Grid sensor bug fixes (#5230)

* use all zeros for empty in one-hot

* fix a bug in calculating cell position

* remove root reference from UI

* removed unused normalized distance in GetObjectData()

Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab

     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: f4b8757bd574543b1aa06d9294a5d707, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: GridFoodCollector
   m_CellScale: {x: 1, y: 0.01, z: 1}
   m_GridSize: {x: 40, y: 1, z: 40}
   m_RotateWithAgent: 1
-  m_ChannelDepths: 06000000
+  m_ChannelDepths: 05000000
   m_DetectableObjects:
   - food
   - agent
     serializedVersion: 2
     m_Bits: 307
   m_DepthType: 1
-  m_RootReference: {fileID: 0}
   m_MaxColliderBufferSize: 500
   m_InitialColliderBufferSize: 4
   m_DebugColors:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: f4b8757bd574543b1aa06d9294a5d707, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: GridFoodCollector
   m_CellScale: {x: 1, y: 0.01, z: 1}
   m_GridSize: {x: 40, y: 1, z: 40}
   m_RotateWithAgent: 1
-  m_ChannelDepths: 06000000
+  m_ChannelDepths: 05000000
   m_DetectableObjects:
   - food
   - agent
     serializedVersion: 2
     m_Bits: 307
   m_DepthType: 1
-  m_RootReference: {fileID: 0}
   m_MaxColliderBufferSize: 500
   m_InitialColliderBufferSize: 4
   m_DebugColors:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: f4b8757bd574543b1aa06d9294a5d707, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: GridFoodCollector
   m_CellScale: {x: 1, y: 0.01, z: 1}
   m_GridSize: {x: 40, y: 1, z: 40}
   m_RotateWithAgent: 1
-  m_ChannelDepths: 06000000
+  m_ChannelDepths: 05000000
   m_DetectableObjects:
   - food
   - agent
     serializedVersion: 2
     m_Bits: 307
   m_DepthType: 1
-  m_RootReference: {fileID: 0}
   m_MaxColliderBufferSize: 500
   m_InitialColliderBufferSize: 4
   m_DebugColors:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: f4b8757bd574543b1aa06d9294a5d707, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: GridFoodCollector
   m_CellScale: {x: 1, y: 0.01, z: 1}
   m_GridSize: {x: 40, y: 1, z: 40}
   m_RotateWithAgent: 1
-  m_ChannelDepths: 06000000
+  m_ChannelDepths: 05000000
   m_DetectableObjects:
   - food
   - agent
     serializedVersion: 2
     m_Bits: 307
   m_DepthType: 1
-  m_RootReference: {fileID: 0}
   m_MaxColliderBufferSize: 500
   m_InitialColliderBufferSize: 4
   m_DebugColors:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: f4b8757bd574543b1aa06d9294a5d707, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: GridFoodCollector
   m_CellScale: {x: 1, y: 0.01, z: 1}
   m_GridSize: {x: 40, y: 1, z: 40}
   m_RotateWithAgent: 1
-  m_ChannelDepths: 06000000
+  m_ChannelDepths: 05000000
   m_DetectableObjects:
   - food
   - agent
     serializedVersion: 2
     m_Bits: 307
   m_DepthType: 1
-  m_RootReference: {fileID: 0}
   m_MaxColliderBufferSize: 500
   m_InitialColliderBufferSize: 4
   m_DebugColors:

com.unity.ml-agents.extensions/Editor/GridSensorComponentEditor.cs

                 var gridSize2d = new Vector2Int(gridSize.vector3IntValue.x, gridSize.vector3IntValue.z);
                 var newGridSize = EditorGUILayout.Vector2IntField("Grid Size", gridSize2d);
                 gridSize.vector3IntValue = new Vector3Int(newGridSize.x, 1, newGridSize.y);
-                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RootReference)), true);
             }
             EditorGUI.EndDisabledGroup();
             EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RotateWithAgent)), true);

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

 
         // Buffers
         internal float[] m_PerceptionBuffer;
-        float[] m_ChannelHotDefaultPerceptionBuffer;
         Color[] m_PerceptionColors;
         Texture2D m_PerceptionTexture;
         Collider[] m_ColliderBuffer;
         // Utility Constants Calculated on Init
         int m_NumCells;
         int m_CellObservationSize;
-        float m_InverseSphereRadius;
-        float m_OffsetGridNumSide;
+        Vector3 m_CellCenterOffset;
 
 
         public GridSensor(
             set { m_ColliderMask = value; }
         }
 
-        public int[] GizmoColorIndexes
-        {
-            get { return m_GizmoColorIndexes; }
-        }
-
         /// <summary>
         /// Initializes the constant parameters used within the perceive method call
         /// </summary>
-            float sphereRadiusX = (m_CellScale.x * m_GridSize.x) / Mathf.Sqrt(2);
-            float sphereRadiusZ = (m_CellScale.z * m_GridSize.z) / Mathf.Sqrt(2);
-            m_InverseSphereRadius = 1.0f / Mathf.Max(sphereRadiusX, sphereRadiusZ);
-            m_OffsetGridNumSide = (m_GridSize.z - 1f) / 2f;
+            m_CellCenterOffset = new Vector3((m_GridSize.x - 1f) / 2, 0, (m_GridSize.z - 1f) / 2);
         }
 
         /// <summary>
                 {
                     m_ChannelOffsets[i] = m_ChannelOffsets[i - 1] + m_ChannelDepths[i - 1];
                 }
-
-                m_ChannelHotDefaultPerceptionBuffer = new float[m_CellObservationSize];
-                for (int i = 0; i < m_ChannelDepths.Length; i++)
-                {
-                    if (m_ChannelDepths[i] > 1)
-                    {
-                        m_ChannelHotDefaultPerceptionBuffer[m_ChannelOffsets[i]] = 1;
-                    }
-                }
             }
             else
             {
         {
             if (m_PerceptionBuffer != null)
             {
-                if (m_GridDepthType == GridDepthType.ChannelHot)
-                {
-                    // Copy the default value to the array
-                    for (int i = 0; i < m_NumCells; i++)
-                    {
-                        Array.Copy(m_ChannelHotDefaultPerceptionBuffer, 0, m_PerceptionBuffer, i * m_CellObservationSize, m_CellObservationSize);
-                    }
-                }
-                else
-                {
-                    Array.Clear(m_PerceptionBuffer, 0, m_PerceptionBuffer.Length);
-                }
+                Array.Clear(m_PerceptionBuffer, 0, m_PerceptionBuffer.Length);
             }
             else
             {
 
             if (!ReferenceEquals(closestColliderGo, null))
             {
-                LoadObjectData(closestColliderGo, cellIndex, (float)Math.Sqrt(minDistanceSquared) * m_InverseSphereRadius);
+                LoadObjectData(closestColliderGo, cellIndex);
             }
             Profiler.EndSample();
         }
 
                 closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
 
-                LoadObjectData(currentColliderGo, cellIndex,
-                    Vector3.Distance(closestColliderPoint, m_RootReference.transform.position) * m_InverseSphereRadius);
+                LoadObjectData(currentColliderGo, cellIndex);
             }
             Profiler.EndSample();
         }
         ///     }
         ///  </code>
         /// </example>
-        protected virtual float[] GetObjectData(GameObject currentColliderGo, float typeIndex, float normalizedDistance)
+        protected virtual float[] GetObjectData(GameObject currentColliderGo, int typeIndex)
         {
             Array.Clear(m_CellDataBuffer, 0, m_CellDataBuffer.Length);
             m_CellDataBuffer[0] = typeIndex;
         /// </summary>
         /// <param name="currentColliderGo">The game object that was found colliding with a certain cell</param>
         /// <param name="cellIndex">The index of the current cell</param>
-        /// <param name="normalizedDistance">A float between 0 and 1 describing the ratio of
-        ///            the distance currentColliderGo is compared to the edge of the gridsensor</param>
-        protected virtual void LoadObjectData(GameObject currentColliderGo, int cellIndex, float normalizedDistance)
+        protected virtual void LoadObjectData(GameObject currentColliderGo, int cellIndex)
-                if (m_GridDepthType != GridDepthType.Counting)
-                {
-                    for (var ii = 0; ii < channelHotVals.Count; ii++)
-                    {
-                        m_PerceptionBuffer[channelHotVals.Offset + ii] = 0f;
-                    }
-                }
-
-                    // Using i+1 as the type index as "0" represents "empty"
-                    var channelValues = GetObjectData(currentColliderGo, (float)i + 1, normalizedDistance);
+                    var channelValues = GetObjectData(currentColliderGo, i);
                     ValidateValues(channelValues, currentColliderGo);
 
                     switch (m_GridDepthType)
         /// <param name="cell">The index of the cell</param>
         Vector3 CellToLocalPoint(int cellIndex)
         {
-            float x = (cellIndex % m_GridSize.z - m_OffsetGridNumSide) * m_CellScale.x;
-            float z = (cellIndex / m_GridSize.z - m_OffsetGridNumSide) * m_CellScale.z - (m_GridSize.z - m_GridSize.x);
+            float x = (cellIndex / m_GridSize.z - m_CellCenterOffset.x) * m_CellScale.x;
+            float z = (cellIndex % m_GridSize.z - m_CellCenterOffset.z) * m_CellScale.z;
             return new Vector3(x, 0, z);
         }
 

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

         }
 
         [HideInInspector, SerializeField]
-        internal GameObject m_RootReference;
-        /// <summary>
-        /// The reference of the root of the agent. This is used to disambiguate objects with the same tag as the agent. Defaults to current GameObject.
-        /// Note that changing this after the sensor is created has no effect.
-        /// </summary>
-        public GameObject RootReference
-        {
-            get { return m_RootReference == null ? gameObject : m_RootReference; }
-            set { m_RootReference = value; }
-        }
-
-        [HideInInspector, SerializeField]
         internal int m_MaxColliderBufferSize = 500;
         /// <summary>
         /// The absolute max size of the Collider buffer used in the non-allocating Physics calls.  In other words
                 m_DetectableObjects,
                 m_ColliderMask,
                 m_DepthType,
-                RootReference,
+                gameObject,
                 m_CompressionType,
                 m_MaxColliderBufferSize,
                 m_InitialColliderBufferSize

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

 
             int[] subarrayIndicies = new[] { 77, 78, 87, 88 };
             float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 1 }, 4);
-            float[] expectedDefault = new[] { 1.0f, 0.0f, 0.0f };
+            float[] expectedDefault = new[] { 0.0f, 0.0f, 0.0f };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
             float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 1 }, 4);
-            float[] expectedDefault = new float[] { 1, 0, 0 };
+            float[] expectedDefault = new float[] { 0, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
             float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { .4f, 0, 1, 0 }, 4);
-            float[] expectedDefault = new float[] { 0, 1, 0, 0 };
+            float[] expectedDefault = new float[] { 0, 0, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             int[] subarrayIndicies = new[] { 77, 78, 87, 88 };
             float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 0, 1, 0, .4f }, 4);
-            float[] expectedDefault = new float[] { 1, 0, 0, 0 };
+            float[] expectedDefault = new float[] { 0, 0, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
             float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 1, 0, 0, 0, 1 }, 4);
-            float[] expectedDefault = new float[] { 1, 0, 0, 1, 0, 0 };
+            float[] expectedDefault = new float[] { 0, 0, 0, 0, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
             float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 0, 0, 0, 1, 0, .6f, 0, 0, 1 }, 4);
-            float[] expectedDefault = new float[] { 1, 0, 0, 0, 0, 0, 1, 0, 0 };
+            float[] expectedDefault = new float[] { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
             float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 0, 0, 0, 1, 0, .6f, 0, 0, 1 }, 4);
-            float[] expectedDefault = new float[] { 1, 0, 0, 0, 0, 0, 1, 0, 0 };
+            float[] expectedDefault = new float[] { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
 
             Object.DestroyImmediate(boxGo);

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

             Assert.AreEqual(10 * 10 * 3, gridSensor.m_PerceptionBuffer.Length);
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 1 }, 4);
-            float[] expectedDefault = new float[] { 1, 0, 0 };
+            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 1, 0 }, 4);
+            float[] expectedDefault = new float[] { 0, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
             Assert.AreEqual(10 * 10 * 1, gridSensor.m_PerceptionBuffer.Length);
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 2f / 3f }, 4);
+            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f / 3f }, 4);
             float[] expectedDefault = new float[] { 0f };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
             Assert.AreEqual(10 * 10 * 1, gridSensor.m_PerceptionBuffer.Length);
 
             int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f / 3f }, 4);
+            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 0f }, 4);
             float[] expectedDefault = new float[] { 0f };
             GridObsTestUtils.AssertSubarraysAtIndex(gridSensor.m_PerceptionBuffer, subarrayIndicies, expectedSubarrays, expectedDefault);
         }

com.unity.ml-agents.extensions/Tests/Utils/GridObsTestComponents/SimpleTestGridSensor.cs

             maxColliderBufferSize,
             initialColliderBufferSize)
         { }
-        protected override float[] GetObjectData(GameObject currentColliderGo,
-            float type_index, float normalized_distance)
+        protected override float[] GetObjectData(GameObject currentColliderGo, int type_index)
         {
             return (float[])currentColliderGo.GetComponent<GridSensorDummyData>().Data.Clone();
         }
                 DetectableObjects,
                 ColliderMask,
                 DepthType,
-                RootReference,
+                gameObject,
                 CompressionType,
                 MaxColliderBufferSize,
                 InitialColliderBufferSize

Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/GridFoodCollector.onnx.meta

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+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
+  importMode: 1

Project/Assets/ML-Agents/Examples/GridFoodCollector.onnx.meta

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Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.onnx.meta

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