Merge branch 'master' into hh/develop/loco-crawler-variable-speed

4 年前 · 2080c287
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
            . venv/bin/activate
            mkdir test-reports
            pip freeze > test-reports/pip_versions.txt
-            pytest -n 2 --cov=ml-agents --cov=ml-agents-envs --cov=gym-unity --cov-report html --junitxml=test-reports/junit.xml -p no:warnings
+            pytest --cov=ml-agents --cov=ml-agents-envs --cov=gym-unity --cov-report html --junitxml=test-reports/junit.xml -p no:warnings

      - run:
          name: Verify there are no hidden/missing metafiles.
            # Need ruby for search-and-replace
            sudo apt-get update
            sudo apt-get install ruby-full
+
+            # install dotnet and the formatter - see https://docs.microsoft.com/en-us/dotnet/core/install/linux-debian#debian-9-
+            pushd ~
+            wget -O - https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.asc.gpg
+            sudo mv microsoft.asc.gpg /etc/apt/trusted.gpg.d/
+            wget https://packages.microsoft.com/config/debian/9/prod.list
+            sudo mv prod.list /etc/apt/sources.list.d/microsoft-prod.list
+            sudo chown root:root /etc/apt/trusted.gpg.d/microsoft.asc.gpg
+            sudo chown root:root /etc/apt/sources.list.d/microsoft-prod.list
+            popd
+
+            sudo apt-get install -y apt-transport-https && \
+              sudo apt-get update && \
+              sudo apt-get install -y dotnet-sdk-3.1 && \
+              dotnet tool install -g dotnet-format --version 4.1.131201
+
+            echo "Setting up venv"
            python3 -m venv venv
            . venv/bin/activate
            pip install --upgrade pip
          name: Check Code Style using pre-commit
          command: |
            . venv/bin/activate
+            export PATH="$PATH:~/.dotnet/tools"
            pre-commit run --show-diff-on-failure --all-files

  markdown_link_check:
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
        name: validate release links
        language: script
        entry: utils/validate_release_links.py
-
+    -   id: dotnet-format
+        name: dotnet-format
+        language: script
+        entry: utils/run_dotnet_format.py
+        types: [c#]

--- a/DevProject/Assets/ML-Agents/Scripts/Tests/Performance/SensorPerformanceTests.cs
+++ b/DevProject/Assets/ML-Agents/Scripts/Tests/Performance/SensorPerformanceTests.cs
 using NUnit.Framework;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Policies;
 using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Sensors.Reflection;
            {
            }

-            public override void Heuristic(float[] actionsOut)
+            public override void Heuristic(in ActionBuffers actionsOut)
            {
            }
        }
                sensor.AddObservation(new Quaternion(1, 2, 3, 4));
            }

-            public override void Heuristic(float[] actionsOut)
+            public override void Heuristic(in ActionBuffers actionsOut)
            {
            }
        }
            [Observable]
            public Quaternion QuaternionField = new Quaternion(1, 2, 3, 4);

-            public override void Heuristic(float[] actionsOut)
+            public override void Heuristic(in ActionBuffers actionsOut)
            {
            }
        }
                get { return m_QuaternionField; }
            }

-            public override void Heuristic(float[] actionsOut)
+            public override void Heuristic(in ActionBuffers actionsOut)
            {
            }
        }
        {
            using (Measure.ProfilerMarkers(s_Markers))
            {
-                for(var i=0; i<k_MarkerTestSteps; i++)
+                for (var i = 0; i < k_MarkerTestSteps; i++)
                {
                    RunAgent<CollectObservationsAgent>(k_NumAgentSteps, 7, ObservableAttributeOptions.Ignore);
                }
--- a/Project/Assets/ML-Agents/Editor/DisableBurstFromMenu.cs
+++ b/Project/Assets/ML-Agents/Editor/DisableBurstFromMenu.cs
-#if UNITY_CLOUD_BUILD
+#if UNITY_CLOUD_BUILD
 using UnityEditor;

 public class DisableBurstFromMenu
--- a/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
+using System;
+using Unity.MLAgents.Actuators;
+using Random = UnityEngine.Random;

 public class Ball3DAgent : Agent
 {
        sensor.AddObservation(m_BallRb.velocity);
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
-        var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
-        var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
+        var actionZ = 2f * Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f);
+        var actionX = 2f * Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f);

        if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
            (gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
        SetResetParameters();
    }

-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = -Input.GetAxis("Horizontal");
-        actionsOut[1] = Input.GetAxis("Vertical");
+        var continuousActionsOut = actionsOut.ContinuousActions;
+        continuousActionsOut[0] = -Input.GetAxis("Horizontal");
+        continuousActionsOut[1] = Input.GetAxis("Vertical");
    }

    public void SetBall()
--- a/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;

 public class Ball3DHardAgent : Agent
        sensor.AddObservation((ball.transform.position - gameObject.transform.position));
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
-        var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
+        var continuousActions = actionBuffers.ContinuousActions;
+        var actionZ = 2f * Mathf.Clamp(continuousActions[0], -1f, 1f);
+        var actionX = 2f * Mathf.Clamp(continuousActions[1], -1f, 1f);

        if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
            (gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
--- a/Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBall.nn
+++ b/Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBall.nn
--- a/Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBallHard.nn
+++ b/Project/Assets/ML-Agents/Examples/3DBall/TFModels/3DBallHard.nn
--- a/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicController.cs
+++ b/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicController.cs
 using UnityEngine;
 using UnityEngine.SceneManagement;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using UnityEngine.Serialization;

 /// <summary>
    /// Controls the movement of the GameObject based on the actions received.
    /// </summary>
    /// <param name="vectorAction"></param>
-    public void ApplyAction(float[] vectorAction)
+    public void ApplyAction(ActionSegment<int> vectorAction)
-        var movement = (int)vectorAction[0];
+        var movement = vectorAction[0];

        var direction = 0;

        if (Academy.Instance.IsCommunicatorOn)
        {
            // Apply the previous step's actions
-            ApplyAction(m_Agent.GetAction());
+            ApplyAction(m_Agent.GetStoredActionBuffers().DiscreteActions);
            m_Agent?.RequestDecision();
        }
        else
                // Apply the previous step's actions
-                ApplyAction(m_Agent.GetAction());
+                ApplyAction(m_Agent.GetStoredActionBuffers().DiscreteActions);

                m_TimeSinceDecision = 0f;
                m_Agent?.RequestDecision();
--- a/Project/Assets/ML-Agents/Examples/Basic/TFModels/Basic.nn
+++ b/Project/Assets/ML-Agents/Examples/Basic/TFModels/Basic.nn
 vector_observation����action_masks����policy_1/concat_2/concatactionaction_output_shape������?
-action_output_shapememory_sizeversion_numbertrainer_patch_versiontrainer_minor_versiontrainer_major_versionis_continuous_controlpolicy_1/add_2/ypolicy_1/Sum/reduction_indicespolicy_1/add/y	$policy/main_graph_0/hidden_0/BiasAdd�����?vector_observation#policy/main_graph_0/hidden_0/kernel
-�!policy/main_graph_0/hidden_0/bias� policy/main_graph_0/hidden_0/Mul2	�����?$policy/main_graph_0/hidden_0/BiasAddpolicy_1/dense/MatMul�����? policy/main_graph_0/hidden_0/Mulpolicy/dense/kernel�<policy_1/dense/MatMul/patch:0�policy_1/strided_slice������?action_maskspolicy_1/Softmax2�����?policy_1/dense/MatMulpolicy_1/addd�����?policy_1/Softmaxpolicy_1/add/ypolicy_1/Mulf�����?policy_1/addpolicy_1/strided_slicepolicy_1/Sum������?policy_1/Mulpolicy_1/Sum/reduction_indicespolicy_1/truedivg�����?policy_1/Mulpolicy_1/Sumpolicy_1/add_2d�����?policy_1/truedivpolicy_1/add_2/ypolicy_1/Log_12r�����?policy_1/add_2policy_1/concat_2/concat2�����?policy_1/Log_1action2�����?policy_1/concat_2/concat@@@�A���3�?���3��ƽl>_jX=�P��
-��z�>����0>�����K�>s�>��Y>&�j>�M�����=,�����"����>�P�����>�ɹ<����8��c�==�����:)�y�x�>|\-<���xdO���"����{?=���=[�1>�l>>_����->�8���8��=�m>M�/>����H�=/��Nh���b_�4��>�]�܌<��>�Ӥ>�E��D>�T=�zO�����A�;Qd���Ͼ�{|��D;>Z�`�/�aV���o�>TJ�=Sa��xİ�5!)>�8�=� 侥Z�='�.�O�<��5n�A��|�=�����#��jfs>1x=��<)���g����K�>>z>���>���=�< Lb���>�ݘ>X=C=^JѾ��վ*�>�L�>�����`��%T�(Qz��'�>��k�����C�|>0�D�S:3<̋�>�D^=K8�Y^�>kX����f=b�=�׍�J9�=������=t:��
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�=��7��Ϟ�@�d�v>�>9O�>��z>H���ᝡ���p=��=J��>��?i(�>8���>%>��%��樾9���n����r>6^->�Х=Ng>�r>�ad>,{����>1��<1����!>ev�Z�=+-�����A����<��:>�1f�{J���c=��!�	���]3>�]R�+��<��C>DY0�
-Ty=��)��R�>C�>�[�=޽mU�>?��=�(��:��λ�&.{=��f��3/��kK��\�=W�ʻ1��>�����4�=k�)��������=P�#���,���A�sJ,��ՙ>�kY�>����ܼ~I>%�S���ս�k�վW�g>�f>
-ƙ����l��..R>��ʽ�k�=�=����a�P��IO?��I?�C?��F?t�B?;.�CM?o(��I?o�F?VGD?h�(����SH?�{H?��>��D?�G?�A?E7F?7���"Ǿk0/?W��ž�-,?X���
k���!?ߥ߾�����,?Ӿ�⾡�?�T?�.�>��"��N�Y�˾5n0?�?�>*��>%��P�����>.?�l�b�����?����"	��L-?�H�>x?L"�n��>%~�>�g'��X����^�??��<�ݾ��+?LD!<.V<��,������Q"?,�|����,?G��������?���G��W�-?
+action_output_shapememory_sizeversion_numbertrainer_patch_versiontrainer_minor_versiontrainer_major_versionis_continuous_controlpolicy_1/add/ypolicy_1/add_2/ypolicy_1/Sum/reduction_indices	$policy/main_graph_0/hidden_0/BiasAdd�����?vector_observation#policy/main_graph_0/hidden_0/kernel
+�!policy/main_graph_0/hidden_0/bias� policy/main_graph_0/hidden_0/Mul2	�����?$policy/main_graph_0/hidden_0/BiasAddpolicy_1/dense/MatMul�����? policy/main_graph_0/hidden_0/Mulpolicy/dense/kernel�<policy_1/dense/MatMul/patch:0�policy_1/strided_slice������?action_maskspolicy_1/Softmax2�����?policy_1/dense/MatMulpolicy_1/addd�����?policy_1/Softmaxpolicy_1/add/ypolicy_1/Mulf�����?policy_1/addpolicy_1/strided_slicepolicy_1/Sum������?policy_1/Mulpolicy_1/Sum/reduction_indicespolicy_1/truedivg�����?policy_1/Mulpolicy_1/Sumpolicy_1/add_2d�����?policy_1/truedivpolicy_1/add_2/ypolicy_1/Log_12r�����?policy_1/add_2policy_1/concat_2/concat2�����?policy_1/Log_1action2�����?policy_1/concat_2/concat@@@�A���3���3�? ��>�����=;���
+�>�e����U>X��=t`��_�>���>*p\>�}�=���=\�?=�f�=a�E�nڙ=E�\�!ü�1�#�n=_ ��Ǌ�����>Ҍ�<��=��=��'=��Ͼ�&>*��D4�>S}}>_WV>��>�jj>(�f>�>��B>��<
+�&>�,>�����\(��ޤ���a��G?>C�>�e,>��C�2D)>ڦ�=�!>YI>��=Pd���F������܎>����{A>P��=����j�?>�R�n�=�Z����\��>`��)=	M��[�s�'�@��ܦ�ډ��m����
+˾��]��=�;�">]|�>���=��#>	RT�}Q>e�O��|���|>�g�>:�>9ke�3V'>/�1�X�v��>�PDJ��>����B=�_n=bW���>��>,���#�H�
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--- a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;

 public class BouncerAgent : Agent
        sensor.AddObservation(target.transform.localPosition);
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        for (var i = 0; i < vectorAction.Length; i++)
+        var continuousActions = actionBuffers.ContinuousActions;
+        for (var i = 0; i < continuousActions.Length; i++)
-            vectorAction[i] = Mathf.Clamp(vectorAction[i], -1f, 1f);
+            continuousActions[i] = Mathf.Clamp(continuousActions[i], -1f, 1f);
-        var x = vectorAction[0];
-        var y = ScaleAction(vectorAction[1], 0, 1);
-        var z = vectorAction[2];
+        var x = continuousActions[0];
+        var y = ScaleAction(continuousActions[1], 0, 1);
+        var z = continuousActions[2];
-            vectorAction[0] * vectorAction[0] +
-            vectorAction[1] * vectorAction[1] +
-            vectorAction[2] * vectorAction[2]) / 3f);
+            continuousActions[0] * continuousActions[0] +
+            continuousActions[1] * continuousActions[1] +
+            continuousActions[2] * continuousActions[2]) / 3f);

        m_LookDir = new Vector3(x, y, z);
    }
        }
    }

-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = Input.GetAxis("Horizontal");
-        actionsOut[1] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
-        actionsOut[2] = Input.GetAxis("Vertical");
+        var continuousActionsOut = actionsOut.ContinuousActions;
+        continuousActionsOut[0] = Input.GetAxis("Horizontal");
+        continuousActionsOut[1] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
+        continuousActionsOut[2] = Input.GetAxis("Vertical");
    }

    void Update()
--- a/Project/Assets/ML-Agents/Examples/Bouncer/TFModels/Bouncer.nn
+++ b/Project/Assets/ML-Agents/Examples/Bouncer/TFModels/Bouncer.nn
--- a/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
 using System;
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgentsExamples;
 using Unity.MLAgents.Sensors;
 using Random = UnityEngine.Random;
        // The dictionary with all the body parts in it are in the jdController
        var bpDict = m_JdController.bodyPartsDict;

+        var continuousActions = actionBuffers.ContinuousActions;
-        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);
+        bpDict[leg0Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg1Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg2Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg3Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg0Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg1Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg2Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg3Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
-        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]);
+        bpDict[leg0Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg1Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg2Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg3Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg0Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg1Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg2Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg3Lower].SetJointStrength(continuousActions[++i]);
    }

    void FixedUpdate()
--- a/Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn
+++ b/Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn
--- a/Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn
+++ b/Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
+using System;
+using Unity.MLAgents.Actuators;
+using Random = UnityEngine.Random;

 public class FoodCollectorAgent : Agent
 {
        return new Color32(r, g, b, 255);
    }

-    public void MoveAgent(float[] act)
+    public void MoveAgent(ActionSegment<int> act)
    {
        m_Shoot = false;

        gameObject.GetComponentInChildren<Renderer>().material = normalMaterial;
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        MoveAgent(vectorAction);
+        MoveAgent(actionBuffers.DiscreteActions);
-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = 0f;
-        actionsOut[1] = 0f;
-        actionsOut[2] = 0f;
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut[0] = 0;
+        discreteActionsOut[1] = 0;
+        discreteActionsOut[2] = 0;
-            actionsOut[2] = 2f;
+            discreteActionsOut[2] = 2;
-            actionsOut[0] = 1f;
+            discreteActionsOut[0] = 1;
-            actionsOut[2] = 1f;
+            discreteActionsOut[2] = 1;
-            actionsOut[0] = 2f;
+            discreteActionsOut[0] = 2;
-        actionsOut[3] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
+        discreteActionsOut[3] = Input.GetKey(KeyCode.Space) ? 1 : 0;
    }

    public override void OnEpisodeBegin()
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorSettings.cs
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorSettings.cs
        // Send stats via SideChannel so that they'll appear in TensorBoard.
        // These values get averaged every summary_frequency steps, so we don't
        // need to send every Update() call.
-        if ((Time.frameCount % 100)== 0)
+        if ((Time.frameCount % 100) == 0)
        {
            m_Recorder.Add("TotalScore", totalScore);
        }
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.nn
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.nn
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
 using UnityEngine;
 using System.Linq;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using UnityEngine.Serialization;

 public class GridAgent : Agent
        m_ResetParams = Academy.Instance.EnvironmentParameters;
    }

-    public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
+    public override void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
-           // Prevents the agent from picking an action that would make it collide with a wall
+            // Prevents the agent from picking an action that would make it collide with a wall
            var positionX = (int)transform.position.x;
            var positionZ = (int)transform.position.z;
            var maxPosition = (int)m_ResetParams.GetWithDefault("gridSize", 5f) - 1;
-                actionMasker.SetMask(0, new []{ k_Left});
+                actionMask.WriteMask(0, new[] { k_Left });
-                actionMasker.SetMask(0, new []{k_Right});
+                actionMask.WriteMask(0, new[] { k_Right });
-                actionMasker.SetMask(0, new []{k_Down});
+                actionMask.WriteMask(0, new[] { k_Down });
-                actionMasker.SetMask(0, new []{k_Up});
+                actionMask.WriteMask(0, new[] { k_Up });
-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        var action = Mathf.FloorToInt(vectorAction[0]);
+        var action = actionBuffers.DiscreteActions[0];

        var targetPos = transform.position;
        switch (action)
        }
    }

-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = k_NoAction;
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut[0] = k_NoAction;
-            actionsOut[0] = k_Right;
+            discreteActionsOut[0] = k_Right;
-            actionsOut[0] = k_Up;
+            discreteActionsOut[0] = k_Up;
-            actionsOut[0] = k_Left;
+            discreteActionsOut[0] = k_Left;
-            actionsOut[0] = k_Down;
+            discreteActionsOut[0] = k_Down;
        }
    }

--- a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn
--- a/Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
 using System.Collections;
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;

 public class HallwayAgent : Agent
        m_GroundRenderer.material = m_GroundMaterial;
    }

-    public void MoveAgent(float[] act)
+    public void MoveAgent(ActionSegment<int> act)
-        var action = Mathf.FloorToInt(act[0]);
+        var action = act[0];
        switch (action)
        {
            case 1:
        m_AgentRb.AddForce(dirToGo * m_HallwaySettings.agentRunSpeed, ForceMode.VelocityChange);
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        MoveAgent(vectorAction);
+        MoveAgent(actionBuffers.DiscreteActions);
    }

    void OnCollisionEnter(Collision col)
        }
    }

-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = 0;
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut[0] = 0;
-            actionsOut[0] = 3;
+            discreteActionsOut[0] = 3;
-            actionsOut[0] = 1;
+            discreteActionsOut[0] = 1;
-            actionsOut[0] = 4;
+            discreteActionsOut[0] = 4;
-            actionsOut[0] = 2;
+            discreteActionsOut[0] = 2;
        }
    }

--- a/Project/Assets/ML-Agents/Examples/Hallway/TFModels/Hallway.nn
+++ b/Project/Assets/ML-Agents/Examples/Hallway/TFModels/Hallway.nn
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
 using System.Collections;
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;

 public class PushAgentBasic : Agent
 {
    /// <summary>
    /// Moves the agent according to the selected action.
    /// </summary>
-    public void MoveAgent(float[] act)
+    public void MoveAgent(ActionSegment<int> act)
-        var action = Mathf.FloorToInt(act[0]);
+        var action = act[0];

        switch (action)
        {
    /// <summary>
    /// Called every step of the engine. Here the agent takes an action.
    /// </summary>
-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        MoveAgent(vectorAction);
+        MoveAgent(actionBuffers.DiscreteActions);
-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = 0;
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut[0] = 0;
-            actionsOut[0] = 3;
+            discreteActionsOut[0] = 3;
-            actionsOut[0] = 1;
+            discreteActionsOut[0] = 1;
-            actionsOut[0] = 4;
+            discreteActionsOut[0] = 4;
-            actionsOut[0] = 2;
+            discreteActionsOut[0] = 2;
        }
    }

--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock.nn
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock.nn
--- a/Project/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidAgent.cs
 using UnityEngine;
 using Random = UnityEngine.Random;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;

 public class PyramidAgent : Agent
        }
    }

-    public void MoveAgent(float[] act)
+    public void MoveAgent(ActionSegment<int> act)
-        var action = Mathf.FloorToInt(act[0]);
+        var action = act[0];
        switch (action)
        {
            case 1:
        m_AgentRb.AddForce(dirToGo * 2f, ForceMode.VelocityChange);
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        MoveAgent(vectorAction);
+        MoveAgent(actionBuffers.DiscreteActions);
-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = 0;
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut[0] = 0;
-            actionsOut[0] = 3;
+            discreteActionsOut[0] = 3;
-            actionsOut[0] = 1;
+            discreteActionsOut[0] = 1;
-            actionsOut[0] = 4;
+            discreteActionsOut[0] = 4;
-            actionsOut[0] = 2;
+            discreteActionsOut[0] = 2;
        }
    }

--- a/Project/Assets/ML-Agents/Examples/Pyramids/TFModels/Pyramids.nn
+++ b/Project/Assets/ML-Agents/Examples/Pyramids/TFModels/Pyramids.nn
--- a/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;

 public class ReacherAgent : Agent
    /// <summary>
    /// The agent's four actions correspond to torques on each of the two joints.
    /// </summary>
-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * 150f;
-        var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * 150f;
+        var torqueX = Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f) * 150f;
+        var torqueZ = Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f) * 150f;
-        torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * 150f;
-        torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * 150f;
+        torqueX = Mathf.Clamp(actionBuffers.ContinuousActions[2], -1f, 1f) * 150f;
+        torqueZ = Mathf.Clamp(actionBuffers.ContinuousActions[3], -1f, 1f) * 150f;
        m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ));
    }

--- a/Project/Assets/ML-Agents/Examples/Reacher/TFModels/Reacher.nn
+++ b/Project/Assets/ML-Agents/Examples/Reacher/TFModels/Reacher.nn
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AdjustTrainingTimescale.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AdjustTrainingTimescale.cs

 using UnityEngine;

-namespace  MLAgentsExamples
+namespace MLAgentsExamples
 {
    public class AdjustTrainingTimescale : MonoBehaviour
    {
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs
-using UnityEngine;
+using UnityEngine;
-       
+
        public bool updatedByAgent; //should this be updated by the agent? If not, it will use local settings
        public Transform transformToFollow; //ex: hips or body
        public Transform targetToLookAt; //target in the scene the indicator will point to
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
    [System.Serializable]
    public class BodyPart
    {
-        [Header("Body Part Info")][Space(10)] public ConfigurableJoint joint;
+        [Header("Body Part Info")] [Space(10)] public ConfigurableJoint joint;
-        [Header("Ground & Target Contact")][Space(10)]
+        [Header("Ground & Target Contact")]
+        [Space(10)]
        public GroundContact groundContact;

        public TargetContact targetContact;

-        [Header("Current Joint Settings")][Space(10)]
+        [Header("Current Joint Settings")]
+        [Space(10)]
        public Vector3 currentEularJointRotation;

        [HideInInspector] public float currentStrength;

-        [Header("Other Debug Info")][Space(10)]
+        [Header("Other Debug Info")]
+        [Space(10)]
        public Vector3 currentJointForce;

        public float currentJointForceSqrMag;

    public class JointDriveController : MonoBehaviour
    {
-        [Header("Joint Drive Settings")][Space(10)]
+        [Header("Joint Drive Settings")]
+        [Space(10)]
        public float maxJointSpring;

        public float jointDampen;
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
    /// </summary>
    public class ModelOverrider : MonoBehaviour
    {
-        HashSet<string> k_SupportedExtensions = new HashSet<string>{"nn", "onnx"};
+        HashSet<string> k_SupportedExtensions = new HashSet<string> { "nn", "onnx" };
        const string k_CommandLineModelOverrideFlag = "--mlagents-override-model";
        const string k_CommandLineModelOverrideDirectoryFlag = "--mlagents-override-model-directory";
        const string k_CommandLineModelOverrideExtensionFlag = "--mlagents-override-model-extension";

        int TotalCompletedEpisodes
        {
-            get { return m_PreviousAgentCompletedEpisodes + (m_Agent == null ? 0 : m_Agent.CompletedEpisodes);  }
+            get { return m_PreviousAgentCompletedEpisodes + (m_Agent == null ? 0 : m_Agent.CompletedEpisodes); }
        }

        int TotalNumSteps

        public bool HasOverrides
        {
-            get { return m_BehaviorNameOverrides.Count > 0 || !string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory);  }
+            get { return m_BehaviorNameOverrides.Count > 0 || !string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory); }
        }

        public static string GetOverrideBehaviorName(string originalBehaviorName)
            var args = commandLineArgsOverride ?? Environment.GetCommandLineArgs();
            for (var i = 0; i < args.Length; i++)
            {
-                if (args[i] == k_CommandLineModelOverrideFlag && i < args.Length-2)
+                if (args[i] == k_CommandLineModelOverrideFlag && i < args.Length - 2)
-                else if (args[i] == k_CommandLineModelOverrideDirectoryFlag && i < args.Length-1)
+                else if (args[i] == k_CommandLineModelOverrideDirectoryFlag && i < args.Length - 1)
-                else if (args[i] == k_CommandLineModelOverrideExtensionFlag && i < args.Length-1)
+                else if (args[i] == k_CommandLineModelOverrideExtensionFlag && i < args.Length - 1)
                {
                    m_OverrideExtension = args[i + 1].Trim().ToLower();
                    var isKnownExtension = k_SupportedExtensions.Contains(m_OverrideExtension);
 #endif
                    }
                }
-                else if (args[i] == k_CommandLineQuitAfterEpisodesFlag && i < args.Length-1)
+                else if (args[i] == k_CommandLineQuitAfterEpisodesFlag && i < args.Length - 1)
                {
                    Int32.TryParse(args[i + 1], out maxEpisodes);
                }
            {
                assetPath = m_BehaviorNameOverrides[behaviorName];
            }
-            else if(!string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory))
+            else if (!string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory))
            {
                assetPath = Path.Combine(m_BehaviorNameOverrideDirectory, $"{behaviorName}.{m_OverrideExtension}");
            }
            {
                model = File.ReadAllBytes(assetPath);
            }
-            catch(IOException)
+            catch (IOException)
            {
                Debug.Log($"Couldn't load file {assetPath} at full path {Path.GetFullPath(assetPath)}", this);
                // Cache the null so we don't repeatedly try to load a missing file

            if (!overrideOk && m_QuitOnLoadFailure)
            {
-                if(!string.IsNullOrEmpty(overrideError))
+                if (!string.IsNullOrEmpty(overrideError))
                {
                    Debug.LogWarning(overrideError);
                }
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/Monitor.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/Monitor.cs
-using System.Collections.Generic;
+using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;

                var displayValues = s_DisplayTransformValues[target];

                var index = 0;
-                var orderedKeys = displayValues.Keys.OrderBy(x => - displayValues[x].time);
+                var orderedKeys = displayValues.Keys.OrderBy(x => -displayValues[x].time);
                foreach (var key in orderedKeys)
                {
                    s_KeyStyle.alignment = TextAnchor.MiddleRight;
            s_RedStyle = s_ColorStyle[5];
        }
    }
-}
+}
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs
-using UnityEngine;
+using UnityEngine;

 namespace Unity.MLAgentsExamples
 {
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ProjectSettingsOverrides.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ProjectSettingsOverrides.cs
            m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
            m_OriginalSolverIterations = Physics.defaultSolverIterations;
            m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
-            m_OriginalReuseCollisionCallbacks = Physics.reuseCollisionCallbacks ;
+            m_OriginalReuseCollisionCallbacks = Physics.reuseCollisionCallbacks;

            // Override
            Physics.gravity *= gravityMultiplier;
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs
        }

        /// <inheritdoc/>
-        public void Update() {}
+        public void Update() { }

        /// <inheritdoc/>
        public void Reset() { }
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.cs
-using UnityEngine;
+using UnityEngine;
 using Random = UnityEngine.Random;
 using Unity.MLAgents;
 using UnityEngine.Events;
    /// </summary>
    public class TargetController : MonoBehaviour
    {
-        
+
-        
+
-        
+
        [Header("Target Fell Protection")]
        public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
        public float fallDistance = 5; //distance below the starting height that will trigger a respawn 
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
 using System;
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Policies;

 public class AgentSoccer : Agent
        m_ResetParams = Academy.Instance.EnvironmentParameters;
    }

-    public void MoveAgent(float[] act)
+    public void MoveAgent(ActionSegment<int> act)
    {
        var dirToGo = Vector3.zero;
        var rotateDir = Vector3.zero;
-        var forwardAxis = (int)act[0];
-        var rightAxis = (int)act[1];
-        var rotateAxis = (int)act[2];
+        var forwardAxis = act[0];
+        var rightAxis = act[1];
+        var rotateAxis = act[2];

        switch (forwardAxis)
        {
            ForceMode.VelocityChange);
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
    {

        if (position == Position.Goalie)
            // Existential penalty cumulant for Generic
            timePenalty -= m_Existential;
        }
-        MoveAgent(vectorAction);
+        MoveAgent(actionBuffers.DiscreteActions);
-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        Array.Clear(actionsOut, 0, actionsOut.Length);
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut.Clear();
-            actionsOut[0] = 1f;
+            discreteActionsOut[0] = 1;
-            actionsOut[0] = 2f;
+            discreteActionsOut[0] = 2;
-            actionsOut[2] = 1f;
+            discreteActionsOut[2] = 1;
-            actionsOut[2] = 2f;
+            discreteActionsOut[2] = 2;
-            actionsOut[1] = 1f;
+            discreteActionsOut[1] = 1;
-            actionsOut[1] = 2f;
+            discreteActionsOut[1] = 2;
        }
    }
    /// <summary>
--- a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn
+++ b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn
--- a/Project/Assets/ML-Agents/Examples/Startup/Scripts/Startup.cs
+++ b/Project/Assets/ML-Agents/Examples/Startup/Scripts/Startup.cs
            // no scene environment variable is found.
            var args = Environment.GetCommandLineArgs();
            Console.WriteLine("Command line arguments passed: " + String.Join(" ", args));
-            for (int i = 0; i < args.Length; i++) {
-                if (args [i] == k_SceneCommandLineFlag && i < args.Length - 1) {
+            for (int i = 0; i < args.Length; i++)
+            {
+                if (args[i] == k_SceneCommandLineFlag && i < args.Length - 1)
+                {
                    sceneName = args[i + 1];
                }
            }
--- a/Project/Assets/ML-Agents/Examples/Template/Scripts/TemplateAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Template/Scripts/TemplateAgent.cs
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;

 public class TemplateAgent : Agent
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
    {
    }

--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs
    public bool net;

    public enum FloorHit
-        {
-            Service,
-            FloorHitUnset,
-            FloorAHit,
-            FloorBHit
-        }
+    {
+        Service,
+        FloorHitUnset,
+        FloorAHit,
+        FloorBHit
+    }

    public FloorHit lastFloorHit;

        lastFloorHit = FloorHit.Service;
        net = false;
    }
-    
+
    void AgentAWins()
    {
        m_AgentA.SetReward(1);
--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
 using UnityEngine;
 using UnityEngine.UI;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;

 public class TennisAgent : Agent
        sensor.AddObservation(m_InvertMult * gameObject.transform.rotation.z);
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        var moveX = Mathf.Clamp(vectorAction[0], -1f, 1f) * m_InvertMult;
-        var moveY = Mathf.Clamp(vectorAction[1], -1f, 1f);
-        var rotate = Mathf.Clamp(vectorAction[2], -1f, 1f) * m_InvertMult;
+        var continuousActions = actionBuffers.ContinuousActions;
+        var moveX = Mathf.Clamp(continuousActions[0], -1f, 1f) * m_InvertMult;
+        var moveY = Mathf.Clamp(continuousActions[1], -1f, 1f);
+        var rotate = Mathf.Clamp(continuousActions[2], -1f, 1f) * m_InvertMult;

        if (moveY > 0.5 && transform.position.y - transform.parent.transform.position.y < -1.5f)
        {
        m_TextComponent.text = score.ToString();
    }

-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        actionsOut[0] = Input.GetAxis("Horizontal");    // Racket Movement
-        actionsOut[1] = Input.GetKey(KeyCode.Space) ? 1f : 0f;   // Racket Jumping
-        actionsOut[2] = Input.GetAxis("Vertical");   // Racket Rotation
+        var continuousActionsOut = actionsOut.ContinuousActions;
+        continuousActionsOut[0] = Input.GetAxis("Horizontal");    // Racket Movement
+        continuousActionsOut[1] = Input.GetKey(KeyCode.Space) ? 1f : 0f;   // Racket Jumping
+        continuousActionsOut[2] = Input.GetAxis("Vertical");   // Racket Rotation
    }

    public override void OnEpisodeBegin()
--- a/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
 using System;
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgentsExamples;
 using Unity.MLAgents.Sensors;
 using BodyPart = Unity.MLAgentsExamples.BodyPart;
        }
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        bpDict[chest].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
-        bpDict[spine].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+        var continuousActions = actionBuffers.ContinuousActions;
+        bpDict[chest].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]);
+        bpDict[spine].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++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[thighL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[thighR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[shinL].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[shinR].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[footR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]);
+        bpDict[footL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++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);
+        bpDict[armL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[armR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[forearmL].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[forearmR].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[head].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
-        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[chest].SetJointStrength(continuousActions[++i]);
+        bpDict[spine].SetJointStrength(continuousActions[++i]);
+        bpDict[head].SetJointStrength(continuousActions[++i]);
+        bpDict[thighL].SetJointStrength(continuousActions[++i]);
+        bpDict[shinL].SetJointStrength(continuousActions[++i]);
+        bpDict[footL].SetJointStrength(continuousActions[++i]);
+        bpDict[thighR].SetJointStrength(continuousActions[++i]);
+        bpDict[shinR].SetJointStrength(continuousActions[++i]);
+        bpDict[footR].SetJointStrength(continuousActions[++i]);
+        bpDict[armL].SetJointStrength(continuousActions[++i]);
+        bpDict[forearmL].SetJointStrength(continuousActions[++i]);
+        bpDict[armR].SetJointStrength(continuousActions[++i]);
+        bpDict[forearmR].SetJointStrength(continuousActions[++i]);
    }

    //Update OrientationCube and DirectionIndicator
--- a/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
 using UnityEngine;
 using Unity.MLAgents;
 using Unity.Barracuda;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
 using Unity.MLAgentsExamples;

        m_GroundRenderer.material = m_GroundMaterial;
    }

-    public void MoveAgent(float[] act)
+    public void MoveAgent(ActionSegment<int> act)
    {
        AddReward(-0.0005f);
        var smallGrounded = DoGroundCheck(true);
        var rotateDir = Vector3.zero;
-        var dirToGoForwardAction = (int)act[0];
-        var rotateDirAction = (int)act[1];
-        var dirToGoSideAction = (int)act[2];
-        var jumpAction = (int)act[3];
+        var dirToGoForwardAction = act[0];
+        var rotateDirAction = act[1];
+        var dirToGoSideAction = act[2];
+        var jumpAction = act[3];

        if (dirToGoForwardAction == 1)
            dirToGo = (largeGrounded ? 1f : 0.5f) * 1f * transform.forward;
        jumpingTime -= Time.fixedDeltaTime;
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
-        MoveAgent(vectorAction);
+        MoveAgent(actionBuffers.DiscreteActions);
        if ((!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
            || (!Physics.Raycast(m_ShortBlockRb.position, Vector3.down, 20)))
        {
        }
    }

-    public override void Heuristic(float[] actionsOut)
+    public override void Heuristic(in ActionBuffers actionsOut)
-        System.Array.Clear(actionsOut, 0, actionsOut.Length);
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut.Clear();
-            actionsOut[1] = 2f;
+            discreteActionsOut[1] = 2;
-            actionsOut[0] = 1f;
+            discreteActionsOut[0] = 1;
-            actionsOut[1] = 1f;
+            discreteActionsOut[1] = 1;
-            actionsOut[0] = 2f;
+            discreteActionsOut[0] = 2;
-        actionsOut[3] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
+        discreteActionsOut[3] = Input.GetKey(KeyCode.Space) ? 1 : 0;
    }

    // Detect when the agent hits the goal
--- a/Project/Assets/ML-Agents/Examples/WallJump/TFModels/BigWallJump.nn
+++ b/Project/Assets/ML-Agents/Examples/WallJump/TFModels/BigWallJump.nn
--- a/Project/Assets/ML-Agents/Examples/WallJump/TFModels/SmallWallJump.nn
+++ b/Project/Assets/ML-Agents/Examples/WallJump/TFModels/SmallWallJump.nn
--- a/Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWormDynamicTarget.prefab
+++ b/Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWormDynamicTarget.prefab
  m_Interpolate: 0
  m_Constraints: 0
  m_CollisionDetection: 0
+--- !u!114 &8042564747579887
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7516457449653310668}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 3c8f113a8b8d94967b1b1782c549be81, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  tagToDetect: agent
+  spawnRadius: 40
+  respawnIfTouched: 1
+  respawnIfFallsOffPlatform: 1
+  fallDistance: 5
+  onTriggerEnterEvent:
+    m_PersistentCalls:
+      m_Calls: []
+  onTriggerStayEvent:
+    m_PersistentCalls:
+      m_Calls: []
+  onTriggerExitEvent:
+    m_PersistentCalls:
+      m_Calls: []
+  onCollisionEnterEvent:
+    m_PersistentCalls:
+      m_Calls: []
+  onCollisionStayEvent:
+    m_PersistentCalls:
+      m_Calls: []
+  onCollisionExitEvent:
+    m_PersistentCalls:
+      m_Calls: []
 --- !u!1001 &906401165941233076
 PrefabInstance:
  m_ObjectHideFlags: 0
      propertyPath: ground
      value: 
      objectReference: {fileID: 7519759559437056804}
+    - target: {fileID: 6060305997946326746, guid: 3ebcde4cf2d5c4c029e2a5ce3d853aba,
+        type: 3}
+      propertyPath: m_TagString
+      value: agent
+      objectReference: {fileID: 0}
    m_RemovedComponents: []
  m_SourcePrefab: {fileID: 100100000, guid: 3ebcde4cf2d5c4c029e2a5ce3d853aba, type: 3}
 --- !u!1001 &7202236613889278392
 --- !u!4 &7519759559437056804 stripped
 Transform:
  m_CorrespondingSourceObject: {fileID: 840186797462469276, guid: d6fc96a99a9754f07b48abf1e0d55a5c,
+    type: 3}
+  m_PrefabInstance: {fileID: 7202236613889278392}
+  m_PrefabAsset: {fileID: 0}
+--- !u!1 &7516457449653310668 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 845742365997159796, guid: d6fc96a99a9754f07b48abf1e0d55a5c,
    type: 3}
  m_PrefabInstance: {fileID: 7202236613889278392}
  m_PrefabAsset: {fileID: 0}
--- a/Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs
 using UnityEngine;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgentsExamples;
 using Unity.MLAgents.Sensors;

    public bool respawnTargetWhenTouched;
    public float targetSpawnRadius;

-    [Header("Body Parts")] [Space(10)]
+    [Header("Body Parts")]
+    [Space(10)]
-    [Header("Joint Settings")] [Space(10)]
+    [Header("Joint Settings")]
+    [Space(10)]
    JointDriveController m_JdController;
    Vector3 m_DirToTarget;
    float m_MovingTowardsDot;
    //We want to collect this info because it is the actual rotation, not the "target rotation"
    public Quaternion GetJointRotation(ConfigurableJoint joint)
    {
-        return(Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
+        return (Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
    }

    /// <summary>
        float maxDist = 10;
        if (Physics.Raycast(bodySegment0.position, Vector3.down, out hit, maxDist))
        {
-            sensor.AddObservation(hit.distance/maxDist);
+            sensor.AddObservation(hit.distance / maxDist);
        }
        else
            sensor.AddObservation(1);
        target.position = newTargetPos + ground.position;
    }

-    public override void OnActionReceived(float[] vectorAction)
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
+        var continuousActions = actionBuffers.ContinuousActions;
-        bpDict[bodySegment1].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[bodySegment2].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[bodySegment3].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[bodySegment1].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[bodySegment2].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[bodySegment3].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
-        bpDict[bodySegment1].SetJointStrength(vectorAction[++i]);
-        bpDict[bodySegment2].SetJointStrength(vectorAction[++i]);
-        bpDict[bodySegment3].SetJointStrength(vectorAction[++i]);
+        bpDict[bodySegment1].SetJointStrength(continuousActions[++i]);
+        bpDict[bodySegment2].SetJointStrength(continuousActions[++i]);
+        bpDict[bodySegment3].SetJointStrength(continuousActions[++i]);
-        if (bodySegment0.position.y < ground.position.y -2)
+        if (bodySegment0.position.y < ground.position.y - 2)
        {
            EndEpisode();
        }
--- a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn
+++ b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn
--- a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn
+++ b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn
--- a/README.md
+++ b/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_5_docs/docs/)
+[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_6_docs/docs/)

 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)

 ## Releases & Documentation

 **Our latest, stable release is `Release 5`. Click
-[here](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/Readme.md)
+[here](https://github.com/Unity-Technologies/ml-agents/tree/release_6_docs/docs/Readme.md)
 to get started with the latest release of ML-Agents.**

 The table below lists all our releases, including our `master` branch which is
 | **Version** | **Release Date** | **Source** | **Documentation** | **Download** |
 |:-------:|:------:|:-------------:|:-------:|:------------:|
 | **master (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/master) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/master/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/master.zip) |
+| **Release 6** | **August 12, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_6)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_6_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_6.zip)** |
 | **Release 5** | **July 31, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_5)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_5.zip)** |
 | **Release 4** | July 15, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_4) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_4.zip) |
 | **Release 3** | June 10, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_3) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_3_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_3.zip) |
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodyJointExtractor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodyJointExtractor.cs
        }
    }
 }
-#endif
+#endif
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodyPoseExtractor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodyPoseExtractor.cs
        }
    }
 }
-#endif // UNITY_2020_1_OR_NEWER
+#endif // UNITY_2020_1_OR_NEWER
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodySensorComponent.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodySensorComponent.cs
    }

 }
-#endif // UNITY_2020_1_OR_NEWER
+#endif // UNITY_2020_1_OR_NEWER
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs

            var numJointExtractorObservations = 0;
            m_JointExtractors = new List<IJointExtractor>(poseExtractor.NumEnabledPoses);
-            foreach(var rb in poseExtractor.GetEnabledRigidbodies())
+            foreach (var rb in poseExtractor.GetEnabledRigidbodies())
            {
                var jointExtractor = new RigidBodyJointExtractor(rb);
                numJointExtractorObservations += jointExtractor.NumObservations(settings);
        }

        /// <inheritdoc/>
-        public void Reset() {}
+        public void Reset() { }

        /// <inheritdoc/>
        public SensorCompressionType GetCompressionType()
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsSensorSettings.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsSensorSettings.cs
                    }
                }

-                foreach(var vel in poseExtractor.GetEnabledModelSpaceVelocities())
+                foreach (var vel in poseExtractor.GetEnabledModelSpaceVelocities())
                {
                    if (settings.UseModelSpaceLinearVelocity)
                    {
                    }
                }

-                foreach(var vel in poseExtractor.GetEnabledLocalSpaceVelocities())
+                foreach (var vel in poseExtractor.GetEnabledLocalSpaceVelocities())
                {
                    if (settings.UseLocalSpaceLinearVelocity)
                    {
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/PoseExtractor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/PoseExtractor.cs
                var localUp = localPose[i].rotation * Vector3.up;
                var localFwd = localPose[i].rotation * Vector3.forward;
                var localRight = localPose[i].rotation * Vector3.right;
-                Debug.DrawLine(current.position+offset, current.position+offset+.1f*localUp, Color.red);
-                Debug.DrawLine(current.position+offset, current.position+offset+.1f*localFwd, Color.green);
-                Debug.DrawLine(current.position+offset, current.position+offset+.1f*localRight, Color.blue);
+                Debug.DrawLine(current.position + offset, current.position + offset + .1f * localUp, Color.red);
+                Debug.DrawLine(current.position + offset, current.position + offset + .1f * localFwd, Color.green);
+                Debug.DrawLine(current.position + offset, current.position + offset + .1f * localRight, Color.blue);
            }
        }

                {
                    // Push to the stack in reverse order
                    var children = tree[current];
-                    for (var childIdx = children.Count-1; childIdx >= 0; childIdx--)
+                    for (var childIdx = children.Count - 1; childIdx >= 0; childIdx--)
-                        stack.Push((children[childIdx], depth+1));
+                        stack.Push((children[childIdx], depth + 1));
                    }
                }

--- a/com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodyJointExtractor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodyJointExtractor.cs

        public static int NumObservations(Rigidbody body, Joint joint, PhysicsSensorSettings settings)
        {
-            if(body == null || joint == null)
+            if (body == null || joint == null)
            {
                return 0;
            }
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodyPoseExtractor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodyPoseExtractor.cs
            if (rootGameObject == null)
            {
                rbs = rootBody.GetComponentsInChildren<Rigidbody>();
-                joints = rootBody.GetComponentsInChildren <Joint>();
+                joints = rootBody.GetComponentsInChildren<Joint>();
            }
            else
            {

            for (var i = 0; i < rbs.Length; i++)
            {
-                if(rbs[i] != null)
+                if (rbs[i] != null)
                {
                    bodyToIndex[rbs[i]] = i;
                }
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodySensorComponent.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodySensorComponent.cs
    /// <summary>
    /// Editor component that creates a PhysicsBodySensor for the Agent.
    /// </summary>
-    public class RigidBodySensorComponent  : SensorComponent
+    public class RigidBodySensorComponent : SensorComponent
    {
        /// <summary>
        /// The root Rigidbody of the system.
            var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);

            var numJointObservations = 0;
-            foreach(var rb in poseExtractor.GetEnabledRigidbodies())
+            foreach (var rb in poseExtractor.GetEnabledRigidbodies())
            {
                var joint = rb.GetComponent<Joint>();
                numJointObservations += RigidBodyJointExtractor.NumObservations(rb, joint, Settings);
--- a/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ArticulationBodyPoseExtractorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ArticulationBodyPoseExtractorTests.cs
        }
    }
 }
-#endif
+#endif
--- a/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ArticulationBodySensorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ArticulationBodySensorTests.cs
        }
    }
 }
-#endif // #if UNITY_2020_1_OR_NEWER
+#endif // #if UNITY_2020_1_OR_NEWER
--- a/com.unity.ml-agents.extensions/Tests/Editor/Sensors/PoseExtractorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Editor/Sensors/PoseExtractorTests.cs
                return Pose.identity;
            }

-            protected  internal override Vector3 GetLinearVelocityAt(int index)
+            protected internal override Vector3 GetLinearVelocityAt(int index)
            {
                return Vector3.zero;
            }
            }

            // Getting a parent index should throw an index exception
-            Assert.Throws <NullReferenceException>(
+            Assert.Throws<NullReferenceException>(
                () => poseExtractor.GetParentIndex(0)
            );

                };
            }

-            protected  internal override Vector3 GetLinearVelocityAt(int index)
+            protected internal override Vector3 GetLinearVelocityAt(int index)
            {
                return Vector3.zero;
            }
        {
            // Degenerate case with a loop
            var poseExtractor = new UselessPoseExtractor();
-            poseExtractor.Init(new[] {-1, 2, 1});
+            poseExtractor.Init(new[] { -1, 2, 1 });
-            poseExtractor.Init(new[] {-1, 1});
+            poseExtractor.Init(new[] { -1, 1 });

            // This just shouldn't blow up
            poseExtractor.GetDisplayNodes();
--- a/com.unity.ml-agents.extensions/Tests/Editor/Sensors/RigidBodyPoseExtractorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Editor/Sensors/RigidBodyPoseExtractorTests.cs
            // body 1 has parent 0
            Assert.AreEqual(0, poseExtractor.GetParentIndex(1));

-            var virtualRootPos = new Vector3(0,2,0);
+            var virtualRootPos = new Vector3(0, 2, 0);
            var virtualRootRot = Quaternion.Euler(0, 42, 0);
            virtualRoot.transform.position = virtualRootPos;
            virtualRoot.transform.rotation = virtualRootRot;
--- a/com.unity.ml-agents.extensions/Tests/Runtime/RuntimeExampleTest.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/RuntimeExampleTest.cs
 namespace Unity.MLAgents.Extensions.Tests
 {

-    internal class RuntimeExampleTest {
+    internal class RuntimeExampleTest
+    {

        [Test]
        public void RuntimeTestMath()
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
 ### Major Changes
 #### com.unity.ml-agents (C#)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
+
+### Minor Changes
+#### com.unity.ml-agents (C#)
+- Update Barracuda to 1.0.2.
+- Enabled C# formatting using `dotnet-format`.
+#### ml-agents / ml-agents-envs / gym-unity (Python)
+
+### Bug Fixes
+#### com.unity.ml-agents (C#)
+#### ml-agents / ml-agents-envs / gym-unity (Python)
+
+## [1.3.0-preview] - 2020-08-12
+
+### Major Changes
+#### com.unity.ml-agents (C#)
+#### ml-agents / ml-agents-envs / gym-unity (Python)
 - The minimum supported Python version for ml-agents-envs was changed to 3.6.1. (#4244)
 - The interaction between EnvManager and TrainerController was changed; EnvManager.advance() was split into to stages,
 and TrainerController now uses the results from the first stage to handle new behavior names. This change speeds up
--- a/com.unity.ml-agents/CONTRIBUTING.md
+++ b/com.unity.ml-agents/CONTRIBUTING.md
 ### Code style

 All python code should be formatted with
-[`black`](https://github.com/ambv/black). Style and formatting for C# may be
-enforced later.
+[`black`](https://github.com/ambv/black).
+
+C# code is formatted using [`dotnet-format`](https://github.com/dotnet/format).
+You must have [dotnet](https://dotnet.microsoft.com/download) and
+`dotnet-format` installed first.

 ### Python type annotations

--- a/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md
+++ b/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md
 [unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents
 [unity inference engine]: https://docs.unity3d.com/Packages/com.unity.barracuda@latest/index.html
 [package manager documentation]: https://docs.unity3d.com/Manual/upm-ui-install.html
-[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Installation.md
+[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Installation.md
 [github repository]: https://github.com/Unity-Technologies/ml-agents
 [python package]: https://github.com/Unity-Technologies/ml-agents
 [execution order of event functions]: https://docs.unity3d.com/Manual/ExecutionOrder.html
--- a/com.unity.ml-agents/Editor/DemonstrationImporter.cs
+++ b/com.unity.ml-agents/Editor/DemonstrationImporter.cs
    /// <summary>
    /// Asset Importer used to parse demonstration files.
    /// </summary>
-    [ScriptedImporter(1, new[] {"demo"})]
+    [ScriptedImporter(1, new[] { "demo" })]
    internal class DemonstrationImporter : ScriptedImporter
    {
        const string k_IconPath = "Packages/com.unity.ml-agents/Editor/Icons/DemoIcon.png";
--- a/com.unity.ml-agents/Runtime/Academy.cs
+++ b/com.unity.ml-agents/Runtime/Academy.cs
 * API. For more information on each of these entities, in addition to how to
 * set-up a learning environment and train the behavior of characters in a
 * Unity scene, please browse our documentation pages on GitHub:
- * https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/
+ * https://github.com/Unity-Technologies/ml-agents/tree/release_6_docs/docs/
 */

 namespace Unity.MLAgents
    /// fall back to inference or heuristic decisions. (You can also set agents to always use
    /// inference or heuristics.)
    /// </remarks>
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_6_docs/" +
        "docs/Learning-Environment-Design.md")]
    public class Academy : IDisposable
    {
                // This try-catch is because DontDestroyOnLoad cannot be used in Editor Tests
                GameObject.DontDestroyOnLoad(m_StepperObject);
            }
-            catch {}
+            catch { }
        }

        /// <summary>

        void ResetActions()
        {
-            DecideAction = () => {};
-            DestroyAction = () => {};
-            AgentPreStep = i => {};
-            AgentSendState = () => {};
-            AgentAct = () => {};
-            AgentForceReset = () => {};
-            OnEnvironmentReset = () => {};
+            DecideAction = () => { };
+            DestroyAction = () => { };
+            AgentPreStep = i => { };
+            AgentSendState = () => { };
+            AgentAct = () => { };
+            AgentForceReset = () => { };
+            OnEnvironmentReset = () => { };
        }

        static void OnQuitCommandReceived()
--- a/com.unity.ml-agents/Runtime/Actuators/ActionSegment.cs
+++ b/com.unity.ml-agents/Runtime/Actuators/ActionSegment.cs
 using System.Collections;
 using System.Collections.Generic;
 using System.Diagnostics;
+using System.Linq;

 namespace Unity.MLAgents.Actuators
 {
        /// <inheritdoc cref="IEquatable{T}.Equals(T)"/>
        public bool Equals(ActionSegment<T> other)
        {
-            return Offset == other.Offset && Length == other.Length && Equals(Array, other.Array);
+            return Offset == other.Offset && Length == other.Length && Array.SequenceEqual(other.Array);
        }

        /// <inheritdoc cref="ValueType.GetHashCode"/>
--- a/com.unity.ml-agents/Runtime/Actuators/ActionSpec.cs
+++ b/com.unity.ml-agents/Runtime/Actuators/ActionSpec.cs
        {
            NumContinuousActions = numContinuousActions;
            NumDiscreteActions = numDiscreteActions;
-            BranchSizes =  branchSizes;
+            BranchSizes = branchSizes;
            SumOfDiscreteBranchSizes = branchSizes?.Sum() ?? 0;
        }
    }
--- a/com.unity.ml-agents/Runtime/Actuators/ActuatorManager.cs
+++ b/com.unity.ml-agents/Runtime/Actuators/ActuatorManager.cs
        public ActuatorDiscreteActionMask DiscreteActionMask => m_DiscreteActionMask;

        /// <summary>
-        /// Returns the previously stored actions for the actuators in this list.
+        /// The currently stored <see cref="ActionBuffers"/> object for the <see cref="IActuator"/>s managed by this class.
-        // public float[] StoredContinuousActions { get; private set; }
-
-        /// <summary>
-        /// Returns the previously stored actions for the actuators in this list.
-        /// </summary>
-        // public int[] StoredDiscreteActions { get; private set; }
-
        public ActionBuffers StoredActions { get; private set; }

        /// <summary>
        /// Updates the local action buffer with the action buffer passed in.  If the buffer
        /// passed in is null, the local action buffer will be cleared.
        /// </summary>
-        /// <param name="continuousActionBuffer">The action buffer which contains all of the
-        /// continuous actions for the IActuators in this list.</param>
-        /// <param name="discreteActionBuffer">The action buffer which contains all of the
-        /// discrete actions for the IActuators in this list.</param>
+        /// <param name="actions">The <see cref="ActionBuffers"/> object which contains all of the
+        /// actions for the IActuators in this list.</param>
        public void UpdateActions(ActionBuffers actions)
        {
            ReadyActuatorsForExecution();


        /// <summary>
-        /// Sorts the <see cref="IActuator"/>s according to their <see cref="IActuator.GetName"/> value.
+        /// Sorts the <see cref="IActuator"/>s according to their <see cref="IActuator.Name"/> value.
        /// </summary>
        void SortActuators()
        {
--- a/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs
+++ b/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs
        /// <see cref="ActionSegment{T}"/> initialized from a float array.</returns>
        public static ActionBuffers FromDiscreteActions(float[] discreteActions)
        {
-           return new ActionBuffers(ActionSegment<float>.Empty, discreteActions == null ? ActionSegment<int>.Empty
-                               : new ActionSegment<int>(Array.ConvertAll(discreteActions,
-                                   x => (int)x)));
+            return new ActionBuffers(ActionSegment<float>.Empty, discreteActions == null ? ActionSegment<int>.Empty
+                                : new ActionSegment<int>(Array.ConvertAll(discreteActions,
+                                    x => (int)x)));
        }

        public ActionBuffers(float[] continuousActions, int[] discreteActions)
--- a/com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs
+++ b/com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs

        public void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
        {
-                m_ActionReceiver.WriteDiscreteActionMask(actionMask);
+            m_ActionReceiver.WriteDiscreteActionMask(actionMask);
        }

        /// <summary>
--- a/com.unity.ml-agents/Runtime/Agent.cs
+++ b/com.unity.ml-agents/Runtime/Agent.cs
    /// [OnDisable()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnDisable.html]
    /// [OnBeforeSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnBeforeSerialize.html
    /// [OnAfterSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnAfterSerialize.html
-    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md
-    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design.md
+    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md
+    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design.md
-    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Readme.md
+    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Readme.md
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/" +
        "docs/Learning-Environment-Design-Agents.md")]
    [Serializable]
    [RequireComponent(typeof(BehaviorParameters))]
            public int maxStep;
        }

-        [SerializeField][HideInInspector]
+        [SerializeField]
+        [HideInInspector]
-        [SerializeField][HideInInspector]
+        [SerializeField]
+        [HideInInspector]
        internal bool hasUpgradedFromAgentParameters;

        /// <summary>
        /// for information about mixing reward signals from curiosity and Generative Adversarial
        /// Imitation Learning (GAIL) with rewards supplied through this method.
        ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
        /// </remarks>
        /// <param name="reward">The new value of the reward.</param>
        public void SetReward(float reward)
        /// for information about mixing reward signals from curiosity and Generative Adversarial
        /// Imitation Learning (GAIL) with rewards supplied through this method.
        ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
        ///</remarks>
        /// <param name="increment">Incremental reward value.</param>
        public void AddReward(float increment)
        ///
        /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
        /// </remarks>
-        public virtual void Initialize() {}
+        public virtual void Initialize() { }

        /// <summary>
        /// Implement `Heuristic()` to choose an action for this agent using a custom heuristic.
        /// implementing a simple heuristic function can aid in debugging agent actions and interactions
        /// with its environment.
        ///
-        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
-        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
+        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#actions
        /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
        /// </remarks>
        /// <example>
        /// For more information about observations, see [Observations and Sensors].
        ///
        /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
+        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
        /// </remarks>
        public virtual void CollectObservations(VectorSensor sensor)
        {
        ///
        /// See [Agents - Actions] for more information on masking actions.
        ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#actions
        /// </remarks>
        /// <seealso cref="IActionReceiver.OnActionReceived"/>
        public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
        ///
        /// For more information about implementing agent actions see [Agents - Actions].
        ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#actions
        /// </remarks>
        /// <param name="actions">
        /// Struct containing the buffers of actions to be executed at this step.
        /// </summary>
        /// <seealso cref="Initialize"/>
        /// <seealso cref="EndEpisode"/>
-        public virtual void OnEpisodeBegin() {}
+        public virtual void OnEpisodeBegin() { }
-        public ActionBuffers GetStoredContinuousActions()
+        public ActionBuffers GetStoredActionBuffers()
        {
            return m_ActuatorManager.StoredActions;
        }
--- a/com.unity.ml-agents/Runtime/Agent.deprecated.cs
+++ b/com.unity.ml-agents/Runtime/Agent.deprecated.cs
            Array.Clear(actionsOut, 0, actionsOut.Length);
        }

-        public virtual void OnActionReceived(float[] vectorAction) {}
+        public virtual void OnActionReceived(float[] vectorAction) { }

        /// <summary>
        /// Returns the last action that was decided on by the Agent.
        /// </returns>
        /// <seealso cref="OnActionReceived(float[])"/>
-        // [Obsolete("GetAction has been deprecated, please use GetStoredContinuousActions, Or GetStoredDiscreteActions.")]
+        // [Obsolete("GetAction has been deprecated, please use GetStoredActionBuffers, Or GetStoredDiscreteActions.")]
        public float[] GetAction()
        {
            return m_Info.storedVectorActions;
--- a/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs
+++ b/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs
            var agentInfoProto = ai.ToAgentInfoProto();

            var agentActionProto = new AgentActionProto();
-            if(ai.storedVectorActions != null)
+            if (ai.storedVectorActions != null)
            {
                agentActionProto.VectorActions.AddRange(ai.storedVectorActions);
            }
            var brainParametersProto = new BrainParametersProto
            {
                VectorActionSize = { bp.VectorActionSize },
-                VectorActionSpaceType = (SpaceTypeProto) bp.VectorActionSpaceType,
+                VectorActionSpaceType = (SpaceTypeProto)bp.VectorActionSpaceType,
-            if(bp.VectorActionDescriptions != null)
+            if (bp.VectorActionDescriptions != null)
            {
                brainParametersProto.VectorActionDescriptions.AddRange(bp.VectorActionDescriptions);
            }
--- a/com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs
+++ b/com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs
        Dictionary<string, BrainParameters> m_UnsentBrainKeys = new Dictionary<string, BrainParameters>();


-# if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
+#if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
        /// The Unity to External client.
        UnityToExternalProto.UnityToExternalProtoClient m_Client;
 #endif
        UnityInputProto Initialize(UnityOutputProto unityOutput,
            out UnityInputProto unityInput)
        {
-# if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
+#if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
            m_IsOpen = true;
            var channel = new Channel(
                "localhost:" + m_CommunicatorInitParameters.port,
        /// </summary>
        public void Dispose()
        {
-# if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
+#if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
            if (!m_IsOpen)
            {
                return;
            switch (command)
            {
                case CommandProto.Quit:
-                {
-                    QuitCommandReceived?.Invoke();
-                    return;
-                }
+                    {
+                        QuitCommandReceived?.Invoke();
+                        return;
+                    }
-                {
-                    foreach (var brainName in m_OrderedAgentsRequestingDecisions.Keys)
-                        m_OrderedAgentsRequestingDecisions[brainName].Clear();
+                        foreach (var brainName in m_OrderedAgentsRequestingDecisions.Keys)
+                        {
+                            m_OrderedAgentsRequestingDecisions[brainName].Clear();
+                        }
+                        ResetCommandReceived?.Invoke();
+                        return;
-                    ResetCommandReceived?.Invoke();
-                    return;
-                }
-                {
-                    return;
-                }
+                    {
+                        return;
+                    }
            }
        }

        /// <param name="sensors">Sensors that will produce the observations</param>
        public void PutObservations(string behaviorName, AgentInfo info, List<ISensor> sensors)
        {
-# if DEBUG
+#if DEBUG
            if (!m_SensorShapeValidators.ContainsKey(behaviorName))
            {
                m_SensorShapeValidators[behaviorName] = new SensorShapeValidator();
        /// <param name="unityOutput">The UnityOutput to be sent.</param>
        UnityInputProto Exchange(UnityOutputProto unityOutput)
        {
-# if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
+#if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
            if (!m_IsOpen)
            {
                return null;
--- a/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs
+++ b/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs
        /// A class holding the capabilities flags for Reinforcement Learning across C# and the Trainer codebase.  This
        /// struct will be used to inform users if and when they are using C# / Trainer features that are mismatched.
        /// </summary>
-        public UnityRLCapabilities(bool baseRlCapabilities=true)
+        public UnityRLCapabilities(bool baseRlCapabilities = true)
        {
            m_BaseRLCapabilities = baseRlCapabilities;
        }
--- a/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs
+++ b/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs
    /// See [Imitation Learning - Recording Demonstrations] for more information.
    ///
    /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
+    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
    /// </remarks>
    [RequireComponent(typeof(Agent))]
    [AddComponentMenu("ML Agents/Demonstration Recorder", (int)MenuGroup.Default)]
--- a/com.unity.ml-agents/Runtime/DiscreteActionMasker.cs
+++ b/com.unity.ml-agents/Runtime/DiscreteActionMasker.cs
        ///
        /// See [Agents - Actions] for more information on masking actions.
        ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_6_docs/docs/Learning-Environment-Design-Agents.md#actions
        /// </remarks>
        /// <param name="branch">The branch for which the actions will be masked.</param>
        /// <param name="actionIndices">The indices of the masked actions.</param>
--- a/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
+++ b/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
        public InferenceDevice InferenceDevice
        {
            get { return m_InferenceDevice; }
-            set { m_InferenceDevice = value; UpdateAgentPolicy();}
+            set { m_InferenceDevice = value; UpdateAgentPolicy(); }
        }

        [HideInInspector, SerializeField]
                case BehaviorType.HeuristicOnly:
                    return GenerateHeuristicPolicy(heuristic);
                case BehaviorType.InferenceOnly:
-                {
-                    if (m_Model == null)
-                        var behaviorType = BehaviorType.InferenceOnly.ToString();
-                        throw new UnityAgentsException(
-                            $"Can't use Behavior Type {behaviorType} without a model. " +
-                            "Either assign a model, or change to a different Behavior Type."
-                        );
+                        if (m_Model == null)
+                        {
+                            var behaviorType = BehaviorType.InferenceOnly.ToString();
+                            throw new UnityAgentsException(
+                                $"Can't use Behavior Type {behaviorType} without a model. " +
+                                "Either assign a model, or change to a different Behavior Type."
+                            );
+                        }
+                        return new BarracudaPolicy(m_BrainParameters, m_Model, m_InferenceDevice);
-                    return new BarracudaPolicy(m_BrainParameters, m_Model, m_InferenceDevice);
-                }
                case BehaviorType.Default:
                    if (Academy.Instance.IsCommunicatorOn)
                    {
--- a/com.unity.ml-agents/Runtime/Policies/BrainParameters.cs
+++ b/com.unity.ml-agents/Runtime/Policies/BrainParameters.cs
        /// For the discrete action space: the number of branches in the action space.
        /// </value>
        [FormerlySerializedAs("vectorActionSize")]
-        public int[] VectorActionSize = new[] {1};
+        public int[] VectorActionSize = new[] { 1 };

        /// <summary>
        /// The list of strings describing what the actions correspond to.
--- a/com.unity.ml-agents/Runtime/Policies/HeuristicPolicy.cs
+++ b/com.unity.ml-agents/Runtime/Policies/HeuristicPolicy.cs
            public float this[int index]
            {
                get { return 0.0f; }
-                set {}
+                set { }
            }
        }

--- a/com.unity.ml-agents/Runtime/Sampler.cs
+++ b/com.unity.ml-agents/Runtime/Sampler.cs
 using System.Collections.Generic;
 using Unity.MLAgents.Inference.Utils;
 using UnityEngine;
-using Random=System.Random;
+using Random = System.Random;

 namespace Unity.MLAgents
 {
            // Will be used to normalize intervalFuncs
            float sumIntervalSizes = 0;
            //The number of intervals
-            int numIntervals = (int)(intervals.Count/2);
+            int numIntervals = (int)(intervals.Count / 2);
            // List that will store interval lengths
            float[] intervalSizes = new float[numIntervals];
            // List that will store uniform distributions
-            for(int i = 0; i < numIntervals; i++)
+            for (int i = 0; i < numIntervals; i++)
            {
                var min = intervals[2 * i];
                var max = intervals[2 * i + 1];
                intervalFuncs[i] = () => min + (float)distr.NextDouble() * intervalSize;
            }
            // Normalize interval lengths
-            for(int i = 0; i < numIntervals; i++)
+            for (int i = 0; i < numIntervals; i++)
-            } 
+            }
-            for(int i = 1; i < numIntervals; i++)
+            for (int i = 1; i < numIntervals; i++)
-            } 
+            }
            Multinomial intervalDistr = new Multinomial(seed + 1);
            float MultiRange()
            {
--- a/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs
        /// </summary>
        public SensorCompressionType CompressionType
        {
-            get { return m_CompressionType;  }
+            get { return m_CompressionType; }
            set { m_CompressionType = value; }
        }

        }

        /// <inheritdoc/>
-        public void Update() {}
+        public void Update() { }

        /// <inheritdoc/>
        public void Reset() { }
--- a/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs
        /// </summary>
        public Camera Camera
        {
-            get { return m_Camera;  }
+            get { return m_Camera; }
            set { m_Camera = value; UpdateSensor(); }
        }

        /// </summary>
        public string SensorName
        {
-            get { return m_SensorName;  }
+            get { return m_SensorName; }
            set { m_SensorName = value; }
        }

        /// </summary>
        public int Width
        {
-            get { return m_Width;  }
+            get { return m_Width; }
            set { m_Width = value; }
        }

        /// </summary>
        public int Height
        {
-            get { return m_Height;  }
-            set { m_Height = value;  }
+            get { return m_Height; }
+            set { m_Height = value; }
        }

        [HideInInspector, SerializeField, FormerlySerializedAs("grayscale")]
        /// </summary>
        public bool Grayscale
        {
-            get { return m_Grayscale;  }
+            get { return m_Grayscale; }
            set { m_Grayscale = value; }
        }

        /// </summary>
        public SensorCompressionType CompressionType
        {
-            get { return m_Compression;  }
+            get { return m_Compression; }
            set { m_Compression = value; UpdateSensor(); }
        }

--- a/com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs

        TensorShape m_TensorShape;

-        internal ObservationWriter() {}
+        internal ObservationWriter() { }

        /// <summary>
        /// Set the writer to write to an IList at the given channelOffset.
--- a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs
            var startPositionWorld = Transform.TransformPoint(startPositionLocal);
            var endPositionWorld = Transform.TransformPoint(endPositionLocal);

-            return (StartPositionWorld : startPositionWorld, EndPositionWorld : endPositionWorld);
+            return (StartPositionWorld: startPositionWorld, EndPositionWorld: endPositionWorld);
        }

        /// <summary>
        }

        /// <inheritdoc/>
-        public void Reset() {}
+        public void Reset() { }

        /// <inheritdoc/>
        public int[] GetObservationShape()
--- a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs
        {
            get { return m_RaysPerDirection; }
            // Note: can't change at runtime
-            set { m_RaysPerDirection = value;}
+            set { m_RaysPerDirection = value; }
        }

        [HideInInspector, SerializeField, FormerlySerializedAs("maxRayDegrees")]
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/BoolReflectionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/BoolReflectionSensor.cs
    {
        public BoolReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
            : base(reflectionSensorInfo, 1)
-        {}
+        { }

        internal override void WriteReflectedField(ObservationWriter writer)
        {
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/FloatReflectionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/FloatReflectionSensor.cs
    {
        public FloatReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
            : base(reflectionSensorInfo, 1)
-        {}
+        { }

        internal override void WriteReflectedField(ObservationWriter writer)
        {
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/IntReflectionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/IntReflectionSensor.cs
    {
        public IntReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
            : base(reflectionSensorInfo, 1)
-        {}
+        { }

        internal override void WriteReflectedField(ObservationWriter writer)
        {
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/ObservableAttribute.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/ObservableAttribute.cs
        internal static List<ISensor> CreateObservableSensors(object o, bool excludeInherited)
        {
            var sensorsOut = new List<ISensor>();
-            foreach (var(field, attr) in GetObservableFields(o, excludeInherited))
+            foreach (var (field, attr) in GetObservableFields(o, excludeInherited))
            {
                var sensor = CreateReflectionSensor(o, field, null, attr);
                if (sensor != null)
            }

-            foreach (var(prop, attr) in GetObservableProperties(o, excludeInherited))
+            foreach (var (prop, attr) in GetObservableProperties(o, excludeInherited))
            {
                if (!prop.CanRead)
                {
            else
            {
                var (_, sensorType) = s_TypeToSensorInfo[memberType];
-                sensor = (ISensor) Activator.CreateInstance(sensorType, reflectionSensorInfo);
+                sensor = (ISensor)Activator.CreateInstance(sensorType, reflectionSensorInfo);
            }

            // Wrap the base sensor in a StackingSensor if we're using stacking.
        internal static int GetTotalObservationSize(object o, bool excludeInherited, List<string> errorsOut)
        {
            int sizeOut = 0;
-            foreach (var(field, attr) in GetObservableFields(o, excludeInherited))
+            foreach (var (field, attr) in GetObservableFields(o, excludeInherited))
            {
                if (s_TypeToSensorInfo.ContainsKey(field.FieldType))
                {
                }
            }

-            foreach (var(prop, attr) in GetObservableProperties(o, excludeInherited))
+            foreach (var (prop, attr) in GetObservableProperties(o, excludeInherited))
            {
                if (!prop.CanRead)
                {
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/QuaternionReflectionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/QuaternionReflectionSensor.cs
    {
        public QuaternionReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
            : base(reflectionSensorInfo, 4)
-        {}
+        { }

        internal override void WriteReflectedField(ObservationWriter writer)
        {
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/ReflectionSensorBase.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/ReflectionSensorBase.cs
            m_PropertyInfo = reflectionSensorInfo.PropertyInfo;
            m_ObservableAttribute = reflectionSensorInfo.ObservableAttribute;
            m_SensorName = reflectionSensorInfo.SensorName;
-            m_Shape = new[] {size};
+            m_Shape = new[] { size };
        }

        /// <inheritdoc/>
        }

        /// <inheritdoc/>
-        public void Update() {}
+        public void Update() { }
-        public void Reset() {}
+        public void Reset() { }

        /// <inheritdoc/>
        public SensorCompressionType GetCompressionType()
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/Vector2ReflectionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/Vector2ReflectionSensor.cs
    {
        public Vector2ReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
            : base(reflectionSensorInfo, 2)
-        {}
+        { }

        internal override void WriteReflectedField(ObservationWriter writer)
        {
--- a/com.unity.ml-agents/Runtime/Sensors/Reflection/Vector3ReflectionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/Reflection/Vector3ReflectionSensor.cs
    {
        public Vector3ReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
            : base(reflectionSensorInfo, 3)
-        {}
+        { }

        internal override void WriteReflectedField(ObservationWriter writer)
        {