Merge remote-tracking branch 'origin/main' into goal-conditioning-new

# Conflicts:
#	Project/Assets/ML-Agents/Examples/Crawler/Prefabs/CrawlerBase.prefab
#	Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
#	Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
#	Project/ProjectSettings/TagManager.asset
#	com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs
#	com.unity.ml-agents/Runtime/Sensors/VectorSensor.cs
#	ml-agents/mlagents/trainers/torch/networks.py
#	ml-agents/mlagents/trainers/torch/utils.py

.github/PULL_REQUEST_TEMPLATE.md

 
 ### Checklist
 - [ ] Added tests that prove my fix is effective or that my feature works
-- [ ] Updated the [changelog](https://github.com/Unity-Technologies/ml-agents/blob/master/com.unity.ml-agents/CHANGELOG.md) (if applicable)
-- [ ] Updated the [documentation](https://github.com/Unity-Technologies/ml-agents/tree/master/docs) (if applicable)
-- [ ] Updated the [migration guide](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Migrating.md) (if applicable)
+- [ ] Updated the [changelog](https://github.com/Unity-Technologies/ml-agents/blob/main/com.unity.ml-agents/CHANGELOG.md) (if applicable)
+- [ ] Updated the [documentation](https://github.com/Unity-Technologies/ml-agents/tree/main/docs) (if applicable)
+- [ ] Updated the [migration guide](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Migrating.md) (if applicable)
 
 ### Other comments

.github/workflows/pre-commit.yml

 on:
   pull_request:
   push:
-    branches: [master]
+    branches: [main]
 
 jobs:
   pre-commit:

.github/workflows/publish_pypi.yaml

             package-path: [ml-agents, ml-agents-envs, gym-unity]
 
     steps:
-    - uses: actions/checkout@master
+    - uses: actions/checkout@main
     - name: Set up Python 3.7
       uses: actions/setup-python@v1
       with:

.github/workflows/pytest.yml

     - 'test_requirements.txt'
     - '.github/workflows/pytest.yml'
   push:
-    branches: [master]
+    branches: [main]
+    env:
+        TEST_ENFORCE_BUFFER_KEY_TYPES: 1
     strategy:
       matrix:
         python-version: [3.6.x, 3.7.x, 3.8.x]
       run: python -c "import sys; print(sys.version)"
     - name: Install dependencies
       run: |
-        # pin pip to workaround https://github.com/pypa/pip/issues/9180
-        python -m pip install pip==20.2
+        python -m pip install --upgrade pip
+        python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples
     - name: Save python dependencies
       run: |
         pip freeze > pip_versions-${{ matrix.python-version }}.txt

.pre-commit-config.yaml

         args: [--py3-plus, --py36-plus]
         exclude: >
             (?x)^(
-                .*barracuda.py|
                 .*_pb2.py|
                 .*_pb2_grpc.py
             )$
         args: [--assume-in-merge]
     -   id: check-yaml
         # Won't handle the templating in yamato
-        exclude: \.yamato/*
+        exclude: \.yamato/.*
 
 -   repo: https://github.com/pre-commit/pygrep-hooks
     rev: v1.4.2

.yamato/com.unity.ml-agents-performance.yml

 test_editors:
   - version: 2019.4
-  - version: 2020.1
   - version: 2020.2
 ---
 {% for editor in test_editors %}
   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
   artifacts:
     logs:

.yamato/com.unity.ml-agents-test.yml

     enableCodeCoverage: !!bool true
     testProject: DevProject
     enableNoDefaultPackages: !!bool true
-  - version: 2020.1
-    enableCodeCoverage: !!bool true
-    testProject: DevProject
-    enableNoDefaultPackages: !!bool true
   - version: 2020.2
     enableCodeCoverage: !!bool true
     testProject: DevProject
     assembly: Unity.ML-Agents
     minCoveragePct: 72
   - name: com.unity.ml-agents.extensions
-    assembly: Unity.ML-Agents.Extensions
+    assembly: Unity.ML-Agents.Extensions*
     minCoveragePct: 75
 ---
 
   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
 
 {% for package in packages %}
     cancel_old_ci: true
     {% if platform.name == "linux" %}
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

.yamato/compressed-sensor-test.yml

     - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
   triggers:
     cancel_old_ci: true
+    {% if editor.extra_test == "sensor" %}
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
-      pull_request.changes.any match "ml-agents/**" OR
+      pull_request.changes.any match "ml-agents/tests/yamato/**" OR
+    {% endif %}
 {% endfor %}

.yamato/gym-interface-test.yml

     - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
   triggers:
     cancel_old_ci: true
+    {% if editor.extra_test == "gym" %}
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
-      pull_request.changes.any match "ml-agents/**" OR
+      pull_request.changes.any match "ml-agents/tests/yamato/**" OR
+    {% endif %}
 {% endfor %}

.yamato/protobuf-generation-test.yml

   triggers:
     cancel_old_ci: true
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "protobuf-definitions/**" OR

.yamato/pytest-gpu.yml

   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
   artifacts:
     logs:

.yamato/python-ll-api-test.yml

     - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
   triggers:
     cancel_old_ci: true
+    {% if editor.extra_test == "llapi" %}
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
-      pull_request.changes.any match "ml-agents/**" OR
+      pull_request.changes.any match "ml-agents/tests/yamato/**" OR
+    {% endif %}
 {% endfor %}

.yamato/standalone-build-test.yml

   triggers:
     cancel_old_ci: true
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

.yamato/test_versions.metafile

 # List of editor versions for standalone-build-test and its dependencies.
-# csharp_backcompat_version is used in training-int-tests to determine the
-# older package version to run the backwards compat tests against.
+# We always run training-int-tests for all versions of the editor
+# For each "other" test, we only run it against a single version of the
+# editor to reduce the number of yamato jobs
-    csharp_backcompat_version: 1.0.0
+    extra_test: llapi
-    csharp_backcompat_version: 1.0.0
-  - version: 2020.1
-    csharp_backcompat_version: 1.0.0
+    extra_test: gym
-    # 2020.2 moved the AssetImporters namespace
-    # but we didn't handle this until 1.2.0
-    csharp_backcompat_version: 1.2.0
+    extra_test: sensor

.yamato/training-backcompat-tests.yml

   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
   artifacts:
     logs:

.yamato/training-int-tests.yml

   triggers:
     cancel_old_ci: true
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

DevProject/Packages/manifest.json

   "dependencies": {
     "com.unity.2d.sprite": "1.0.0",
     "com.unity.2d.tilemap": "1.0.0",
-    "com.unity.ads": "3.4.9",
+    "com.unity.ads": "3.6.1",
-    "com.unity.ide.vscode": "1.2.1",
+    "com.unity.ide.vscode": "1.2.3",
+    "com.unity.inputsystem": "1.1.0-preview.3",
-    "com.unity.multiplayer-hlapi": "1.0.6",
+    "com.unity.multiplayer-hlapi": "1.0.8",
-    "com.unity.purchasing": "2.1.0",
-    "com.unity.test-framework": "1.1.16",
+    "com.unity.purchasing": "2.2.1",
+    "com.unity.test-framework": "1.1.20",
-    "com.unity.testtools.codecoverage": "0.2.2-preview",
+    "com.unity.testtools.codecoverage": "1.0.0-pre.3",
-    "com.unity.xr.legacyinputhelpers": "2.1.4",
+    "com.unity.xr.legacyinputhelpers": "2.1.7",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.androidjni": "1.0.0",
     "com.unity.modules.animation": "1.0.0",
   "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates",
   "testables": [
     "com.unity.ml-agents",
-    "com.unity.ml-agents.extensions"
+    "com.unity.ml-agents.extensions",
+    "com.unity.inputsystem"
   ]
 }

DevProject/ProjectSettings/ProjectSettings.asset

   androidBlitType: 0
   defaultIsNativeResolution: 1
   macRetinaSupport: 1
-  runInBackground: 0
+  runInBackground: 1
   captureSingleScreen: 0
   muteOtherAudioSources: 0
   Prepare IOS For Recording: 0
   xboxOneMonoLoggingLevel: 0
   xboxOneLoggingLevel: 1
   xboxOneDisableEsram: 0
+  xboxOneEnableTypeOptimization: 0
   xboxOnePresentImmediateThreshold: 0
   switchQueueCommandMemory: 1048576
   switchQueueControlMemory: 16384
   switchNVNOtherPoolsGranularity: 16777216
+  switchNVNMaxPublicTextureIDCount: 0
+  switchNVNMaxPublicSamplerIDCount: 0
+  stadiaPresentMode: 0
+  stadiaTargetFramerate: 0
+  vulkanEnableLateAcquireNextImage: 0
   m_SupportedAspectRatios:
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     5:4: 1
   useHDRDisplay: 0
   D3DHDRBitDepth: 0
   m_ColorGamuts: 00000000
-  targetPixelDensity: 0
+  targetPixelDensity: 30
   resolutionScalingMode: 0
   androidSupportedAspectRatio: 1
   androidMaxAspectRatio: 2.1
   StripUnusedMeshComponents: 0
   VertexChannelCompressionMask: 4054
   iPhoneSdkVersion: 988
-  iOSTargetOSVersionString: 
+  iOSTargetOSVersionString: 10.0
-  tvOSTargetOSVersionString: 
+  tvOSTargetOSVersionString: 10.0
   uIPrerenderedIcon: 0
   uIRequiresPersistentWiFi: 0
   uIRequiresFullScreen: 1
-  iPhoneSplashScreen: {fileID: 0}
-  iPhoneHighResSplashScreen: {fileID: 0}
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   appleTVSplashScreen: {fileID: 0}
   appleTVSplashScreen2x: {fileID: 0}
   tvOSSmallIconLayers: []
   metalEditorSupport: 1
   metalAPIValidation: 1
   iOSRenderExtraFrameOnPause: 0
+  iosCopyPluginsCodeInsteadOfSymlink: 0
   appleDeveloperTeamID: 
   iOSManualSigningProvisioningProfileID: 
   tvOSManualSigningProvisioningProfileID: 
   ps4ShareFilePath: 
   ps4ShareOverlayImagePath: 
   ps4PrivacyGuardImagePath: 
+  ps4ExtraSceSysFile: 
   ps4NPtitleDatPath: 
   ps4RemotePlayKeyAssignment: -1
   ps4RemotePlayKeyMappingDir: 
   ps4UseResolutionFallback: 0
   ps4ReprojectionSupport: 0
   ps4UseAudio3dBackend: 0
+  ps4UseLowGarlicFragmentationMode: 1
   ps4SocialScreenEnabled: 0
   ps4ScriptOptimizationLevel: 2
   ps4Audio3dVirtualSpeakerCount: 14
   ps4disableAutoHideSplash: 0
   ps4videoRecordingFeaturesUsed: 0
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+  ps4CompatibilityPS5: 0
+  ps4GPU800MHz: 1
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   ps4IncludedModules: []
   ps4attribVROutputEnabled: 0
   additionalIl2CppArgs: 
   scriptingRuntimeVersion: 1
   gcIncremental: 0
+  assemblyVersionValidation: 1
   gcWBarrierValidation: 0
   apiCompatibilityLevelPerPlatform: {}
   m_RenderingPath: 1
   XboxOneCapability: []
   XboxOneGameRating: {}
   XboxOneIsContentPackage: 0
+  XboxOneEnhancedXboxCompatibilityMode: 0
   XboxOneEnableGPUVariability: 1
   XboxOneSockets: {}
   XboxOneSplashScreen: {fileID: 0}
   XboxOneOverrideIdentityName: 
+  XboxOneOverrideIdentityPublisher: 
   vrEditorSettings:
     daydream:
       daydreamIconForeground: {fileID: 0}
   projectName: 
   organizationId: 
   cloudEnabled: 0
-  enableNativePlatformBackendsForNewInputSystem: 0
-  disableOldInputManagerSupport: 0
+  enableNativePlatformBackendsForNewInputSystem: 1
+  disableOldInputManagerSupport: 1
   legacyClampBlendShapeWeights: 0

DevProject/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.7f1
-m_EditorVersionWithRevision: 2019.4.7f1 (e992b1a16e65)
+m_EditorVersion: 2019.4.19f1
+m_EditorVersionWithRevision: 2019.4.19f1 (ca5b14067cec)

Project/Assets/ML-Agents/Editor/Tests/StandaloneBuildTest.cs

                 scenes,
                 outputPath,
                 buildTarget,
-                BuildOptions.None
+                BuildOptions.Development
             );
             var isOk = buildResult.summary.result == BuildResult.Succeeded;
             var error = "";

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

   m_BrainParameters:
     VectorObservationSize: 8
     NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 2
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: 3DBall
   TeamId: 0

Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab

   m_Name: 
   m_EditorClassIdentifier: 
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-    numStackedVectorObservations: 9
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-    vectorActionSpaceType: 1
-  m_Model: {fileID: 11400000, guid: 27d49984757ed46b181090a532ef48e5, type: 3}
-  m_InferenceDevice: 0
+    VectorObservationSize: 0
+    NumStackedVectorObservations: 1
+    m_ActionSpec:
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+      BranchSizes: 
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+    VectorActionDescriptions: []
+    VectorActionSpaceType: 1
+    hasUpgradedBrainParametersWithActionSpec: 1
+  m_Model: {fileID: 11400000, guid: d179c44c147aa4ffbbb725f009eca3b8, type: 3}
+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
+  m_ObservableAttributeHandling: 1
 --- !u!114 &114466000339026140
 MonoBehaviour:
   m_ObjectHideFlags: 0
   agentParameters:
     maxStep: 0
   hasUpgradedFromAgentParameters: 1
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+  MaxStep: 5000
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   m_ObjectHideFlags: 0

Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab

   m_BrainParameters:
     VectorObservationSize: 0
     NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 2
+      BranchSizes: 
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+  m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: Visual3DBall
   TeamId: 0

Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs

 using Unity.MLAgents;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Sensors.Reflection;
 
 public class Ball3DHardAgent : Agent
 {
         SetResetParameters();
     }
 
-    public override void CollectObservations(VectorSensor sensor)
+    [Observable(numStackedObservations: 9)]
+    Vector2 Rotation
-        sensor.AddObservation(gameObject.transform.rotation.z);
-        sensor.AddObservation(gameObject.transform.rotation.x);
-        sensor.AddObservation((ball.transform.position - gameObject.transform.position));
+        get
+        {
+            return new Vector2(gameObject.transform.rotation.z, gameObject.transform.rotation.x);
+        }
+    }
+
+    [Observable(numStackedObservations: 9)]
+    Vector3 PositionDelta
+    {
+        get
+        {
+            return ball.transform.position - gameObject.transform.position;
+        }
     }
 
     public override void OnActionReceived(ActionBuffers actionBuffers)

Project/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab

   m_BrainParameters:
     VectorObservationSize: 0
     NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 
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-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: Basic
   TeamId: 0

Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicActuatorComponent.cs

         /// Creates a BasicActuator.
         /// </summary>
         /// <returns></returns>
+#pragma warning disable 672
+#pragma warning restore 672
         {
             return new BasicActuator(basicController);
         }

Project/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab

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   m_BrainParameters:
-    vectorObservationSize: 6
-    numStackedVectorObservations: 3
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+    VectorObservationSize: 6
+    NumStackedVectorObservations: 3
+    m_ActionSpec:
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+      BranchSizes: 
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+    VectorActionDescriptions: []
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   strength: 500
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Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab

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+  m_InferenceDevice: 2
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+  m_InferenceDevice: 2
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+  m_InferenceDevice: 2
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   m_BehaviorName: FoodCollector
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Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab

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+  m_InferenceDevice: 2
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     hasUpgradedBrainParametersWithActionSpec: 1
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-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
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Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/VisualFoodCollectorArea.prefab

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-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: VisualFoodCollector
   TeamId: 0
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
   m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: VisualFoodCollector
   TeamId: 0
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
   m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3}
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     VectorActionSpaceType: 0
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+  m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: VisualFoodCollector
   TeamId: 0

Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/GridFoodCollector.unity

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   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.4497121, g: 0.49977785, b: 0.57563704, a: 1}
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   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
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+--- !u!1 &190823801 stripped
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+  m_PrefabAsset: {fileID: 0}
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   m_ObjectHideFlags: 0

Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab

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     NumStackedVectorObservations: 3
+    m_ActionSpec:
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+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
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Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab

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Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3Heuristic.prefab

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Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab

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Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab

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+  RandomSeed: -1
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Project/Assets/ML-Agents/Examples/Match3/Scripts/Match3ExampleActuatorComponent.cs

     public class Match3ExampleActuatorComponent : Match3ActuatorComponent
     {
         /// <inheritdoc/>
+#pragma warning disable 672
+#pragma warning restore 672
         {
             var board = GetComponent<Match3Board>();
             var agent = GetComponentInParent<Agent>();

Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab

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Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab

   m_BrainParameters:
     VectorObservationSize: 0
     NumStackedVectorObservations: 1
+    m_ActionSpec:
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Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab

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Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab

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Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab

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Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs

         const string k_CommandLineModelOverrideDirectoryFlag = "--mlagents-override-model-directory";
         const string k_CommandLineModelOverrideExtensionFlag = "--mlagents-override-model-extension";
         const string k_CommandLineQuitAfterEpisodesFlag = "--mlagents-quit-after-episodes";
+        const string k_CommandLineQuitAfterSeconds = "--mlagents-quit-after-seconds";
         const string k_CommandLineQuitOnLoadFailure = "--mlagents-quit-on-load-failure";
 
         // The attached Agent
         // Max episodes to run. Only used if > 0
         // Will default to 1 if override models are specified, otherwise 0.
         int m_MaxEpisodes;
+
+        // Deadline - exit if the time exceeds this
+        DateTime m_Deadline = DateTime.MaxValue;
 
         int m_NumSteps;
         int m_PreviousNumSteps;
         void GetAssetPathFromCommandLine()
         {
             var maxEpisodes = 0;
+            var timeoutSeconds = 0;
+
             string[] commandLineArgsOverride = null;
             if (!string.IsNullOrEmpty(debugCommandLineOverride) && Application.isEditor)
             {
                 {
                     Int32.TryParse(args[i + 1], out maxEpisodes);
                 }
+                else if (args[i] == k_CommandLineQuitAfterSeconds && i < args.Length - 1)
+                {
+                    Int32.TryParse(args[i + 1], out timeoutSeconds);
+                }
                 else if (args[i] == k_CommandLineQuitOnLoadFailure)
                 {
                     m_QuitOnLoadFailure = true;
                 m_MaxEpisodes = maxEpisodes > 0 ? maxEpisodes : 1;
                 Debug.Log($"setting m_MaxEpisodes to {maxEpisodes}");
             }
+
+            if (timeoutSeconds > 0)
+            {
+                m_Deadline = DateTime.Now + TimeSpan.FromSeconds(timeoutSeconds);
+                Debug.Log($"setting deadline to {timeoutSeconds} from now.");
+
+            }
         }
 
         void OnEnable()
                     EditorApplication.isPlaying = false;
 #endif
                 }
+                else if (DateTime.Now >= m_Deadline)
+                {
+                    Debug.Log(
+                        $"Deadline exceeded. " +
+                        $"{TotalCompletedEpisodes}/{m_MaxEpisodes} episodes and " +
+                        $"{TotalNumSteps}/{m_MaxEpisodes * m_Agent.MaxStep} steps completed. Exiting.");
+                    Application.Quit(0);
+#if UNITY_EDITOR
+                    EditorApplication.isPlaying = false;
+#endif
+                }
+
             m_NumSteps++;
         }
 

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs

             float[] buffer = new float[numFloats];
             WriteObservation(buffer);
 
-            writer.AddRange(buffer);
+            writer.AddList(buffer);
 
             return numFloats;
         }

Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity

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+      value: SoccerFieldTwos
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