs.Count; i++)
{
var inp = infInputs[i];
m_InputsByName[inp.name] = inp.data;
}
}
public void Dispose()
{
if (m_Engine != null)
m_Engine.Dispose();
m_TensorAllocator?.Reset(false);
foreach (var (name, tensor) in m_InputsByName)
{
tensor.Dispose();
}
}
void FetchSentisOutputs(string[] names)
{
m_InferenceOutputs.Clear();
foreach (var n in names)
{
var output = m_Engine.PeekOutput(n);
m_InferenceOutputs.Add(TensorUtils.TensorProxyFromSentis(output, n));
}
}
public void PutObservations(AgentInfo info, List<ISensor> sensors)
{
#if DEBUG
m_SensorShapeValidator.ValidateSensors(sensors);
#endif
m_Infos.Add(new AgentInfoSensorsPair
{
agentInfo = info,
sensors = sensors
});
// We add the episodeId to this list to maintain the order in which the decisions were requested
m_OrderedAgentsRequestingDecisions.Add(info.episodeId);
if (!m_LastActionsReceived.ContainsKey(info.episodeId))
{
m_LastActionsReceived[info.episodeId] = ActionBuffers.Empty;
}
if (info.done)
{
// If the agent is done, we remove the key from the last action dictionary since no action
// should be taken.
m_LastActionsReceived.Remove(info.episodeId);
}
}
public void DecideBatch()
{
var currentBatchSize = m_Infos.Count;
if (currentBatchSize == 0)
{
return;
}
if (!m_ObservationsInitialized)
{
// Just grab the first agent in the collection (any will suffice, really).
// We check for an empty Collection above, so this will always return successfully.
var firstInfo = m_Infos[0];
m_TensorGenerator.InitializeObservations(firstInfo.sensors, m_TensorAllocator);
m_ObservationsInitialized = true;
}
Profiler.BeginSample("ModelRunner.DecideAction");
Profiler.BeginSample(m_ModelName);
Profiler.BeginSample($"GenerateTensors");
// Prepare the input tensors to be feed into the engine
m_TensorGenerator.GenerateTensors(m_InferenceInputs, currentBatchSize, m_Infos);
Profiler.EndSample();
Profiler.BeginSample($"PrepareSentisInputs");
PrepareSentisInputs(m_InferenceInputs);
Profiler.EndSample();
// Execute the Model
Profiler.BeginSample($"ExecuteGraph");
m_Engine.Execute(m_InputsByName);
Profiler.EndSample();
Profiler.BeginSample($"FetchSentisOutputs");
FetchSentisOutputs(m_OutputNames);
Profiler.EndSample();
Profiler.BeginSample($"ApplyTensors");
// Update the outputs
m_TensorApplier.ApplyTensors(m_InferenceOutputs, m_OrderedAgentsRequestingDecisions, m_LastActionsReceived);
Profiler.EndSample();
Profiler.EndSample(); // end name
Profiler.EndSample(); // end ModelRunner.DecideAction
m_Infos.Clear();
m_OrderedAgentsRequestingDecisions.Clear();
}
public bool HasModel(ModelAsset other, InferenceDevice otherInferenceDevice)
{
return m_Model == other && m_InferenceDevice == otherInferenceDevice;
}
public ActionBuffers GetAction(int agentId)
{
if (m_LastActionsReceived.ContainsKey(agentId))
{
return m_LastActionsReceived[agentId];
}
return ActionBuffers.Empty;
}
}
}
| ml-agents/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs/0 | {
"file_path": "ml-agents/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs",
"repo_id": "ml-agents",
"token_count": 4585
} | 1,872 |
using System;
using System.Collections.Generic;
using System.Linq;
using Unity.Sentis;
using Unity.MLAgents.Inference.Utils;
using Unity.MLAgents.Policies;
namespace Unity.MLAgents.Inference
{
/// <summary>
/// Tensor - A class to encapsulate a Tensor used for inference.
///
/// This class contains the Array that holds the data array, the shapes, type and the
/// placeholder in the execution graph. All the fields are editable in the inspector,
/// allowing the user to specify everything but the data in a graphical way.
/// </summary>
[Serializable]
internal class TensorProxy
{
public enum TensorType
{
Integer,
FloatingPoint
};
static readonly Dictionary<TensorType, Type> k_TypeMap =
new Dictionary<TensorType, Type>()
{
{ TensorType.FloatingPoint, typeof(float) },
{ TensorType.Integer, typeof(int) }
};
static readonly Dictionary<TensorType, DataType> k_DTypeMap =
new Dictionary<TensorType, DataType>()
{
{ TensorType.FloatingPoint, Sentis.DataType.Float },
{ TensorType.Integer, Sentis.DataType.Int }
};
public string name;
public TensorType valueType;
// Since Type is not serializable, we use the DisplayType for the Inspector
public Type DataType => k_TypeMap[valueType];
public DataType DType => k_DTypeMap[valueType];
public long[] shape;
public Tensor data;
public DeviceType Device => data.tensorOnDevice.deviceType;
public long Height
{
get { return shape.Length >= 4 ? shape[^2] : 1; }
}
public long Width
{
get { return shape.Length >= 3 ? shape[^1] : 1; }
}
public long Channels
{
get
{
return shape.Length >= 4 ? shape[^3] :
shape.Length == 3 ? shape[^2] :
shape.Length == 2 ? shape[^1] : 1;
}
}
~TensorProxy()
{
data?.Dispose();
}
}
internal static class TensorUtils
{
public static void ResizeTensor(TensorProxy tensor, int batch, ITensorAllocator allocator)
{
if (tensor.shape[0] == batch &&
tensor.data != null && tensor.data.Batch() == batch)
{
return;
}
tensor.data?.Dispose();
tensor.shape[0] = batch;
var newTensorShape = new TensorShape(tensor.shape.Select(i => (int)i).ToArray());
tensor.data = CreateEmptyTensor(newTensorShape, tensor.DType);
}
public static Tensor CreateEmptyTensor(TensorShape shape, DataType dataType)
{
Tensor tensor = null;
switch (dataType)
{
case DataType.Float:
tensor = TensorFloat.Zeros(shape);
break;
case DataType.Int:
tensor = TensorInt.Zeros(shape);
break;
}
return tensor;
}
internal static long[] TensorShapeFromSentis(TensorShape src)
{
if (src.rank == 2)
{
return new long[] { src.Batch(), src.Channels() };
}
if (src.Height() == 1 && src.Width() == 1)
{
return new long[] { src.Batch(), src.Channels() };
}
return new long[] { src.Batch(), src.Channels(), src.Height(), src.Width() };
}
public static TensorProxy TensorProxyFromSentis(Tensor src, string nameOverride = null)
{
var shape = TensorShapeFromSentis(src.shape);
return new TensorProxy
{
// name = nameOverride ?? src.name,
name = nameOverride ?? "",
valueType = src.dataType == DataType.Float
? TensorProxy.TensorType.FloatingPoint
: TensorProxy.TensorType.Integer,
shape = shape,
data = src
};
}
/// <summary>
/// Fill a specific batch of a TensorProxy with a given value
/// </summary>
/// <param name="tensorProxy"></param>
/// <param name="batch">The batch index to fill.</param>
/// <param name="fillValue"></param>
public static void FillTensorBatch(TensorProxy tensorProxy, int batch, float fillValue)
{
var height = tensorProxy.data.Height();
var width = tensorProxy.data.Width();
var channels = tensorProxy.data.Channels();
for (var h = 0; h < height; h++)
{
for (var w = 0; w < width; w++)
{
for (var c = 0; c < channels; c++)
{
((TensorFloat)tensorProxy.data)[batch, c, h, w] = fillValue;
}
}
}
}
/// <summary>
/// Fill a pre-allocated Tensor with random numbers
/// </summary>
/// <param name="tensorProxy">The pre-allocated Tensor to fill</param>
/// <param name="randomNormal">RandomNormal object used to populate tensor</param>
/// <exception cref="NotImplementedException">
/// Throws when trying to fill a Tensor of type other than float
/// </exception>
/// <exception cref="ArgumentNullException">
/// Throws when the Tensor is not allocated
/// </exception>
public static void FillTensorWithRandomNormal(
TensorProxy tensorProxy, RandomNormal randomNormal)
{
if (tensorProxy.DataType != typeof(float))
{
throw new NotImplementedException("Only float data types are currently supported");
}
if (tensorProxy.data == null)
{
throw new ArgumentNullException();
}
for (var i = 0; i < tensorProxy.data.Length(); i++)
{
((TensorFloat)tensorProxy.data)[i] = (float)randomNormal.NextDouble();
}
}
}
}
| ml-agents/com.unity.ml-agents/Runtime/Inference/TensorProxy.cs/0 | {
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"repo_id": "ml-agents",
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using System;
using UnityEngine;
using UnityEngine.Serialization;
using Unity.MLAgents.Actuators;
namespace Unity.MLAgents.Policies
{
/// <summary>
/// This is deprecated. Agents can now use both continuous and discrete actions together.
/// </summary>
[Obsolete("Continuous and discrete actions on the same Agent are now supported; see ActionSpec.")]
internal enum SpaceType
{
/// <summary>
/// Discrete action space: a fixed number of options are available.
/// </summary>
Discrete,
/// <summary>
/// Continuous action space: each action can take on a float value.
/// </summary>
Continuous
}
/// <summary>
/// Holds information about the brain. It defines what are the inputs and outputs of the
/// decision process.
/// </summary>
/// <remarks>
/// Set brain parameters for an <see cref="Agent"/> instance using the
/// <seealso cref="BehaviorParameters"/> component attached to the agent's [GameObject].
///
/// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
/// </remarks>
[Serializable]
public class BrainParameters : ISerializationCallbackReceiver
{
/// <summary>
/// The number of the observations that are added in
/// <see cref="Agent.CollectObservations(Sensors.VectorSensor)"/>
/// </summary>
/// <value>
/// The length of the vector containing observation values.
/// </value>
[FormerlySerializedAs("vectorObservationSize")]
public int VectorObservationSize = 1;
/// <summary>
/// Stacking refers to concatenating the observations across multiple frames. This field
/// indicates the number of frames to concatenate across.
/// </summary>
[FormerlySerializedAs("numStackedVectorObservations")]
[Range(1, 50)] public int NumStackedVectorObservations = 1;
[SerializeField]
internal ActionSpec m_ActionSpec = new ActionSpec(0, null);
/// <summary>
/// The specification of the Actions for the BrainParameters.
/// </summary>
public ActionSpec ActionSpec
{
get { return m_ActionSpec; }
set
{
m_ActionSpec.NumContinuousActions = value.NumContinuousActions;
m_ActionSpec.BranchSizes = value.BranchSizes;
SyncDeprecatedActionFields();
}
}
/// <summary>
/// (Deprecated) The number of possible actions.
/// </summary>
/// <remarks>The size specified is interpreted differently depending on whether
/// the agent uses the continuous or the discrete actions.</remarks>
/// <value>
/// For the continuous actions: the length of the float vector that represents
/// the action.
/// For the discrete actions: the number of branches.
/// </value>
[Obsolete("VectorActionSize has been deprecated, please use ActionSpec instead.")]
[SerializeField]
[FormerlySerializedAs("vectorActionSize")]
internal int[] VectorActionSize = new[] { 1 };
/// <summary>
/// The list of strings describing what the actions correspond to.
/// </summary>
[FormerlySerializedAs("vectorActionDescriptions")]
public string[] VectorActionDescriptions;
/// <summary>
/// (Deprecated) Defines if the action is discrete or continuous.
/// </summary>
[Obsolete("VectorActionSpaceType has been deprecated, please use ActionSpec instead.")]
[SerializeField]
[FormerlySerializedAs("vectorActionSpaceType")]
internal SpaceType VectorActionSpaceType = SpaceType.Discrete;
[SerializeField]
[HideInInspector]
internal bool hasUpgradedBrainParametersWithActionSpec;
/// <summary>
/// Deep clones the BrainParameter object.
/// </summary>
/// <returns> A new BrainParameter object with the same values as the original.</returns>
public BrainParameters Clone()
{
// Disable deprecation warnings so we can read/write the old fields.
#pragma warning disable CS0618
return new BrainParameters
{
VectorObservationSize = VectorObservationSize,
NumStackedVectorObservations = NumStackedVectorObservations,
VectorActionDescriptions = (string[])VectorActionDescriptions.Clone(),
ActionSpec = new ActionSpec(ActionSpec.NumContinuousActions, ActionSpec.BranchSizes),
VectorActionSize = (int[])VectorActionSize.Clone(),
VectorActionSpaceType = VectorActionSpaceType,
};
#pragma warning restore CS0618
}
/// <summary>
/// Propagate ActionSpec fields from deprecated fields
/// </summary>
private void UpdateToActionSpec()
{
// Disable deprecation warnings so we can read the old fields.
#pragma warning disable CS0618
if (!hasUpgradedBrainParametersWithActionSpec
&& m_ActionSpec.NumContinuousActions == 0
&& m_ActionSpec.NumDiscreteActions == 0)
{
if (VectorActionSpaceType == SpaceType.Continuous)
{
m_ActionSpec.NumContinuousActions = VectorActionSize[0];
}
if (VectorActionSpaceType == SpaceType.Discrete)
{
m_ActionSpec.BranchSizes = (int[])VectorActionSize.Clone();
}
}
hasUpgradedBrainParametersWithActionSpec = true;
#pragma warning restore CS0618
}
/// <summary>
/// Sync values in ActionSpec fields to deprecated fields
/// </summary>
private void SyncDeprecatedActionFields()
{
// Disable deprecation warnings so we can read the old fields.
#pragma warning disable CS0618
if (m_ActionSpec.NumContinuousActions == 0)
{
VectorActionSize = (int[])ActionSpec.BranchSizes.Clone();
VectorActionSpaceType = SpaceType.Discrete;
}
else if (m_ActionSpec.NumDiscreteActions == 0)
{
VectorActionSize = new[] { m_ActionSpec.NumContinuousActions };
VectorActionSpaceType = SpaceType.Continuous;
}
else
{
VectorActionSize = null;
}
#pragma warning restore CS0618
}
/// <summary>
/// Called by Unity immediately before serializing this object.
/// </summary>
public void OnBeforeSerialize()
{
UpdateToActionSpec();
SyncDeprecatedActionFields();
}
/// <summary>
/// Called by Unity immediately after deserializing this object.
/// </summary>
public void OnAfterDeserialize()
{
UpdateToActionSpec();
SyncDeprecatedActionFields();
}
}
}
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namespace Unity.MLAgents.Sensors.Reflection
{
/// <summary>
/// Sensor that wraps a quaternion field or property of an object, and returns
/// that as an observation.
/// </summary>
internal class QuaternionReflectionSensor : ReflectionSensorBase
{
public QuaternionReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
: base(reflectionSensorInfo, 4)
{ }
internal override void WriteReflectedField(ObservationWriter writer)
{
var quatVal = (UnityEngine.Quaternion)GetReflectedValue();
writer.Add(quatVal);
}
}
}
| ml-agents/com.unity.ml-agents/Runtime/Sensors/Reflection/QuaternionReflectionSensor.cs/0 | {
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"repo_id": "ml-agents",
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using System.Collections.Generic;
using UnityEngine;
namespace Unity.MLAgents.Sensors
{
public class SensorShapeValidator
{
List<ObservationSpec> m_SensorShapes;
/// <summary>
/// Check that the List Sensors are the same shape as the previous ones.
/// If this is the first List of Sensors being checked, its Sensor sizes will be saved.
/// </summary>
public void ValidateSensors(List<ISensor> sensors)
{
if (m_SensorShapes == null)
{
m_SensorShapes = new List<ObservationSpec>(sensors.Count);
// First agent, save the sensor sizes
foreach (var sensor in sensors)
{
m_SensorShapes.Add(sensor.GetObservationSpec());
}
}
else
{
// Check for compatibility with the other Agents' Sensors
if (m_SensorShapes.Count != sensors.Count)
{
Debug.AssertFormat(
m_SensorShapes.Count == sensors.Count,
"Number of Sensors must match. {0} != {1}",
m_SensorShapes.Count,
sensors.Count
);
}
for (var i = 0; i < Mathf.Min(m_SensorShapes.Count, sensors.Count); i++)
{
var cachedSpec = m_SensorShapes[i];
var sensorSpec = sensors[i].GetObservationSpec();
if (cachedSpec.Shape != sensorSpec.Shape)
{
Debug.AssertFormat(
cachedSpec.Shape == sensorSpec.Shape,
"Sensor shapes must match. {0} != {1}",
cachedSpec.Shape,
sensorSpec.Shape
);
}
}
}
}
}
}
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using System;
using System.Collections;
using NUnit.Framework;
namespace Unity.MLAgents.Tests
{
[TestFixture]
public class InplaceArrayTests
{
class LengthCases : IEnumerable
{
public IEnumerator GetEnumerator()
{
yield return 1;
yield return 2;
yield return 3;
yield return 4;
}
}
private InplaceArray<int> GetTestArray(int length)
{
switch (length)
{
case 1:
return new InplaceArray<int>(11);
case 2:
return new InplaceArray<int>(11, 22);
case 3:
return new InplaceArray<int>(11, 22, 33);
case 4:
return new InplaceArray<int>(11, 22, 33, 44);
default:
throw new ArgumentException("bad test!");
}
}
private InplaceArray<int> GetZeroArray(int length)
{
switch (length)
{
case 1:
return new InplaceArray<int>(0);
case 2:
return new InplaceArray<int>(0, 0);
case 3:
return new InplaceArray<int>(0, 0, 0);
case 4:
return new InplaceArray<int>(0, 0, 0, 0);
default:
throw new ArgumentException("bad test!");
}
}
[Test]
public void TestInplaceArrayCtor()
{
var a1 = new InplaceArray<int>(11);
Assert.AreEqual(1, a1.Length);
Assert.AreEqual(11, a1[0]);
var a2 = new InplaceArray<int>(11, 22);
Assert.AreEqual(2, a2.Length);
Assert.AreEqual(11, a2[0]);
Assert.AreEqual(22, a2[1]);
var a3 = new InplaceArray<int>(11, 22, 33);
Assert.AreEqual(3, a3.Length);
Assert.AreEqual(11, a3[0]);
Assert.AreEqual(22, a3[1]);
Assert.AreEqual(33, a3[2]);
var a4 = new InplaceArray<int>(11, 22, 33, 44);
Assert.AreEqual(4, a4.Length);
Assert.AreEqual(11, a4[0]);
Assert.AreEqual(22, a4[1]);
Assert.AreEqual(33, a4[2]);
Assert.AreEqual(44, a4[3]);
}
[TestCaseSource(typeof(LengthCases))]
public void TestInplaceGetSet(int length)
{
var original = GetTestArray(length);
for (var i = 0; i < original.Length; i++)
{
var modified = original;
modified[i] = 0;
for (var j = 0; j < original.Length; j++)
{
if (i == j)
{
// This is the one we overwrote
Assert.AreEqual(0, modified[j]);
}
else
{
// Other elements should be unchanged
Assert.AreEqual(original[j], modified[j]);
}
}
}
}
[TestCaseSource(typeof(LengthCases))]
public void TestInvalidAccess(int length)
{
var tmp = 0;
var a = GetTestArray(length);
// get
Assert.Throws<IndexOutOfRangeException>(() => { tmp += a[-1]; });
Assert.Throws<IndexOutOfRangeException>(() => { tmp += a[length]; });
// set
Assert.Throws<IndexOutOfRangeException>(() => { a[-1] = 0; });
Assert.Throws<IndexOutOfRangeException>(() => { a[length] = 0; });
// Make sure temp is used
Assert.AreEqual(0, tmp);
}
[Test]
public void TestOperatorEqualsDifferentLengths()
{
// Check arrays of different length are never equal (even if they have 0s in all elements)
for (var l1 = 1; l1 <= 4; l1++)
{
var a1 = GetZeroArray(l1);
for (var l2 = 1; l2 <= 4; l2++)
{
var a2 = GetZeroArray(l2);
if (l1 == l2)
{
Assert.AreEqual(a1, a2);
Assert.IsTrue(a1 == a2);
}
else
{
Assert.AreNotEqual(a1, a2);
Assert.IsTrue(a1 != a2);
}
}
}
}
[TestCaseSource(typeof(LengthCases))]
public void TestOperatorEquals(int length)
{
for (var index = 0; index < length; index++)
{
var a1 = GetTestArray(length);
var a2 = GetTestArray(length);
Assert.AreEqual(a1, a2);
Assert.IsTrue(a1 == a2);
a1[index] = 42;
Assert.AreNotEqual(a1, a2);
Assert.IsTrue(a1 != a2);
a2[index] = 42;
Assert.AreEqual(a1, a2);
Assert.IsTrue(a1 == a2);
}
}
[Test]
public void TestToString()
{
Assert.AreEqual("[1]", new InplaceArray<int>(1).ToString());
Assert.AreEqual("[1, 2]", new InplaceArray<int>(1, 2).ToString());
Assert.AreEqual("[1, 2, 3]", new InplaceArray<int>(1, 2, 3).ToString());
Assert.AreEqual("[1, 2, 3, 4]", new InplaceArray<int>(1, 2, 3, 4).ToString());
}
[TestCaseSource(typeof(LengthCases))]
public void TestFromList(int length)
{
var intArray = new int[length];
for (var i = 0; i < length; i++)
{
intArray[i] = (i + 1) * 11; // 11, 22, etc.
}
var converted = InplaceArray<int>.FromList(intArray);
Assert.AreEqual(GetTestArray(length), converted);
}
}
}
| ml-agents/com.unity.ml-agents/Tests/Editor/InplaceArrayTests.cs/0 | {
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using NUnit.Framework;
using Unity.MLAgents.Inference.Utils;
namespace Unity.MLAgents.Tests
{
public class MultinomialTest
{
[Test]
public void TestDim1()
{
var m = new Multinomial(2018);
var cdf = new[] { 1f };
Assert.AreEqual(0, m.Sample(cdf));
Assert.AreEqual(0, m.Sample(cdf));
Assert.AreEqual(0, m.Sample(cdf));
}
[Test]
public void TestDim1Unscaled()
{
var m = new Multinomial(2018);
var cdf = new[] { 0.1f };
Assert.AreEqual(0, m.Sample(cdf));
Assert.AreEqual(0, m.Sample(cdf));
Assert.AreEqual(0, m.Sample(cdf));
}
[Test]
public void TestDim3()
{
var m = new Multinomial(2018);
var cdf = new[] { 0.1f, 0.3f, 1.0f };
Assert.AreEqual(2, m.Sample(cdf));
Assert.AreEqual(2, m.Sample(cdf));
Assert.AreEqual(2, m.Sample(cdf));
Assert.AreEqual(1, m.Sample(cdf));
}
[Test]
public void TestDim3Unscaled()
{
var m = new Multinomial(2018);
var cdf = new[] { 0.05f, 0.15f, 0.5f };
Assert.AreEqual(2, m.Sample(cdf));
Assert.AreEqual(2, m.Sample(cdf));
Assert.AreEqual(2, m.Sample(cdf));
Assert.AreEqual(1, m.Sample(cdf));
}
}
}
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using NUnit.Framework;
using System.IO;
using Unity.MLAgents.SideChannels;
namespace Unity.MLAgents.Tests
{
public class SamplerTests
{
const int k_Seed = 1337;
const double k_Epsilon = 0.0001;
EnvironmentParametersChannel m_Channel;
public SamplerTests()
{
m_Channel = SideChannelManager.GetSideChannel<EnvironmentParametersChannel>();
// if running test on its own
if (m_Channel == null)
{
m_Channel = new EnvironmentParametersChannel();
SideChannelManager.RegisterSideChannel(m_Channel);
}
}
[Test]
public void UniformSamplerTest()
{
float min_value = 1.0f;
float max_value = 2.0f;
string parameter = "parameter1";
using (var outgoingMsg = new OutgoingMessage())
{
outgoingMsg.WriteString(parameter);
// 1 indicates this meessage is a Sampler
outgoingMsg.WriteInt32(1);
outgoingMsg.WriteInt32(k_Seed);
outgoingMsg.WriteInt32((int)SamplerType.Uniform);
outgoingMsg.WriteFloat32(min_value);
outgoingMsg.WriteFloat32(max_value);
byte[] message = GetByteMessage(m_Channel, outgoingMsg);
SideChannelManager.ProcessSideChannelData(message);
}
Assert.AreEqual(1.208888f, m_Channel.GetWithDefault(parameter, 1.0f), k_Epsilon);
Assert.AreEqual(1.118017f, m_Channel.GetWithDefault(parameter, 1.0f), k_Epsilon);
}
[Test]
public void GaussianSamplerTest()
{
float mean = 3.0f;
float stddev = 0.2f;
string parameter = "parameter2";
using (var outgoingMsg = new OutgoingMessage())
{
outgoingMsg.WriteString(parameter);
// 1 indicates this meessage is a Sampler
outgoingMsg.WriteInt32(1);
outgoingMsg.WriteInt32(k_Seed);
outgoingMsg.WriteInt32((int)SamplerType.Gaussian);
outgoingMsg.WriteFloat32(mean);
outgoingMsg.WriteFloat32(stddev);
byte[] message = GetByteMessage(m_Channel, outgoingMsg);
SideChannelManager.ProcessSideChannelData(message);
}
Assert.AreEqual(2.936162f, m_Channel.GetWithDefault(parameter, 1.0f), k_Epsilon);
Assert.AreEqual(2.951348f, m_Channel.GetWithDefault(parameter, 1.0f), k_Epsilon);
}
[Test]
public void MultiRangeUniformSamplerTest()
{
float[] intervals = new float[4];
intervals[0] = 1.2f;
intervals[1] = 2f;
intervals[2] = 3.2f;
intervals[3] = 4.1f;
string parameter = "parameter3";
using (var outgoingMsg = new OutgoingMessage())
{
outgoingMsg.WriteString(parameter);
// 1 indicates this meessage is a Sampler
outgoingMsg.WriteInt32(1);
outgoingMsg.WriteInt32(k_Seed);
outgoingMsg.WriteInt32((int)SamplerType.MultiRangeUniform);
outgoingMsg.WriteFloatList(intervals);
byte[] message = GetByteMessage(m_Channel, outgoingMsg);
SideChannelManager.ProcessSideChannelData(message);
}
Assert.AreEqual(3.387999f, m_Channel.GetWithDefault(parameter, 1.0f), k_Epsilon);
Assert.AreEqual(1.294413f, m_Channel.GetWithDefault(parameter, 1.0f), k_Epsilon);
}
internal static byte[] GetByteMessage(SideChannel sideChannel, OutgoingMessage msg)
{
byte[] message = msg.ToByteArray();
using (var memStream = new MemoryStream())
{
using (var binaryWriter = new BinaryWriter(memStream))
{
binaryWriter.Write(sideChannel.ChannelId.ToByteArray());
binaryWriter.Write(message.Length);
binaryWriter.Write(message);
}
return memStream.ToArray();
}
}
}
}
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<s:String x:Key="/Default/CodeStyle/Naming/CSharpNaming/Abbreviations/=BLAS/@EntryIndexedValue">BLAS</s:String>
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<s:Boolean x:Key="/Default/UserDictionary/Words/=BLAS/@EntryIndexedValue">True</s:Boolean>
<s:Boolean x:Key="/Default/UserDictionary/Words/=Gizmos/@EntryIndexedValue">True</s:Boolean>
<s:Boolean x:Key="/Default/UserDictionary/Words/=Logits/@EntryIndexedValue">True</s:Boolean>
<s:Boolean x:Key="/Default/UserDictionary/Words/=Marsaglia/@EntryIndexedValue">True</s:Boolean>
<s:Boolean x:Key="/Default/UserDictionary/Words/=multinomial/@EntryIndexedValue">True</s:Boolean>
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behaviors:
Crawler:
trainer_type: ppo
hyperparameters:
batch_size: 2048
buffer_size: 20480
learning_rate: 0.0003
beta: 0.005
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: linear
network_settings:
normalize: true
hidden_units: 512
num_layers: 3
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.995
strength: 1.0
keep_checkpoints: 5
max_steps: 10000000
time_horizon: 1000
summary_freq: 30000
| ml-agents/config/ppo/Crawler.yaml/0 | {
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} | 1,893 |
behaviors:
3DBallHard:
trainer_type: sac
hyperparameters:
learning_rate: 0.0003
learning_rate_schedule: constant
batch_size: 256
buffer_size: 500000
buffer_init_steps: 0
tau: 0.005
steps_per_update: 10.0
save_replay_buffer: false
init_entcoef: 1.0
reward_signal_steps_per_update: 10.0
network_settings:
normalize: true
hidden_units: 128
num_layers: 2
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.99
strength: 1.0
keep_checkpoints: 5
max_steps: 500000
time_horizon: 1000
summary_freq: 12000
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{!../CODE_OF_CONDUCT.md!}
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# Example Learning Environments
<img src="../images/example-envs.png" align="middle" width="3000"/>
The Unity ML-Agents Toolkit includes an expanding set of example environments
that highlight the various features of the toolkit. These environments can also
serve as templates for new environments or as ways to test new ML algorithms.
Environments are located in `Project/Assets/ML-Agents/Examples` and summarized
below.
For the environments that highlight specific features of the toolkit, we provide
the pre-trained model files and the training config file that enables you to
train the scene yourself. The environments that are designed to serve as
challenges for researchers do not have accompanying pre-trained model files or
training configs and are marked as _Optional_ below.
This page only overviews the example environments we provide. To learn more on
how to design and build your own environments see our
[Making a New Learning Environment](Learning-Environment-Create-New.md) page. If
you would like to contribute environments, please see our
[contribution guidelines](CONTRIBUTING.md) page.
## Basic
- Set-up: A linear movement task where the agent must move left or right to
rewarding states.
- Goal: Move to the most reward state.
- Agents: The environment contains one agent.
- Agent Reward Function:
- -0.01 at each step
- +0.1 for arriving at suboptimal state.
- +1.0 for arriving at optimal state.
- Behavior Parameters:
- Vector Observation space: One variable corresponding to current state.
- Actions: 1 discrete action branch with 3 actions (Move left, do nothing, move
right).
- Visual Observations: None
- Float Properties: None
- Benchmark Mean Reward: 0.93
## 3DBall: 3D Balance Ball
- Set-up: A balance-ball task, where the agent balances the ball on it's head.
- Goal: The agent must balance the ball on it's head for as long as possible.
- Agents: The environment contains 12 agents of the same kind, all using the
same Behavior Parameters.
- Agent Reward Function:
- +0.1 for every step the ball remains on it's head.
- -1.0 if the ball falls off.
- Behavior Parameters:
- Vector Observation space: 8 variables corresponding to rotation of the agent
cube, and position and velocity of ball.
- Vector Observation space (Hard Version): 5 variables corresponding to
rotation of the agent cube and position of ball.
- Actions: 2 continuous actions, with one value corresponding to
X-rotation, and the other to Z-rotation.
- Visual Observations: Third-person view from the upper-front of the agent. Use
`Visual3DBall` scene.
- Float Properties: Three
- scale: Specifies the scale of the ball in the 3 dimensions (equal across the
three dimensions)
- Default: 1
- Recommended Minimum: 0.2
- Recommended Maximum: 5
- gravity: Magnitude of gravity
- Default: 9.81
- Recommended Minimum: 4
- Recommended Maximum: 105
- mass: Specifies mass of the ball
- Default: 1
- Recommended Minimum: 0.1
- Recommended Maximum: 20
- Benchmark Mean Reward: 100
## GridWorld
- Set-up: A multi-goal version of the grid-world task. Scene contains agent, goal,
and obstacles.
- Goal: The agent must navigate the grid to the appropriate goal while
avoiding the obstacles.
- Agents: The environment contains nine agents with the same Behavior
Parameters.
- Agent Reward Function:
- -0.01 for every step.
- +1.0 if the agent navigates to the correct goal (episode ends).
- -1.0 if the agent navigates to an incorrect goal (episode ends).
- Behavior Parameters:
- Vector Observation space: None
- Actions: 1 discrete action branch with 5 actions, corresponding to movement in
cardinal directions or not moving. Note that for this environment,
[action masking](Learning-Environment-Design-Agents.md#masking-discrete-actions)
is turned on by default (this option can be toggled using the `Mask Actions`
checkbox within the `trueAgent` GameObject). The trained model file provided
was generated with action masking turned on.
- Visual Observations: One corresponding to top-down view of GridWorld.
- Goal Signal : A one hot vector corresponding to which color is the correct goal
for the Agent
- Float Properties: Three, corresponding to grid size, number of green goals, and
number of red goals.
- Benchmark Mean Reward: 0.8
## Push Block
- Set-up: A platforming environment where the agent can push a block around.
- Goal: The agent must push the block to the goal.
- Agents: The environment contains one agent.
- Agent Reward Function:
- -0.0025 for every step.
- +1.0 if the block touches the goal.
- Behavior Parameters:
- Vector Observation space: (Continuous) 70 variables corresponding to 14
ray-casts each detecting one of three possible objects (wall, goal, or
block).
- 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: Four
- block_scale: Scale of the block along the x and z dimensions
- Default: 2
- Recommended Minimum: 0.5
- Recommended Maximum: 4
- dynamic_friction: Coefficient of friction for the ground material acting on
moving objects
- Default: 0
- Recommended Minimum: 0
- Recommended Maximum: 1
- static_friction: Coefficient of friction for the ground material acting on
stationary objects
- Default: 0
- Recommended Minimum: 0
- Recommended Maximum: 1
- block_drag: Effect of air resistance on block
- Default: 0.5
- Recommended Minimum: 0
- Recommended Maximum: 2000
- Benchmark Mean Reward: 4.5
## Wall Jump
- Set-up: A platforming environment where the agent can jump over a wall.
- Goal: The agent must use the block to scale the wall and reach the goal.
- Agents: The environment contains one agent linked to two different Models. The
Policy the agent is linked to changes depending on the height of the wall. The
change of Policy is done in the WallJumpAgent class.
- Agent Reward Function:
- -0.0005 for every step.
- +1.0 if the agent touches the goal.
- -1.0 if the agent falls off the platform.
- Behavior Parameters:
- Vector Observation space: Size of 74, corresponding to 14 ray casts each
detecting 4 possible objects. plus the global position of the agent and
whether or not the agent is grounded.
- Actions: 4 discrete action branches:
- Forward Motion (3 possible actions: Forward, Backwards, No Action)
- Rotation (3 possible actions: Rotate Left, Rotate Right, No Action)
- Side Motion (3 possible actions: Left, Right, No Action)
- Jump (2 possible actions: Jump, No Action)
- Visual Observations: None
- Float Properties: Four
- Benchmark Mean Reward (Big & Small Wall): 0.8
## Crawler
- Set-up: A creature with 4 arms and 4 forearms.
- Goal: The agents must move its body toward the goal direction without falling.
- Agents: The environment contains 10 agents with same Behavior Parameters.
- Agent Reward Function (independent):
The reward function is now geometric meaning the reward each step is a product
of all the rewards instead of a sum, this helps the agent try to maximize all
rewards instead of the easiest rewards.
- Body velocity matches goal velocity. (normalized between (0,1))
- Head direction alignment with goal direction. (normalized between (0,1))
- Behavior Parameters:
- Vector Observation space: 172 variables corresponding to position, rotation,
velocity, and angular velocities of each limb plus the acceleration and
angular acceleration of the body.
- Actions: 20 continuous actions, corresponding to target
rotations for joints.
- Visual Observations: None
- Float Properties: None
- Benchmark Mean Reward: 3000
## Worm
- Set-up: A worm with a head and 3 body segments.
- Goal: The agents must move its body toward the goal direction.
- Agents: The environment contains 10 agents with same Behavior Parameters.
- Agent Reward Function (independent):
The reward function is now geometric meaning the reward each step is a product
of all the rewards instead of a sum, this helps the agent try to maximize all
rewards instead of the easiest rewards.
- Body velocity matches goal velocity. (normalized between (0,1))
- Body direction alignment with goal direction. (normalized between (0,1))
- Behavior Parameters:
- Vector Observation space: 64 variables corresponding to position, rotation,
velocity, and angular velocities of each limb plus the acceleration and
angular acceleration of the body.
- Actions: 9 continuous actions, corresponding to target
rotations for joints.
- Visual Observations: None
- Float Properties: None
- Benchmark Mean Reward: 800
## Food Collector
- Set-up: A multi-agent environment where agents compete to collect food.
- Goal: The agents must learn to collect as many green food spheres as possible
while avoiding red spheres.
- Agents: The environment contains 5 agents with same Behavior Parameters.
- Agent Reward Function (independent):
- +1 for interaction with green spheres
- -1 for interaction with red spheres
- Behavior Parameters:
- Vector Observation space: 53 corresponding to velocity of agent (2), whether
agent is frozen and/or shot its laser (2), plus grid based perception of
objects around agent's forward direction (40 by 40 with 6 different categories).
- Actions:
- 3 continuous actions correspond to Forward Motion, Side Motion and Rotation
- 1 discrete action branch for Laser with 2 possible actions corresponding to
Shoot Laser or No Action
- Visual Observations (Optional): First-person camera per-agent, plus one vector
flag representing the frozen state of the agent. This scene uses a combination
of vector and visual observations and the training will not succeed without
the frozen vector flag. Use `VisualFoodCollector` scene.
- Float Properties: Two
- laser_length: Length of the laser used by the agent
- Default: 1
- Recommended Minimum: 0.2
- Recommended Maximum: 7
- agent_scale: Specifies the scale of the agent in the 3 dimensions (equal
across the three dimensions)
- Default: 1
- Recommended Minimum: 0.5
- Recommended Maximum: 5
- Benchmark Mean Reward: 10
## Hallway
- Set-up: Environment where the agent needs to find information in a room,
remember it, and use it to move to the correct goal.
- Goal: Move to the goal which corresponds to the color of the block in the
room.
- Agents: The environment contains one agent.
- Agent Reward Function (independent):
- +1 For moving to correct goal.
- -0.1 For moving to incorrect goal.
- -0.0003 Existential penalty.
- Behavior Parameters:
- Vector Observation space: 30 corresponding to local ray-casts detecting
objects, goals, and walls.
- Actions: 1 discrete action Branch, with 4 actions corresponding to agent
rotation and forward/backward movement.
- Float Properties: None
- Benchmark Mean Reward: 0.7
- To train this environment, you can enable curiosity by adding the `curiosity` reward signal
in `config/ppo/Hallway.yaml`
## Soccer Twos
- Set-up: Environment where four agents compete in a 2 vs 2 toy soccer game.
- Goal:
- Get the ball into the opponent's goal while preventing the ball from
entering own goal.
- Agents: The environment contains two different Multi Agent Groups with two agents in each.
Parameters : SoccerTwos.
- Agent Reward Function (dependent):
- (1 - `accumulated time penalty`) When ball enters opponent's goal
`accumulated time penalty` is incremented by (1 / `MaxStep`) every fixed
update and is reset to 0 at the beginning of an episode.
- -1 When ball enters team's goal.
- Behavior Parameters:
- Vector Observation space: 336 corresponding to 11 ray-casts forward
distributed over 120 degrees and 3 ray-casts backward distributed over 90
degrees each detecting 6 possible object types, along with the object's
distance. The forward ray-casts contribute 264 state dimensions and backward
72 state dimensions over three observation stacks.
- Actions: 3 discrete branched actions corresponding to
forward, backward, sideways movement, as well as rotation.
- Visual Observations: None
- Float Properties: Two
- ball_scale: Specifies the scale of the ball in the 3 dimensions (equal
across the three dimensions)
- Default: 7.5
- Recommended minimum: 4
- Recommended maximum: 10
- gravity: Magnitude of the gravity
- Default: 9.81
- Recommended minimum: 6
- Recommended maximum: 20
## Strikers Vs. Goalie
- Set-up: Environment where two agents compete in a 2 vs 1 soccer variant.
- Goal:
- Striker: Get the ball into the opponent's goal.
- Goalie: Keep the ball out of the goal.
- Agents: The environment contains two different Multi Agent Groups. One with two Strikers and the other one Goalie.
Behavior Parameters : Striker, Goalie.
- Striker Agent Reward Function (dependent):
- +1 When ball enters opponent's goal.
- -0.001 Existential penalty.
- Goalie Agent Reward Function (dependent):
- -1 When ball enters goal.
- 0.001 Existential bonus.
- Behavior Parameters:
- Striker Vector Observation space: 294 corresponding to 11 ray-casts forward
distributed over 120 degrees and 3 ray-casts backward distributed over 90
degrees each detecting 5 possible object types, along with the object's
distance. The forward ray-casts contribute 231 state dimensions and backward
63 state dimensions over three observation stacks.
- Striker Actions: 3 discrete branched actions corresponding
to forward, backward, sideways movement, as well as rotation.
- Goalie Vector Observation space: 738 corresponding to 41 ray-casts
distributed over 360 degrees each detecting 4 possible object types, along
with the object's distance and 3 observation stacks.
- Goalie Actions: 3 discrete branched actions corresponding
to forward, backward, sideways movement, as well as rotation.
- Visual Observations: None
- Float Properties: Two
- ball_scale: Specifies the scale of the ball in the 3 dimensions (equal
across the three dimensions)
- Default: 7.5
- Recommended minimum: 4
- Recommended maximum: 10
- gravity: Magnitude of the gravity
- Default: 9.81
- Recommended minimum: 6
- Recommended maximum: 20
## Walker
- Set-up: Physics-based Humanoid agents with 26 degrees of freedom. These DOFs
correspond to articulation of the following body-parts: hips, chest, spine,
head, thighs, shins, feet, arms, forearms and hands.
- Goal: The agents must move its body toward the goal direction without falling.
- Agents: The environment contains 10 independent agents with same Behavior
Parameters.
- Agent Reward Function (independent):
The reward function is now geometric meaning the reward each step is a product
of all the rewards instead of a sum, this helps the agent try to maximize all
rewards instead of the easiest rewards.
- Body velocity matches goal velocity. (normalized between (0,1))
- Head direction alignment with goal direction. (normalized between (0,1))
- Behavior Parameters:
- Vector Observation space: 243 variables corresponding to position, rotation,
velocity, and angular velocities of each limb, along with goal direction.
- Actions: 39 continuous actions, corresponding to target
rotations and strength applicable to the joints.
- Visual Observations: None
- Float Properties: Four
- gravity: Magnitude of gravity
- Default: 9.81
- Recommended Minimum:
- Recommended Maximum:
- hip_mass: Mass of the hip component of the walker
- Default: 8
- Recommended Minimum: 7
- Recommended Maximum: 28
- chest_mass: Mass of the chest component of the walker
- Default: 8
- Recommended Minimum: 3
- Recommended Maximum: 20
- spine_mass: Mass of the spine component of the walker
- Default: 8
- Recommended Minimum: 3
- Recommended Maximum: 20
- Benchmark Mean Reward : 2500
## Pyramids
- Set-up: Environment where the agent needs to press a button to spawn a
pyramid, then navigate to the pyramid, knock it over, and move to the gold
brick at the top.
- Goal: Move to the golden brick on top of the spawned pyramid.
- Agents: The environment contains one agent.
- Agent Reward Function (independent):
- +2 For moving to golden brick (minus 0.001 per step).
- Behavior Parameters:
- Vector Observation space: 148 corresponding to local ray-casts detecting
switch, bricks, golden brick, and walls, plus variable indicating switch
state.
- Actions: 1 discrete action branch, with 4 actions corresponding to agent rotation and
forward/backward movement.
- Float Properties: None
- Benchmark Mean Reward: 1.75
## Match 3
- Set-up: Simple match-3 game. Matched pieces are removed, and remaining pieces
drop down. New pieces are spawned randomly at the top, with a chance of being
"special".
- Goal: Maximize score from matching pieces.
- Agents: The environment contains several independent Agents.
- Agent Reward Function (independent):
- .01 for each normal piece cleared. Special pieces are worth 2x or 3x.
- Behavior Parameters:
- None
- Observations and actions are defined with a sensor and actuator respectively.
- Float Properties: None
- Benchmark Mean Reward:
- 39.5 for visual observations
- 38.5 for vector observations
- 34.2 for simple heuristic (pick a random valid move)
- 37.0 for greedy heuristic (pick the highest-scoring valid move)
## Sorter
- Set-up: The Agent is in a circular room with numbered tiles. The values of the
tiles are random between 1 and 20. The tiles present in the room are randomized
at each episode. When the Agent visits a tile, it turns green.
- Goal: Visit all the tiles in ascending order.
- Agents: The environment contains a single Agent
- Agent Reward Function:
- -.0002 Existential penalty.
- +1 For visiting the right tile
- -1 For visiting the wrong tile
- BehaviorParameters:
- Vector Observations : 4 : 2 floats for Position and 2 floats for orientation
- Variable Length Observations : Between 1 and 20 entities (one for each tile)
each with 22 observations, the first 20 are one hot encoding of the value of the tile,
the 21st and 22nd represent the position of the tile relative to the Agent and the 23rd
is `1` if the tile was visited and `0` otherwise.
- Actions: 3 discrete branched actions corresponding to forward, backward,
sideways movement, as well as rotation.
- Float Properties: One
- num_tiles: The maximum number of tiles to sample.
- Default: 2
- Recommended Minimum: 1
- Recommended Maximum: 20
- Benchmark Mean Reward: Depends on the number of tiles.
## Cooperative Push Block
- Set-up: Similar to Push Block, the agents are in an area with blocks that need
to be pushed into a goal. Small blocks can be pushed by one agents and are worth
+1 value, medium blocks require two agents to push in and are worth +2, and large
blocks require all 3 agents to push and are worth +3.
- Goal: Push all blocks into the goal.
- Agents: The environment contains three Agents in a Multi Agent Group.
- Agent Reward Function:
- -0.0001 Existential penalty, as a group reward.
- +1, +2, or +3 for pushing in a block, added as a group reward.
- Behavior Parameters:
- Observation space: A single Grid Sensor with separate tags for each block size,
the goal, the walls, and other agents.
- 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: 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)
| ml-agents/docs/Learning-Environment-Examples.md/0 | {
"file_path": "ml-agents/docs/Learning-Environment-Examples.md",
"repo_id": "ml-agents",
"token_count": 5684
} | 1,896 |
# Table of Contents
* [mlagents.trainers.optimizer.torch\_optimizer](#mlagents.trainers.optimizer.torch_optimizer)
* [TorchOptimizer](#mlagents.trainers.optimizer.torch_optimizer.TorchOptimizer)
* [create\_reward\_signals](#mlagents.trainers.optimizer.torch_optimizer.TorchOptimizer.create_reward_signals)
* [get\_trajectory\_value\_estimates](#mlagents.trainers.optimizer.torch_optimizer.TorchOptimizer.get_trajectory_value_estimates)
* [mlagents.trainers.optimizer.optimizer](#mlagents.trainers.optimizer.optimizer)
* [Optimizer](#mlagents.trainers.optimizer.optimizer.Optimizer)
* [update](#mlagents.trainers.optimizer.optimizer.Optimizer.update)
<a name="mlagents.trainers.optimizer.torch_optimizer"></a>
# mlagents.trainers.optimizer.torch\_optimizer
<a name="mlagents.trainers.optimizer.torch_optimizer.TorchOptimizer"></a>
## TorchOptimizer Objects
```python
class TorchOptimizer(Optimizer)
```
<a name="mlagents.trainers.optimizer.torch_optimizer.TorchOptimizer.create_reward_signals"></a>
#### create\_reward\_signals
```python
| create_reward_signals(reward_signal_configs: Dict[RewardSignalType, RewardSignalSettings]) -> None
```
Create reward signals
**Arguments**:
- `reward_signal_configs`: Reward signal config.
<a name="mlagents.trainers.optimizer.torch_optimizer.TorchOptimizer.get_trajectory_value_estimates"></a>
#### get\_trajectory\_value\_estimates
```python
| get_trajectory_value_estimates(batch: AgentBuffer, next_obs: List[np.ndarray], done: bool, agent_id: str = "") -> Tuple[Dict[str, np.ndarray], Dict[str, float], Optional[AgentBufferField]]
```
Get value estimates and memories for a trajectory, in batch form.
**Arguments**:
- `batch`: An AgentBuffer that consists of a trajectory.
- `next_obs`: the next observation (after the trajectory). Used for bootstrapping
if this is not a terminal trajectory.
- `done`: Set true if this is a terminal trajectory.
- `agent_id`: Agent ID of the agent that this trajectory belongs to.
**Returns**:
A Tuple of the Value Estimates as a Dict of [name, np.ndarray(trajectory_len)],
the final value estimate as a Dict of [name, float], and optionally (if using memories)
an AgentBufferField of initial critic memories to be used during update.
<a name="mlagents.trainers.optimizer.optimizer"></a>
# mlagents.trainers.optimizer.optimizer
<a name="mlagents.trainers.optimizer.optimizer.Optimizer"></a>
## Optimizer Objects
```python
class Optimizer(abc.ABC)
```
Creates loss functions and auxillary networks (e.g. Q or Value) needed for training.
Provides methods to update the Policy.
<a name="mlagents.trainers.optimizer.optimizer.Optimizer.update"></a>
#### update
```python
| @abc.abstractmethod
| update(batch: AgentBuffer, num_sequences: int) -> Dict[str, float]
```
Update the Policy based on the batch that was passed in.
**Arguments**:
- `batch`: AgentBuffer that contains the minibatch of data used for this update.
- `num_sequences`: Number of recurrent sequences found in the minibatch.
**Returns**:
A Dict containing statistics (name, value) from the update (e.g. loss)
| ml-agents/docs/Python-Optimizer-Documentation.md/0 | {
"file_path": "ml-agents/docs/Python-Optimizer-Documentation.md",
"repo_id": "ml-agents",
"token_count": 1052
} | 1,897 |
{!../com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md!}
| ml-agents/docs/com.unity.ml-agents.extensions.md/0 | {
"file_path": "ml-agents/docs/com.unity.ml-agents.extensions.md",
"repo_id": "ml-agents",
"token_count": 33
} | 1,898 |
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