Make On Demand Decision the default (#3243)

* Added a simple Decision Requester

* Modified the prefabs

* Fixing the tests and removing fields from Agent parameters

* Migrating.md

* addressing comments

* addressing comments

UnitySDK/Assets/ML-Agents/Editor/AgentEditor.cs

             var serializedAgent = serializedObject;
             serializedAgent.Update();
 
-            var actionsPerDecision = serializedAgent.FindProperty(
-                "agentParameters.numberOfActionsBetweenDecisions");
-            var isResetOnDone = serializedAgent.FindProperty(
-                "agentParameters.resetOnDone");
-            var isOdd = serializedAgent.FindProperty(
-                "agentParameters.onDemandDecision");
-
-
-            EditorGUILayout.PropertyField(
-                isOdd,
-                new GUIContent(
-                    "On Demand Decisions",
-                    "If checked, you must manually request decisions."));
-            if (!isOdd.boolValue)
-            {
-                EditorGUILayout.PropertyField(
-                    actionsPerDecision,
-                    new GUIContent(
-                        "Decision Interval",
-                        "The agent will automatically request a decision every X" +
-                        " steps and perform an action at every step."));
-                actionsPerDecision.intValue = Mathf.Max(1, actionsPerDecision.intValue);
-            }
 
             serializedAgent.ApplyModifiedProperties();
 

UnitySDK/Assets/ML-Agents/Editor/Tests/MLAgentsEditModeTest.cs

 
             agent1.agentParameters = new AgentParameters();
             agent2.agentParameters = new AgentParameters();
-            // We use event based so the agent will now try to send anything to the brain
-            agent1.agentParameters.onDemandDecision = false;
-            agent1.agentParameters.numberOfActionsBetweenDecisions = 2;
+            var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
+            decisionRequester.DecisionPeriod = 2;
+            decisionRequester.Awake();
-            agent2.agentParameters.onDemandDecision = true;
             // agent2 will request decisions only when RequestDecision is called
 
             agentEnableMethod?.Invoke(agent1, new object[] { });
 
             agent1.agentParameters = new AgentParameters();
             agent2.agentParameters = new AgentParameters();
-            // We use event based so the agent will now try to send anything to the brain
-            agent1.agentParameters.onDemandDecision = false;
-            agent1.agentParameters.numberOfActionsBetweenDecisions = 2;
-            // agent1 will take an action at every step and request a decision every 2 steps
-            agent2.agentParameters.onDemandDecision = true;
+            var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
+            decisionRequester.DecisionPeriod = 2;
 
             agentEnableMethod?.Invoke(agent2, new object[] { });
 
                 "OnEnableHelper", BindingFlags.Instance | BindingFlags.NonPublic);
             agent1.agentParameters = new AgentParameters();
             agent2.agentParameters = new AgentParameters();
-            // We use event based so the agent will now try to send anything to the brain
-            agent1.agentParameters.onDemandDecision = false;
-            agent1.agentParameters.numberOfActionsBetweenDecisions = 3;
-            // agent1 will take an action at every step and request a decision every 2 steps
-            agent2.agentParameters.onDemandDecision = true;
-            // agent2 will request decisions only when RequestDecision is called
+
+            var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
+            decisionRequester.DecisionPeriod = 2;
+            decisionRequester.Awake();
+
             agent1.agentParameters.maxStep = 20;
 
             agentEnableMethod?.Invoke(agent2, new object[] { });

UnitySDK/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab

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UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

 [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
 public class CrawlerAgent : Agent
 {
-    [Header("Target To Walk Towards")][Space(10)]
+    [Header("Target To Walk Towards")]
+    [Space(10)]
     public Transform target;
 
     public Transform ground;
     public float targetSpawnRadius;
 
-    [Header("Body Parts")][Space(10)] public Transform body;
+    [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
     public Transform leg0Lower;
     public Transform leg1Upper;
     public Transform leg3Upper;
     public Transform leg3Lower;
 
-    [Header("Joint Settings")][Space(10)] JointDriveController m_JdController;
+    [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
-    [Header("Reward Functions To Use")][Space(10)]
+    [Header("Reward Functions To Use")]
+    [Space(10)]
-    [Header("Foot Grounded Visualization")][Space(10)]
+    [Header("Foot Grounded Visualization")]
+    [Space(10)]
     public bool useFootGroundedVisualization;
 
     public MeshRenderer foot0;
     public Material groundedMaterial;
     public Material unGroundedMaterial;
-    bool m_IsNewDecisionStep;
-    int m_CurrentDecisionStep;
 
     Quaternion m_LookRotation;
     Matrix4x4 m_TargetDirMatrix;
         m_JdController = GetComponent<JointDriveController>();
-        m_CurrentDecisionStep = 1;
         m_DirToTarget = target.position - body.position;
 
 
         m_JdController.SetupBodyPart(leg2Lower);
         m_JdController.SetupBodyPart(leg3Upper);
         m_JdController.SetupBodyPart(leg3Lower);
-    }
-
-    /// <summary>
-    /// We only need to change the joint settings based on decision freq.
-    /// </summary>
-    public void IncrementDecisionTimer()
-    {
-        if (m_CurrentDecisionStep == agentParameters.numberOfActionsBetweenDecisions
-            || agentParameters.numberOfActionsBetweenDecisions == 1)
-        {
-            m_CurrentDecisionStep = 1;
-            m_IsNewDecisionStep = true;
-        }
-        else
-        {
-            m_CurrentDecisionStep++;
-            m_IsNewDecisionStep = false;
-        }
     }
 
     /// <summary>
 
     public override void AgentAction(float[] vectorAction)
     {
+        // The dictionary with all the body parts in it are in the jdController
+        var bpDict = m_JdController.bodyPartsDict;
+
+        var i = -1;
+        // Pick a new target joint rotation
+        bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+
+        // Update joint strength
+        bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
+        bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
+        bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
+        bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
+    }
+
+    void FixedUpdate()
+    {
         if (detectTargets)
         {
             foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
                 : unGroundedMaterial;
         }
 
-        // Joint update logic only needs to happen when a new decision is made
-        if (m_IsNewDecisionStep)
-        {
-            // The dictionary with all the body parts in it are in the jdController
-            var bpDict = m_JdController.bodyPartsDict;
-
-            var i = -1;
-            // Pick a new target joint rotation
-            bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-            bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-            bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-            bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-
-            // Update joint strength
-            bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
-            bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
-            bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
-            bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
-            bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
-            bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
-            bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
-            bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
-        }
-
         // Set reward for this step according to mixture of the following elements.
         if (rewardMovingTowardsTarget)
         {
         {
             RewardFunctionTimePenalty();
         }
-
-        IncrementDecisionTimer();
     }
 
     /// <summary>
         {
             GetRandomTargetPos();
         }
-        m_IsNewDecisionStep = true;
-        m_CurrentDecisionStep = 1;
     }
 }

UnitySDK/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

     public Transform forearmR;
     public Transform handR;
     JointDriveController m_JdController;
-    bool m_IsNewDecisionStep;
-    int m_CurrentDecisionStep;
 
     Rigidbody m_HipsRb;
     Rigidbody m_ChestRb;
 
     public override void AgentAction(float[] vectorAction)
     {
-        m_DirToTarget = target.position - m_JdController.bodyPartsDict[hips].rb.position;
-
-        // Apply action to all relevant body parts.
-        if (m_IsNewDecisionStep)
-        {
-            var bpDict = m_JdController.bodyPartsDict;
-            var i = -1;
-
-            bpDict[chest].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
-            bpDict[spine].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+        var bpDict = m_JdController.bodyPartsDict;
+        var i = -1;
-            bpDict[thighL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[thighR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[shinL].SetJointTargetRotation(vectorAction[++i], 0, 0);
-            bpDict[shinR].SetJointTargetRotation(vectorAction[++i], 0, 0);
-            bpDict[footR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
-            bpDict[footL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+        bpDict[chest].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+        bpDict[spine].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+        bpDict[thighL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[thighR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[shinL].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[shinR].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[footR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+        bpDict[footL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
-            bpDict[armL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[armR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            bpDict[forearmL].SetJointTargetRotation(vectorAction[++i], 0, 0);
-            bpDict[forearmR].SetJointTargetRotation(vectorAction[++i], 0, 0);
-            bpDict[head].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-            //update joint strength settings
-            bpDict[chest].SetJointStrength(vectorAction[++i]);
-            bpDict[spine].SetJointStrength(vectorAction[++i]);
-            bpDict[head].SetJointStrength(vectorAction[++i]);
-            bpDict[thighL].SetJointStrength(vectorAction[++i]);
-            bpDict[shinL].SetJointStrength(vectorAction[++i]);
-            bpDict[footL].SetJointStrength(vectorAction[++i]);
-            bpDict[thighR].SetJointStrength(vectorAction[++i]);
-            bpDict[shinR].SetJointStrength(vectorAction[++i]);
-            bpDict[footR].SetJointStrength(vectorAction[++i]);
-            bpDict[armL].SetJointStrength(vectorAction[++i]);
-            bpDict[forearmL].SetJointStrength(vectorAction[++i]);
-            bpDict[armR].SetJointStrength(vectorAction[++i]);
-            bpDict[forearmR].SetJointStrength(vectorAction[++i]);
-        }
+        bpDict[armL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[armR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[forearmL].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[forearmR].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[head].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        IncrementDecisionTimer();
+        //update joint strength settings
+        bpDict[chest].SetJointStrength(vectorAction[++i]);
+        bpDict[spine].SetJointStrength(vectorAction[++i]);
+        bpDict[head].SetJointStrength(vectorAction[++i]);
+        bpDict[thighL].SetJointStrength(vectorAction[++i]);
+        bpDict[shinL].SetJointStrength(vectorAction[++i]);
+        bpDict[footL].SetJointStrength(vectorAction[++i]);
+        bpDict[thighR].SetJointStrength(vectorAction[++i]);
+        bpDict[shinR].SetJointStrength(vectorAction[++i]);
+        bpDict[footR].SetJointStrength(vectorAction[++i]);
+        bpDict[armL].SetJointStrength(vectorAction[++i]);
+        bpDict[forearmL].SetJointStrength(vectorAction[++i]);
+        bpDict[armR].SetJointStrength(vectorAction[++i]);
+        bpDict[forearmR].SetJointStrength(vectorAction[++i]);
+    }
+    void FixedUpdate()
+    {
         // Set reward for this step according to mixture of the following elements.
         // a. Velocity alignment with goal direction.
         // b. Rotation alignment with goal direction.
     }
 
     /// <summary>
-    /// Only change the joint settings based on decision frequency.
-    /// </summary>
-    public void IncrementDecisionTimer()
-    {
-        if (m_CurrentDecisionStep == agentParameters.numberOfActionsBetweenDecisions ||
-            agentParameters.numberOfActionsBetweenDecisions == 1)
-        {
-            m_CurrentDecisionStep = 1;
-            m_IsNewDecisionStep = true;
-        }
-        else
-        {
-            m_CurrentDecisionStep++;
-            m_IsNewDecisionStep = false;
-        }
-    }
-
-    /// <summary>
     /// Loop over body parts and reset them to initial conditions.
     /// </summary>
     public override void AgentReset()
         {
             bodyPart.Reset(bodyPart);
         }
-
-        m_IsNewDecisionStep = true;
-        m_CurrentDecisionStep = 1;
         SetResetParameters();
     }
 

UnitySDK/Assets/ML-Agents/Scripts/Agent.cs

         /// </remarks>
         public int maxStep;
 
-        /// <summary>
-        /// Whether to enable On Demand Decisions or make a decision at
-        /// every step.
-        /// </summary>
-        public bool onDemandDecision;
-
-        /// <summary>
-        /// Number of actions between decisions (used when On Demand Decisions
-        /// is turned off).
-        /// </summary>
-        public int numberOfActionsBetweenDecisions;
     }
 
 
             m_Action = new AgentAction();
             sensors = new List<ISensor>();
 
-            Academy.Instance.AgentSetStatus += SetStatus;
             Academy.Instance.AgentResetIfDone += ResetIfDone;
             Academy.Instance.AgentSendState += SendInfo;
             Academy.Instance.DecideAction += DecideAction;
             // We don't want to even try, because this will lazily create a new Academy!
             if (Academy.IsInitialized)
             {
-                Academy.Instance.AgentSetStatus -= SetStatus;
                 Academy.Instance.AgentResetIfDone -= ResetIfDone;
                 Academy.Instance.AgentSendState -= SendInfo;
                 Academy.Instance.DecideAction -= DecideAction;
             return rawAction * range + middle;
         }
 
-        /// <summary>
-        /// Sets the status of the agent. Will request decisions or actions according
-        /// to the Academy's stepcount.
-        /// </summary>
-        /// <param name="academyStepCounter">Number of current steps in episode</param>
-        void SetStatus(int academyStepCounter)
-        {
-            MakeRequests(academyStepCounter);
-        }
 
         /// Signals the agent that it must reset if its done flag is set to true.
         void ResetIfDone()
             }
 
             m_StepCount += 1;
-        }
-
-        /// <summary>
-        /// Is called after every step, contains the logic to decide if the agent
-        /// will request a decision at the next step.
-        /// </summary>
-        void MakeRequests(int academyStepCounter)
-        {
-            agentParameters.numberOfActionsBetweenDecisions =
-                Mathf.Max(agentParameters.numberOfActionsBetweenDecisions, 1);
-            if (!agentParameters.onDemandDecision)
-            {
-                RequestAction();
-                if (academyStepCounter %
-                    agentParameters.numberOfActionsBetweenDecisions == 0)
-                {
-                    RequestDecision();
-                }
-            }
         }
 
         void DecideAction()

docs/Migrating.md

 * The `--num-runs` command-line option has been removed.
 * The "Reset on Done" setting in AgentParameters was removed; this is now effectively always true. `AgentOnDone` virtual method on the Agent has been removed.
 * Agents will always request a decision after being marked as `Done()` and will no longer wait for the next call to `RequestDecision()`.
+* The `Decision Period` and `On Demand decision` checkbox have been removed from the Agent. On demand decision is now the default (calling `RequestDecision` on the Agent manually.)
 
 ### Steps to Migrate
 * If you have a class that inherits from Academy:
 * Combine curriculum configs into a single file.  See [the WallJump curricula](../config/curricula/wall_jump.yaml) for an example of the new curriculum config format.
   A tool like https://www.json2yaml.com may be useful to help with the conversion.
 * If your Agent implements `AgentOnDone` and your Agent does not have the checkbox `Reset On Done` checked in the inspector, you must call the code that was in `AgentOnDone` manually.
+* If you were not using `On Demand Decision` for your Agent, you must add a `DecisionRequester` component to your Agent GameObject and set its `Decision Period` field to the old `Decision Period` of the Agent.
 
 ## Migrating from ML-Agents toolkit v0.12.0 to v0.13.0
 

UnitySDK/Assets/ML-Agents/Scripts/DecisionRequester.cs

+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Barracuda;
+using MLAgents.Sensor;
+using UnityEngine.Serialization;
+
+namespace MLAgents
+{
+    /// <summary>
+    /// A component that when attached to an Agent will automatically request decisions from it
+    /// at regular intervals.
+    /// </summary>
+    public class DecisionRequester : MonoBehaviour
+    {
+        [Range(1, 20)]
+        [Tooltip("The agent will automatically request a decision every X Academy steps.")]
+        public int DecisionPeriod = 5;
+
+        [Tooltip("Whether or not AgentAction will be called on Academy steps that decisions aren't requested. Has no effect if DecisionPeriod is 1.")]
+        public bool RepeatAction = true;
+
+        [Tooltip("Whether or not Agent decisions should start at a random offset.")]
+        public bool offsetStep;
+
+        private Agent m_Agent;
+        private int offset;
+        public void Awake()
+        {
+            offset = offsetStep ? gameObject.GetInstanceID() : 0;
+            m_Agent = gameObject.GetComponent<Agent>();
+            Academy.Instance.AgentSetStatus += MakeRequests;
+        }
+        void OnDestroy()
+        {
+            if (Academy.IsInitialized)
+            {
+                Academy.Instance.AgentSetStatus -= MakeRequests;
+            }
+        }
+        void MakeRequests(int count)
+        {
+            if ((count + offset) % DecisionPeriod == 0)
+            {
+                m_Agent?.RequestDecision();
+            }
+            if (RepeatAction)
+            {
+                m_Agent?.RequestAction();
+            }
+        }
+
+    }
+}

UnitySDK/Assets/ML-Agents/Scripts/DecisionRequester.cs.meta

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