Merge branch 'develop-centralizedcritic' into hh/develop-pushblockcollab

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

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Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayCollabAgent.cs

 
 public class HallwayCollabAgent : HallwayAgent
 {
+    public GameObject symbolSGoal;
+    public GameObject symbolS;
+
 
     [HideInInspector]
     public int selection = 0;
         {
             var blockOffset = -9f;
             // Only the Spotter has the correct selection
-            selection = Random.Range(0, 2);
+            selection = Random.Range(0, 3);
             if (selection == 0)
             {
                 symbolO.transform.position =
                     new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
                     + ground.transform.position;
+                symbolS.transform.position =
+                    new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+                    + ground.transform.position;
+            }
+            else if (selection == 1)
+            {
+                symbolO.transform.position =
+                    new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+                    + ground.transform.position;
+                symbolX.transform.position =
+                    new Vector3(0f, 2f, blockOffset)
+                    + ground.transform.position;
+                symbolS.transform.position =
+                    new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+                    + ground.transform.position;
             }
             else
             {
                 symbolX.transform.position =
+                    new Vector3(0f, -1000f, blockOffset)
+                    + ground.transform.position;
+                symbolS.transform.position =
-            var goalPos = Random.Range(0, 2);
+            var goalPos = Random.Range(0, 7);
+                symbolXGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
+                symbolSGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
+            }
+            else if (goalPos == 1)
+            {
+                symbolOGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
+                symbolSGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
+            }
+            else if (goalPos == 2)
+            {
+                symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
+                symbolXGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
+                symbolSGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
+            }
+            else if (goalPos == 3)
+            {
+                symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
+                symbolXGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
+                symbolSGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
+            }
+            else if (goalPos == 4)
+            {
+                symbolOGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
+                symbolXGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
+                symbolSGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position;
+                symbolOGoal.transform.position = new Vector3(0f, 0.5f, 22.29f) + area.transform.position;
-                symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
+                symbolSGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position;
             }
         }
     }
         {
             sensor.AddObservation(StepCount / (float)MaxStep);
         }
-        sensor.AddObservation(m_Message);
+        sensor.AddObservation(toOnehot(m_Message));
+    }
+
+    float[] toOnehot(int message)
+    {
+        float[] onehot = new float[3];
+        if (message < 0 || message >= 3)
+        {
+            return onehot;
+        }
+        onehot[message] = 1f;
+        return onehot;
     }
 
     public void tellAgent(int message)
 
     void OnCollisionEnter(Collision col)
     {
-        if (col.gameObject.CompareTag("symbol_O_Goal") || col.gameObject.CompareTag("symbol_X_Goal"))
+        if (col.gameObject.CompareTag("symbol_O_Goal") || col.gameObject.CompareTag("symbol_X_Goal") || col.gameObject.CompareTag("symbol_S_Goal"))
-                    (teammate.selection == 1 && col.gameObject.CompareTag("symbol_X_Goal")))
+                    (teammate.selection == 1 && col.gameObject.CompareTag("symbol_X_Goal")) ||
+                    (teammate.selection == 2 && col.gameObject.CompareTag("symbol_S_Goal")))
                 {
                     SetReward(1f);
                     teammate.SetReward(1f);

ml-agents/mlagents/trainers/torch/networks.py

         super().__init__()
         self.normalize = network_settings.normalize
         self.use_lstm = network_settings.memory is not None
-        self.h_size = network_settings.hidden_units
+        # Scale network depending on num agents
+        self.h_size = network_settings.hidden_units * num_obs_heads
         self.m_size = (
             network_settings.memory.memory_size
             if network_settings.memory is not None
         if network_settings.memory is not None:
             encoding_size = network_settings.memory.memory_size // 2
         else:
-            encoding_size = network_settings.hidden_units
+            encoding_size = network_settings.hidden_units * num_agents
         self.value_heads = ValueHeads(stream_names, encoding_size, outputs_per_stream)
 
     def forward(