Merge branch 'main' into develop-soccer-groupman-mod

.github/workflows/pre-commit.yml

     - uses: actions/setup-dotnet@v1
       with:
         dotnet-version: '3.1.x'
-    - run: dotnet tool install -g dotnet-format --version 4.1.131201
     - uses: pre-commit/action@v2.0.0
 
   markdown-link-check:

.gitignore

 # Environemnt logfile
 *Project.log
 
+# Custom settings asset
+*.settings.asset*
+
 # Visual Studio 2015 cache directory
 /Project/.vs/
 

.pre-commit-config.yaml

     types: [markdown]
     exclude: ".*localized.*"
 
+- repo: https://github.com/dotnet/format
+  rev: "7e343070a0355c86f72bdee226b5e19ffcbac931"  # TODO - update to a tagged version when one that includes the hook is ready.
+  hooks:
+  - id: dotnet-format
+    args: [--folder, --include]
+
 # "Local" hooks, see https://pre-commit.com/#repository-local-hooks
 -   repo: local
     hooks:
         name: validate release links
         language: script
         entry: utils/validate_release_links.py
-

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

   commands:
     - |
       python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
-      unity-downloader-cli -u 2018.4 -c editor --wait --fast
+      unity-downloader-cli -u 2019.4 -c editor --wait --fast
       ./.Editor/Unity -projectPath Project -batchMode -executeMethod Unity.MLAgents.SampleExporter.ExportCuratedSamples -logFile -
       npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
       upm-ci project pack --project-path Project

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

 test_editors:
-  - version: 2018.4
-    # 2018.4 doesn't support code-coverage
-    enableCodeCoverage: !!bool false
-    # We want some scene tests to run in the DevProject, but packages there only support 2019+
+  - version: 2019.4
+    enableCodeCoverage: !!bool true
+    # We want some scene tests to run in the DevProject, but packages there only support 2020+
-    enableNoDefaultPackages: !!bool false
-  - version: 2019.4
+    enableNoDefaultPackages: !!bool true
+  - version: 2020.2
-  - version: 2020.2
+  - version: 2021.1
     enableCodeCoverage: !!bool true
     testProject: DevProject
     enableNoDefaultPackages: !!bool true
     {% endfor %}
   {% endfor %}
 {% endfor %}
+

.yamato/pytest-gpu.yml

       python3 -m pytest -m "not check_environment_trains" --junitxml=junit/test-results.xml -p no:warnings
   triggers:
     cancel_old_ci: true
-    recurring:
-      - branch: main
-        frequency: daily
+    expression: |
+      (push.branch eq "main" OR
+      push.branch match "release.+") AND
+      push.changes.any match "ml-agents/**" AND
+      NOT push.changes.all match "**/*.md"
   artifacts:
     logs:
       paths:

.yamato/test_versions.metafile

 # For each "other" test, we only run it against a single version of the
 # editor to reduce the number of yamato jobs
 test_editors:
-  - version: 2018.4
-    extra_test: llapi
-  - version: 2020.2
+  - version: 2020.3
+  - version: 2021.1
+    extra_test: llapi

DevProject/Assets/ML-Agents/Scripts/Tests/Editor/Editor.asmdef

 {
-    "name": "Unity.ML-Agents.Performance.Tests",
+    "name": "Unity.ML-Agents.DevTests.Editor",
     "references": [
         "Unity.ML-Agents.Editor",
         "Unity.ML-Agents",

DevProject/Assets/ML-Agents/Scripts/Tests/Runtime/AcademyTest/AcademyStepperTest.cs

         [SetUp]
         public void Setup()
         {
+            Academy.Instance.Dispose();
             SceneManager.LoadScene("ML-Agents/Scripts/Tests/Runtime/AcademyTest/AcademyStepperTestScene");
         }
 

DevProject/Assets/ML-Agents/Scripts/Tests/Runtime/Runtime.asmdef

 {
-    "name": "Runtime",
+    "name": "Unity.ML-Agents.DevTests.Runtime",
     "references": [
         "Unity.ML-Agents"
     ],

DevProject/Packages/manifest.json

     "com.unity.2d.sprite": "1.0.0",
     "com.unity.2d.tilemap": "1.0.0",
     "com.unity.ads": "3.6.1",
-    "com.unity.analytics": "3.3.5",
+    "com.unity.analytics": "3.5.3",
-    "com.unity.collab-proxy": "1.2.16",
-    "com.unity.ide.rider": "1.1.4",
+    "com.unity.collab-proxy": "1.3.9",
+    "com.unity.ide.rider": "2.0.7",
+    "com.unity.ide.visualstudio": "2.0.7",
     "com.unity.ide.vscode": "1.2.3",
     "com.unity.inputsystem": "1.1.0-preview.3",
     "com.unity.ml-agents": "file:../../com.unity.ml-agents",
     "com.unity.package-validation-suite": "0.19.0-preview",
-    "com.unity.purchasing": "2.2.1",
-    "com.unity.test-framework": "1.1.20",
+    "com.unity.purchasing": "2.2.2",
+    "com.unity.test-framework": "1.1.22",
-    "com.unity.textmeshpro": "2.0.1",
-    "com.unity.timeline": "1.2.12",
+    "com.unity.textmeshpro": "3.0.1",
+    "com.unity.timeline": "1.4.6",
     "com.unity.ugui": "1.0.0",
     "com.unity.xr.legacyinputhelpers": "2.1.7",
     "com.unity.modules.ai": "1.0.0",

DevProject/Packages/packages-lock.json

       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.analytics": {
-      "version": "3.3.5",
+      "version": "3.5.3",
       "depth": 0,
       "source": "registry",
       "dependencies": {
     },
     "com.unity.barracuda": {
-      "version": "1.3.1-preview",
+      "version": "1.3.2-preview",
       "depth": 1,
       "source": "registry",
       "dependencies": {
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.collab-proxy": {
-      "version": "1.2.16",
+      "version": "1.3.9",
       "depth": 0,
       "source": "registry",
       "dependencies": {},
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.ide.rider": {
-      "version": "1.1.4",
+      "version": "2.0.7",
       "depth": 0,
       "source": "registry",
       "dependencies": {
     },
+    "com.unity.ide.visualstudio": {
+      "version": "2.0.7",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.test-framework": "1.1.9"
+      },
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
+    },
     "com.unity.ide.vscode": {
       "version": "1.2.3",
       "depth": 0,
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "1.3.1-preview",
+        "com.unity.barracuda": "1.3.2-preview",
-        "com.unity.modules.physics2d": "1.0.0",
-        "com.unity.modules.unityanalytics": "1.0.0"
+        "com.unity.modules.physics2d": "1.0.0"
       }
     },
     "com.unity.ml-agents.extensions": {
       "dependencies": {
-        "com.unity.ml-agents": "1.8.0-preview"
+        "com.unity.ml-agents": "2.0.0-exp.1"
       }
     },
     "com.unity.multiplayer-hlapi": {
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.purchasing": {
-      "version": "2.2.1",
+      "version": "2.2.2",
       "depth": 0,
       "source": "registry",
       "dependencies": {
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.test-framework": {
-      "version": "1.1.20",
+      "version": "1.1.22",
       "depth": 0,
       "source": "registry",
       "dependencies": {
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.textmeshpro": {
-      "version": "2.0.1",
+      "version": "3.0.1",
       "depth": 0,
       "source": "registry",
       "dependencies": {
     },
     "com.unity.timeline": {
-      "version": "1.2.12",
+      "version": "1.4.6",
-      "dependencies": {},
+      "dependencies": {
+        "com.unity.modules.director": "1.0.0",
+        "com.unity.modules.animation": "1.0.0",
+        "com.unity.modules.audio": "1.0.0",
+        "com.unity.modules.particlesystem": "1.0.0"
+      },
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.ugui": {
       "depth": 0,
       "source": "builtin",
       "dependencies": {
+        "com.unity.modules.ui": "1.0.0",
+        "com.unity.modules.imgui": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.uielementsnative": "1.0.0"
+      }
+    },
+    "com.unity.modules.uielementsnative": {
+      "version": "1.0.0",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {
+        "com.unity.modules.ui": "1.0.0",
         "com.unity.modules.imgui": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0"
       }

DevProject/ProjectSettings/EditorBuildSettings.asset

   - enabled: 1
     path: Assets/ML-Agents/Scripts/Tests/Runtime/AcademyTest/AcademyStepperTestScene.unity
     guid: 9bafc50b1e55b43b2b1ae9620f1f8311
-  m_configObjects: {}
+  m_configObjects:
+    com.unity.ml-agents.settings: {fileID: 11400000, guid: 7017f4eb06bef4889a3608a54b1cc59e,
+      type: 2}

DevProject/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json

     "m_Name": "Settings",
     "m_Path": "ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json",
     "m_Dictionary": {
-        "m_DictionaryValues": []
+        "m_DictionaryValues": [
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "Path",
+                "value": "{\"m_Value\":\"{ProjectPath}\"}"
+            },
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "HistoryPath",
+                "value": "{\"m_Value\":\"{ProjectPath}\"}"
+            },
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "IncludeAssemblies",
+                "value": "{\"m_Value\":\"Assembly-CSharp,Runtime,Unity.ML-Agents,Unity.ML-Agents.Extensions\"}"
+            }
+        ]
     }
 }

DevProject/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.19f1
-m_EditorVersionWithRevision: 2019.4.19f1 (ca5b14067cec)
+m_EditorVersion: 2020.3.0f1
+m_EditorVersionWithRevision: 2020.3.0f1 (c7b5465681fb)

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

 
         struct MLAgentsSampleJson
         {
+#pragma warning disable 649
+            // ReSharper disable once CollectionNeverUpdated.Local
+#pragma warning restore 649
         }
 
         struct PackageSampleJson

Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo.meta

 fileFormatVersion: 2
 guid: bbf6756da134740eaa002a1b84f655cb
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo.meta

 fileFormatVersion: 2
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 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Basic/Demos/ExpertBasic.demo.meta

 fileFormatVersion: 2
 guid: 414224ce8b3e247ad936b17f574b10ab
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Basic/Demos/ExpertBasic.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Basic/Demos/ExpertBasic.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

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

         /// Creates a BasicActuator.
         /// </summary>
         /// <returns></returns>
-#pragma warning disable 672
-        public override IActuator CreateActuator()
-#pragma warning restore 672
+        public override IActuator[] CreateActuators()
-            return new BasicActuator(basicController);
+            return new IActuator[] { new BasicActuator(basicController) };
         }
 
         public override ActionSpec ActionSpec

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

         }
 
         /// <inheritdoc/>
-        public override int[] GetObservationShape()
+        public override ObservationSpec GetObservationSpec()
-            return new[] { BasicController.k_Extents };
+            return ObservationSpec.Vector(BasicController.k_Extents);
         }
 
         /// <inheritdoc/>

Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo.meta

 fileFormatVersion: 2
 guid: 34586a8d0f1c342a49973b36a609e73b
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400002: Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400002
+    second: Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGridWorld.demo.meta

 fileFormatVersion: 2
 guid: 0092f2e4aece345aea4730a37eeebf68
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400002: Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGridWorld.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400002
+    second: Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGridWorld.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs

 
             if (positionX == 0)
             {
-                actionMask.WriteMask(0, new[] { k_Left });
+                actionMask.SetActionEnabled(0, k_Left, false);
-                actionMask.WriteMask(0, new[] { k_Right });
+                actionMask.SetActionEnabled(0, k_Right, false);
-                actionMask.WriteMask(0, new[] { k_Down });
+                actionMask.SetActionEnabled(0, k_Down, false);
-                actionMask.WriteMask(0, new[] { k_Up });
+                actionMask.SetActionEnabled(0, k_Up, false);
             }
         }
     }

Project/Assets/ML-Agents/Examples/Hallway/Demos/ExpertHallway.demo.meta

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 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Hallway/Demos/ExpertHallway.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Hallway/Demos/ExpertHallway.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Match3/Scripts/Match3ExampleActuatorComponent.cs

     public class Match3ExampleActuatorComponent : Match3ActuatorComponent
     {
         /// <inheritdoc/>
-#pragma warning disable 672
-        public override IActuator CreateActuator()
-#pragma warning restore 672
+        public override IActuator[] CreateActuators()
-            return new Match3ExampleActuator(board, ForceHeuristic, agent, ActuatorName, seed);
+            return new IActuator[] { new Match3ExampleActuator(board, ForceHeuristic, agent, ActuatorName, seed) };
         }
     }
 }

Project/Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPushBlock.demo.meta

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 ScriptedImporter:
-  fileIDToRecycleName:
-    11400002: Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPushBlock.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400002
+    second: Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPushBlock.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo.meta

 fileFormatVersion: 2
 guid: 2f9d53c90f11846d7a6499ce0f1dfebb
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs.meta

 fileFormatVersion: 2
-guid: 506de7b261f374159a5cdfdb0ff48c0c
+guid: df05ec10e50114a9d92106879d04d89d
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

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

         public abstract void WriteObservation(float[] output);
 
         /// <inheritdoc/>
-        public abstract int[] GetObservationShape();
+        public abstract ObservationSpec GetObservationSpec();
 
         /// <inheritdoc/>
         public abstract string GetName();

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

         dirToGo += transform.right * right * m_LateralSpeed;
         rotateDir = -transform.up * rotate * m_RotateSpeed;
 
-        
+
         transform.Rotate(rotateDir, Time.deltaTime * 100f);
         agentRb.AddForce(dirToGo * m_SoccerSettings.agentRunSpeed,
             ForceMode.VelocityChange);

Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs

         foreach (var item in AgentsList)
         {
             var randomPosX = Random.Range(-5f, 5f);
-//            var randomPosZ = Random.Range(-5f, 5f);
+            //            var randomPosZ = Random.Range(-5f, 5f);
             var newStartPos = item.Agent.initialPos + new Vector3(randomPosX, 0f, 0f);//randomPosZ);
             var rot = item.Agent.rotSign * Random.Range(80.0f, 100.0f);
             var newRot = Quaternion.Euler(0, rot, 0);

Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta

 fileFormatVersion: 2
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 ScriptedImporter:
-  fileIDToRecycleName:
-    11400002: Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400002
+    second: Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensor.cs

 {
     Texture2D m_Texture;
     string m_Name;
-    int[] m_Shape;
+    private ObservationSpec m_ObservationSpec;
     SensorCompressionType m_CompressionType;
 
     /// <summary>
         var width = texture.width;
         var height = texture.height;
         m_Name = name;
-        m_Shape = new[] { height, width, 3 };
+        m_ObservationSpec = ObservationSpec.Visual(height, width, 3);
         m_CompressionType = compressionType;
     }
 
     }
 
     /// <inheritdoc/>
-    public int[] GetObservationShape()
+    public ObservationSpec GetObservationSpec()
-        return m_Shape;
+        return m_ObservationSpec;
     }
 
     /// <inheritdoc/>

Project/Packages/manifest.json

 {
   "dependencies": {
-    "com.unity.ads": "2.0.8",
-    "com.unity.analytics": "3.2.3",
-    "com.unity.barracuda": "1.2.1-preview",
-    "com.unity.collab-proxy": "1.2.15",
+    "com.unity.2d.sprite": "1.0.0",
+    "com.unity.2d.tilemap": "1.0.0",
+    "com.unity.ads": "3.6.1",
+    "com.unity.collab-proxy": "1.2.16",
+    "com.unity.ide.rider": "1.1.4",
+    "com.unity.ide.vscode": "1.2.3",
-    "com.unity.package-manager-ui": "2.0.13",
-    "com.unity.purchasing": "2.2.1",
-    "com.unity.textmeshpro": "1.4.1",
+    "com.unity.multiplayer-hlapi": "1.0.8",
+    "com.unity.nuget.newtonsoft-json": "2.0.0",
+    "com.unity.test-framework": "1.1.22",
+    "com.unity.textmeshpro": "2.0.1",
+    "com.unity.timeline": "1.2.6",
+    "com.unity.ugui": "1.0.0",
+    "com.unity.xr.legacyinputhelpers": "2.1.7",
+    "com.unity.modules.androidjni": "1.0.0",
     "com.unity.modules.animation": "1.0.0",
     "com.unity.modules.assetbundle": "1.0.0",
     "com.unity.modules.audio": "1.0.0",
     "com.unity.modules.video": "1.0.0",
     "com.unity.modules.vr": "1.0.0",
     "com.unity.modules.wind": "1.0.0",
-    "com.unity.modules.xr": "1.0.0",
-    "com.unity.nuget.newtonsoft-json": "2.0.0"
+    "com.unity.modules.xr": "1.0.0"
   },
   "testables": [
     "com.unity.ml-agents",

Project/ProjectSettings/EditorSettings.asset

 --- !u!159 &1
 EditorSettings:
   m_ObjectHideFlags: 0
-  serializedVersion: 7
+  serializedVersion: 9
   m_ExternalVersionControlSupport: Hidden Meta Files
   m_SerializationMode: 2
   m_LineEndingsForNewScripts: 1
   m_EtcTextureFastCompressor: 1
   m_EtcTextureNormalCompressor: 2
   m_EtcTextureBestCompressor: 4
-  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmdef;rsp
+  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmdef;rsp;asmref
+  m_EnableTextureStreamingInEditMode: 1
+  m_AsyncShaderCompilation: 1
+  m_EnterPlayModeOptionsEnabled: 0
+  m_EnterPlayModeOptions: 3
+  m_ShowLightmapResolutionOverlay: 1
+  m_UseLegacyProbeSampleCount: 1
+  m_AssetPipelineMode: 1
+  m_CacheServerMode: 0
+  m_CacheServerEndpoint: 
+  m_CacheServerNamespacePrefix: default
+  m_CacheServerEnableDownload: 1
+  m_CacheServerEnableUpload: 1

Project/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2018.4.32f1
+m_EditorVersion: 2019.4.20f1
+m_EditorVersionWithRevision: 2019.4.20f1 (6dd1c08eedfa)

README.md

 
 # Unity ML-Agents Toolkit
 
-[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/)
+[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_15_docs/docs/)
 
 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)
 
 - 18+ [example Unity environments](docs/Learning-Environment-Examples.md)
 - Support for multiple environment configurations and training scenarios
 - Flexible Unity SDK that can be integrated into your game or custom Unity scene
-- Training using two deep reinforcement learning algorithms, Proximal Policy
-  Optimization (PPO) and Soft Actor-Critic (SAC)
-- Built-in support for Imitation Learning through Behavioral Cloning (BC) or
-  Generative Adversarial Imitation Learning (GAIL)
-- Self-play mechanism for training agents in adversarial scenarios
+- Support for training single-agent, multi-agent cooperative, and multi-agent
+  competitive scenarios via several Deep Reinforcement Learning algorithms (PPO, SAC, MA-POCA, self-play).
+- Support for learning from demonstrations through two Imitation Learning algorithms (BC and GAIL).
 - Easily definable Curriculum Learning scenarios for complex tasks
 - Train robust agents using environment randomization
 - Flexible agent control with On Demand Decision Making
 ## Releases & Documentation
 
 
-**Our latest, stable release is `Release 14`. Click
-[here](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Readme.md)
+**Our latest, stable release is `Release 15`. Click
+[here](https://github.com/Unity-Technologies/ml-agents/tree/release_15_docs/docs/Readme.md)
 to get started with the latest release of ML-Agents.**
 
 The table below lists all our releases, including our `main` branch which is
 | **Version** | **Release Date** | **Source** | **Documentation** | **Download** | **Python Package** | **Unity Package** |
 |:-------:|:------:|:-------------:|:-------:|:------------:|:------------:|:------------:|
 | **main (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/main) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/main/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/main.zip) | -- | -- |
-| **Release 14** | **March 5, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_14)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_14.zip)** | **[0.24.1](https://pypi.org/project/mlagents/0.24.1/)** | **[1.8.1](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html)** |
+| **Release 15** | **March 17, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_15)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_15_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_15.zip)** | **[0.25.0](https://pypi.org/project/mlagents/0.25.0/)** | **[1.9.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.9/manual/index.html)** |
-| **Release 13** | **February 17, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_13)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_13.zip)** | **[0.24.0](https://pypi.org/project/mlagents/0.24.0/)** | **[1.8.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html)** |
+| **Release 14** | March 5, 2021 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_14) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_14.zip) | [0.24.1](https://pypi.org/project/mlagents/0.24.1/) | [1.8.1](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html) |
+| **Release 13** | February 17, 2021 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_13) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_13.zip) | [0.24.0](https://pypi.org/project/mlagents/0.24.0/) | [1.8.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html) |
 | **Release 12** | December 22, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_12) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_12.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.2](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) |
 | **Release 11** | December 21, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_11) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_11_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_11.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) |
 | **Release 10** | November 18, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_10) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_10_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_10.zip) | [0.22.0](https://pypi.org/project/mlagents/0.22.0/) | [1.6.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.6/manual/index.html) |

com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md

 
 An image can be thought of as a matrix of a predefined width (W) and a height (H) and each pixel can be thought of as simply an array of length 3 (in the case of RGB), `[Red, Green, Blue]` holding the different channel information of the color (channel) intensities at that pixel location. Thus an image is just a 3 dimensional matrix of size WxHx3. A Grid Observation can be thought of as a generalization of this setup where in place of a pixel there is a "cell" which is an array of length N representing different channel intensities at that cell position. From a Convolutional Neural Network point of view, the introduction of multiple channels in an "image" isn't a new concept. One such example is using an RGB-Depth image which is used in several robotics applications. The distinction of Grid Observations is what the data within the channels represents. Instead of limiting the channels to color intensities, the channels within a cell of a Grid Observation generalize to any data that can be represented by a single number (float or int).
 
-Before jumping into the details of the Grid Sensor, an important thing to note is the agent performance and qualitatively different behavior over raycasts. Unity MLAgent's comes with a suite of example environments. One in particular, the [Food Collector](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Learning-Environment-Examples.md#food-collector), has been the focus of the Grid Sensor development.
+Before jumping into the details of the Grid Sensor, an important thing to note is the agent performance and qualitatively different behavior over raycasts. Unity MLAgent's comes with a suite of example environments. One in particular, the [Food Collector](https://github.com/Unity-Technologies/ml-agents/tree/release_15_docs/docs/Learning-Environment-Examples.md#food-collector), has been the focus of the Grid Sensor development.
 
 The Food Collector environment can be described as:
 * Set-up: A multi-agent environment where agents compete to collect food.

com.unity.ml-agents.extensions/Documentation~/Match3.md

 This implementation includes:
 
 * C# implementation catered toward a Match-3 setup including concepts around encoding for moves based on [Human Like Playtesting with Deep Learning](https://www.researchgate.net/publication/328307928_Human-Like_Playtesting_with_Deep_Learning)
-* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/docs/Learning-Environment-Examples.md#match-3).
+* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_15_docs/docs/docs/Learning-Environment-Examples.md#match-3).
 
 ### Feedback
 If you are a Match-3 developer and are trying to leverage ML-Agents for this scenario, [we want to hear from you](https://forms.gle/TBsB9jc8WshgzViU9). Additionally, we are also looking for interested Match-3 teams to speak with us for 45 minutes. If you are interested, please indicate that in the [form](https://forms.gle/TBsB9jc8WshgzViU9).  If selected, we will provide gift cards as a token of appreciation.

com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md

 recommended ways to install the package:
 
 ### Local Installation
-[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_14_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_14_docs/docs/Installation.md#advanced-local-installation-for-development-1)
+[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_15_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_15_docs/docs/Installation.md#advanced-local-installation-for-development-1)
-![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/images/unity_package_manager_git_url.png)
+![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_15_docs/docs/images/unity_package_manager_git_url.png)
-git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_14
+git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_15
-"com.unity.ml-agents.extensions": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_14",
+"com.unity.ml-agents.extensions": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_15",
 ```
 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.
 
-This version of the Unity ML-Agents Extensions package is compatible with the
-following versions of the Unity Editor:
+This version of the Unity ML-Agents package is compatible with the following
+versions of the Unity Editor:
-- If using the `InputActuatorComponent`
-    - 2019.4 or later
-    - install the `com.unity.inputsystem` package version `1.1.0-preview.3` or later.
-- Else 2018.4 and later
+- 2019.4 and later
+
+If using the `InputActuatorComponent`
+- install the `com.unity.inputsystem` package version `1.1.0-preview.3` or later.
 
 ## Known Limitations
 - For the `InputActuatorComponent`
 ## Need Help?
-The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/README.md) contains links for contacting the team or getting support.
+The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_15_docs/README.md) contains links for contacting the team or getting support.

com.unity.ml-agents.extensions/Editor/Input/InputActuatorComponentEditor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Extensions.Input;
 using UnityEditor;
 
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/AssemblyInfo.cs

 
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.EditorTests")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.Editor")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.Tests")]

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine;
 using UnityEngine.InputSystem;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.Controls;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.LowLevel;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.LowLevel;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using Unity.MLAgents.Actuators;
 using UnityEngine;
 
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/IInputActionAssetProvider.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using UnityEngine.InputSystem;
 
 namespace Unity.MLAgents.Extensions.Input
         (InputActionAsset, IInputActionCollection2) GetInputActionAsset();
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
         void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers);
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Policies;
     /// <see cref="Agent"/>'s <see cref="BehaviorParameters"/> indicate that the Agent is running in Heuristic Mode,
     /// this Actuator will write actions from the <see cref="InputSystem"/> to the <see cref="ActionBuffers"/> object.
     /// </summary>
-    public class InputActionActuator : IActuator, IHeuristicProvider, IBuiltInActuator
+    public class InputActionActuator : IActuator, IBuiltInActuator
     {
         readonly BehaviorParameters m_BehaviorParameters;
         readonly InputAction m_Action;
     }
 }
 
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using System.Collections.Generic;
 using Unity.Collections;
             return inputControlScheme;
         }
 
-#pragma warning disable 672
-        /// <inheritdoc cref="ActuatorComponent.CreateActuator"/>
-        public override IActuator CreateActuator() { return null; }
-#pragma warning restore 672
-
         /// <summary>
         ///
         /// </summary>
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using Unity.Collections;
 using UnityEngine.InputSystem;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Match3/Match3Actuator.cs

         /// <param name="agent"></param>
         /// <param name="name"></param>
         public Match3Actuator(AbstractBoard board,
-            bool forceHeuristic,
-            int seed,
-            Agent agent,
-            string name)
+                              bool forceHeuristic,
+                              int seed,
+                              Agent agent,
+                              string name)
         {
             m_Board = board;
             m_Rows = board.Rows;
         /// <inheritdoc/>
         public void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
         {
+            const int branch = 0;
+            bool foundValidMove = false;
-                actionMask.WriteMask(0, InvalidMoveIndices());
-            }
-        }
+                var numMoves = m_Board.NumMoves();
-        /// <inheritdoc/>
-        public string Name { get; }
+                var currentMove = Move.FromMoveIndex(0, m_Board.Rows, m_Board.Columns);
+                for (var i = 0; i < numMoves; i++)
+                {
+                    if (m_Board.IsMoveValid(currentMove))
+                    {
+                        foundValidMove = true;
+                    }
+                    else
+                    {
+                        actionMask.SetActionEnabled(branch, i, false);
+                    }
+                    currentMove.Next(m_Board.Rows, m_Board.Columns);
+                }
-        /// <inheritdoc/>
-        public void ResetData()
-        {
-        }
-
-        /// <inheritdoc/>
-        public BuiltInActuatorType GetBuiltInActuatorType()
-        {
-            return BuiltInActuatorType.Match3Actuator;
-        }
-
-        IEnumerable<int> InvalidMoveIndices()
-        {
-            var numValidMoves = m_Board.NumMoves();
-
-            foreach (var move in m_Board.InvalidMoves())
-            {
-                numValidMoves--;
-                if (numValidMoves == 0)
+                if (!foundValidMove)
                 {
                     // If all the moves are invalid and we mask all the actions out, this will cause an assert
                     // later on in IDiscreteActionMask. Instead, fire a callback to the user if they provided one,
                             "an invalid move will be passed to AbstractBoard.MakeMove()."
                         );
                     }
-                    // This means the last move won't be returned as an invalid index.
-                    yield break;
+                    actionMask.SetActionEnabled(branch, numMoves - 1, true);
-                yield return move.MoveIndex;
+        /// <inheritdoc/>
+        public string Name { get; }
+
+        /// <inheritdoc/>
+        public void ResetData()
+        {
+        }
+
+        /// <inheritdoc/>
+        public BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.Match3Actuator;
+        }
+
         public void Heuristic(in ActionBuffers actionsOut)
         {
             var discreteActions = actionsOut.DiscreteActions;
-
-
             var bestMoveIndex = 0;
             var bestMovePoints = -1;
             var numMovesAtCurrentScore = 0;

com.unity.ml-agents.extensions/Runtime/Match3/Match3ActuatorComponent.cs

         public bool ForceHeuristic;
 
         /// <inheritdoc/>
-#pragma warning disable 672
-        public override IActuator CreateActuator()
-#pragma warning restore 672
+        public override IActuator[] CreateActuators()
-            return new Match3Actuator(board, ForceHeuristic, seed, agent, ActuatorName);
+            return new IActuator[] { new Match3Actuator(board, ForceHeuristic, seed, agent, ActuatorName) };
         }
 
         /// <inheritdoc/>

com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs

     {
         private Match3ObservationType m_ObservationType;
         private AbstractBoard m_Board;
-        private int[] m_Shape;
+        private ObservationSpec m_ObservationSpec;
         private int[] m_SparseChannelMapping;
         private string m_Name;
 
             m_NumSpecialTypes = board.NumSpecialTypes;
 
             m_ObservationType = obsType;
-            m_Shape = obsType == Match3ObservationType.Vector ?
-                new[] { m_Rows * m_Columns * (m_NumCellTypes + SpecialTypeSize) } :
-                new[] { m_Rows, m_Columns, m_NumCellTypes + SpecialTypeSize };
+            m_ObservationSpec = obsType == Match3ObservationType.Vector
+                ? ObservationSpec.Vector(m_Rows * m_Columns * (m_NumCellTypes + SpecialTypeSize))
+                : ObservationSpec.Visual(m_Rows, m_Columns, m_NumCellTypes + SpecialTypeSize);
 
             // See comment in GetCompressedObservation()
             var cellTypePaddedSize = 3 * ((m_NumCellTypes + 2) / 3);
         }
 
         /// <inheritdoc/>
-        public int[] GetObservationShape()
+        public ObservationSpec GetObservationSpec()
-            return m_Shape;
+            return m_ObservationSpec;
         }
 
         /// <inheritdoc/>

com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs

         protected bool Initialized = false;
 
         /// <summary>
-        /// Array holding the dimensions of the resulting tensor
+        /// Cached ObservationSpec
-        private int[] m_Shape;
+        private ObservationSpec m_ObservationSpec;
 
         //
         // Debug Parameters
             // Default root reference to current game object
             if (rootReference == null)
                 rootReference = gameObject;
-            m_Shape = new[] { GridNumSideX, GridNumSideZ, ObservationPerCell };
+            m_ObservationSpec = ObservationSpec.Visual(GridNumSideX, GridNumSideZ, ObservationPerCell);
 
             compressedImgs = new List<byte[]>();
             byteSizesBytesList = new List<byte[]>();
                     CellActivity[i] = DebugDefaultColor;
                 }
             }
-        }
-
-        /// <summary>Gets the shape of the grid observation</summary>
-        /// <returns>integer array shape of the grid observation</returns>
-        public int[] GetFloatObservationShape()
-        {
-            m_Shape = new[] { GridNumSideX, GridNumSideZ, ObservationPerCell };
-            return m_Shape;
         }
 
         /// <inheritdoc/>
 
         /// <summary>Gets the observation shape</summary>
         /// <returns>int[] of the observation shape</returns>
+        public ObservationSpec GetObservationSpec()
+        {
+            // Lazy update
+            var shape = m_ObservationSpec.Shape;
+            if (shape[0] != GridNumSideX || shape[1] != GridNumSideZ || shape[2] != ObservationPerCell)
+            {
+                m_ObservationSpec = ObservationSpec.Visual(GridNumSideX, GridNumSideZ, ObservationPerCell);
+            }
+            return m_ObservationSpec;
+        }
+
+        /// <inheritdoc/>
-            m_Shape = new[] { GridNumSideX, GridNumSideZ, ObservationPerCell };
-            return m_Shape;
+            var shape = m_ObservationSpec.Shape;
+            return new int[] { shape[0], shape[1], shape[2] };
         }
 
         /// <inheritdoc/>

com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs

     /// </summary>
     public class PhysicsBodySensor : ISensor, IBuiltInSensor
     {
-        int[] m_Shape;
+        ObservationSpec m_ObservationSpec;
         string m_SensorName;
 
         PoseExtractor m_PoseExtractor;
             }
 
             var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
-            m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
+            m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
         }
 
 #if UNITY_2020_1_OR_NEWER
             }
 
             var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
-            m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
+            m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
-        public int[] GetObservationShape()
+        public ObservationSpec GetObservationSpec()
-            return m_Shape;
+            return m_ObservationSpec;
         }
 
         /// <inheritdoc/>

com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs

 
             var expectedShape = new[] { 3 * 3 * 2 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             var expectedObs = new float[]
             {
 
             var expectedShape = new[] { 3 * 3 * (2 + 3) };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             var expectedObs = new float[]
             {
 
             var expectedShape = new[] { 3, 3, 2 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionType());
 
 
             var expectedShape = new[] { 3, 3, 2 + 3 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionType());
 
 
             var expectedShape = new[] { 3, 3, 2 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionType());
 
 
             var expectedShape = new[] { 3, 3, 2 + 3 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionType());
 

com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelHotShapeTests.cs

             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 1 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
 
         }
 
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 2 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
 
         }
 
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 3 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
 
         }
 
             gridSensor.