Model override from commandline (#3265)

* WIP model override from commandline

* Agent lazy init, multiple overrides

* MLAgentsExamples namespace

* add model override to 3dball

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

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Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity

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Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

 using UnityEngine;
 using MLAgents;
+using MLAgentsExamples;
 
 [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
 public class CrawlerAgent : Agent

Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorArea.cs

 using UnityEngine;
-using MLAgents;
+using MLAgentsExamples;
 
 public class FoodCollectorArea : Area
 {

Project/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidArea.cs

 using UnityEngine;
-using MLAgents;
+using MLAgentsExamples;
 
 public class PyramidArea : Area
 {

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

 
 using UnityEngine;
 
-namespace  MLAgents
+namespace  MLAgentsExamples
 {
     public class AdjustTrainingTimescale : MonoBehaviour
     {

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

 using UnityEngine;
 
-namespace MLAgents
+namespace MLAgentsExamples
 {
     public class Area : MonoBehaviour
     {

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

 using UnityEngine;
 
-namespace MLAgents
+namespace MLAgentsExamples
 {
     public class CameraFollow : MonoBehaviour
     {

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

 using UnityEngine;
 
-namespace MLAgents
+namespace MLAgentsExamples
 {
     public class FlyCamera : MonoBehaviour
     {

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

 using UnityEngine;
+using MLAgents;
-namespace MLAgents
+namespace MLAgentsExamples
 {
     /// <summary>
     /// This class contains logic for locomotion agents with joints which might make contact with the ground.

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

 using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.Serialization;
+using MLAgents;
-namespace MLAgents
+namespace MLAgentsExamples
 {
     /// <summary>
     /// Used to store relevant information for acting and learning for each body part in agent.

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

 using UnityEngine;
 using MLAgents;
 
-public class ProjectSettingsOverrides : MonoBehaviour
+namespace MLAgentsExamples
-    // Original values
-    float m_OriginalMonitorVerticalOffset;
-    Vector3 m_OriginalGravity;
-    float m_OriginalFixedDeltaTime;
-    float m_OriginalMaximumDeltaTime;
-    int m_OriginalSolverIterations;
-    int m_OriginalSolverVelocityIterations;
+    public class ProjectSettingsOverrides : MonoBehaviour
+    {
+        // Original values
+        float m_OriginalMonitorVerticalOffset;
+        Vector3 m_OriginalGravity;
+        float m_OriginalFixedDeltaTime;
+        float m_OriginalMaximumDeltaTime;
+        int m_OriginalSolverIterations;
+        int m_OriginalSolverVelocityIterations;
-    [Tooltip("Increase or decrease the scene gravity. Use ~3x to make things less floaty")]
-    public float gravityMultiplier = 1.0f;
+        [Tooltip("Increase or decrease the scene gravity. Use ~3x to make things less floaty")]
+        public float gravityMultiplier = 1.0f;
-    [Header("Display Settings")]
-    public float monitorVerticalOffset;
+        [Header("Display Settings")]
+        public float monitorVerticalOffset;
-    [Header("Advanced physics settings")]
-    [Tooltip("The interval in seconds at which physics and other fixed frame rate updates (like MonoBehaviour's FixedUpdate) are performed.")]
-    public float fixedDeltaTime = .02f;
-    [Tooltip("The maximum time a frame can take. Physics and other fixed frame rate updates (like MonoBehaviour's FixedUpdate) will be performed only for this duration of time per frame.")]
-    public float maximumDeltaTime = 1.0f / 3.0f;
-    [Tooltip("Determines how accurately Rigidbody joints and collision contacts are resolved. (default 6). Must be positive.")]
-    public int solverIterations = 6;
-    [Tooltip("Affects how accurately the Rigidbody joints and collision contacts are resolved. (default 1). Must be positive.")]
-    public int solverVelocityIterations = 1;
+        [Header("Advanced physics settings")]
+        [Tooltip("The interval in seconds at which physics and other fixed frame rate updates (like MonoBehaviour's FixedUpdate) are performed.")]
+        public float fixedDeltaTime = .02f;
+        [Tooltip("The maximum time a frame can take. Physics and other fixed frame rate updates (like MonoBehaviour's FixedUpdate) will be performed only for this duration of time per frame.")]
+        public float maximumDeltaTime = 1.0f / 3.0f;
+        [Tooltip("Determines how accurately Rigidbody joints and collision contacts are resolved. (default 6). Must be positive.")]
+        public int solverIterations = 6;
+        [Tooltip("Affects how accurately the Rigidbody joints and collision contacts are resolved. (default 1). Must be positive.")]
+        public int solverVelocityIterations = 1;
-    public void Awake()
-    {
-        // Save the original values
-        m_OriginalMonitorVerticalOffset = Monitor.verticalOffset;
-        m_OriginalGravity = Physics.gravity;
-        m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
-        m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
-        m_OriginalSolverIterations = Physics.defaultSolverIterations;
-        m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
+        public void Awake()
+        {
+            // Save the original values
+            m_OriginalMonitorVerticalOffset = Monitor.verticalOffset;
+            m_OriginalGravity = Physics.gravity;
+            m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
+            m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
+            m_OriginalSolverIterations = Physics.defaultSolverIterations;
+            m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
-        // Override
-        Monitor.verticalOffset = monitorVerticalOffset;
-        Physics.gravity *= gravityMultiplier;
-        Time.fixedDeltaTime = fixedDeltaTime;
-        Time.maximumDeltaTime = maximumDeltaTime;
-        Physics.defaultSolverIterations = solverIterations;
-        Physics.defaultSolverVelocityIterations = solverVelocityIterations;
+            // Override
+            Monitor.verticalOffset = monitorVerticalOffset;
+            Physics.gravity *= gravityMultiplier;
+            Time.fixedDeltaTime = fixedDeltaTime;
+            Time.maximumDeltaTime = maximumDeltaTime;
+            Physics.defaultSolverIterations = solverIterations;
+            Physics.defaultSolverVelocityIterations = solverVelocityIterations;
-        Academy.Instance.FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
-    }
+            Academy.Instance.FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
+        }
-    public void OnDestroy()
-    {
-        Monitor.verticalOffset = m_OriginalMonitorVerticalOffset;
-        Physics.gravity = m_OriginalGravity;
-        Time.fixedDeltaTime = m_OriginalFixedDeltaTime;
-        Time.maximumDeltaTime = m_OriginalMaximumDeltaTime;
-        Physics.defaultSolverIterations = m_OriginalSolverIterations;
-        Physics.defaultSolverVelocityIterations = m_OriginalSolverVelocityIterations;
+        public void OnDestroy()
+        {
+            Monitor.verticalOffset = m_OriginalMonitorVerticalOffset;
+            Physics.gravity = m_OriginalGravity;
+            Time.fixedDeltaTime = m_OriginalFixedDeltaTime;
+            Time.maximumDeltaTime = m_OriginalMaximumDeltaTime;
+            Physics.defaultSolverIterations = m_OriginalSolverIterations;
+            Physics.defaultSolverVelocityIterations = m_OriginalSolverVelocityIterations;
+        }
-}
+}

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

 using UnityEngine;
 
-namespace MLAgents
+namespace MLAgentsExamples
 {
     /// <summary>
     /// This class contains logic for locomotion agents with joints which might make contact with a target.

Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

 using UnityEngine;
 using MLAgents;
+using MLAgentsExamples;
 
 public class WalkerAgent : Agent
 {

com.unity.ml-agents/Runtime/Agent.cs

         /// This Id will be changed every time the Agent resets.
         int m_EpisodeId;
 
+        /// Whether or not the Agent has been initialized already
+        bool m_Initialized;
+
         /// Keeps track of the actions that are masked at each step.
         ActionMasker m_ActionMasker;
 
         /// becomes enabled or active.
         void OnEnable()
         {
-            m_EpisodeId = EpisodeIdCounter.GetEpisodeId();
-            OnEnableHelper();
-
-            m_Recorder = GetComponent<DemonstrationRecorder>();
+            LazyInitialize();
-        void OnEnableHelper()
+        public void LazyInitialize()
+            if (m_Initialized)
+            {
+                return;
+            }
+            m_Initialized = true;
+
+            // Grab the "static" properties for the Agent.
+            m_EpisodeId = EpisodeIdCounter.GetEpisodeId();
+            m_PolicyFactory = GetComponent<BehaviorParameters>();
+            m_Recorder = GetComponent<DemonstrationRecorder>();
+
+
             m_Info = new AgentInfo();
             m_Action = new AgentAction();
             sensors = new List<ISensor>();
             Academy.Instance.AgentAct += AgentStep;
             Academy.Instance.AgentForceReset += _AgentReset;
-            m_PolicyFactory = GetComponent<BehaviorParameters>();
+
         }
 
         /// Monobehavior function that is called when the attached GameObject
             }
             NotifyAgentDone();
             m_Brain?.Dispose();
+            m_Initialized = false;
         }
 
         void NotifyAgentDone(bool maxStepReached = false)

com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorGenerator.cs

             var agents = new List<TestAgent> { agentA, agentB };
             foreach (var agent in agents)
             {
-                var agentEnableMethod = typeof(Agent).GetMethod("OnEnableHelper",
-                    BindingFlags.Instance | BindingFlags.NonPublic);
-                agentEnableMethod?.Invoke(agent, new object[] {});
+                agent.LazyInitialize();
             }
             agentA.collectObservationsSensor.AddObservation(new Vector3(1, 2, 3));
             agentB.collectObservationsSensor.AddObservation(new Vector3(4, 5, 6));

com.unity.ml-agents/Tests/Editor/MLAgentsEditModeTest.cs

             Assert.AreEqual(0, agent1.agentActionCalls);
             Assert.AreEqual(0, agent2.agentActionCalls);
 
-            var agentEnableMethod = typeof(Agent).GetMethod("OnEnableHelper",
-                BindingFlags.Instance | BindingFlags.NonPublic);
-            agentEnableMethod?.Invoke(agent2, new object[] {});
-            agentEnableMethod?.Invoke(agent1, new object[] {});
+            agent2.LazyInitialize();
+            agent1.LazyInitialize();
 
             // agent1 was not enabled when the academy started
             // The agents have been initialized
 
             var aca = Academy.Instance;
 
-            var agentEnableMethod = typeof(Agent).GetMethod(
-                "OnEnableHelper", BindingFlags.Instance | BindingFlags.NonPublic);
-
             var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
             decisionRequester.DecisionPeriod = 2;
             decisionRequester.Awake();
-            agentEnableMethod?.Invoke(agent1, new object[] {});
+            agent1.LazyInitialize();
 
             var numberAgent1Reset = 0;
             var numberAgent2Initialization = 0;
                 //Agent 2 is only initialized at step 2
                 if (i == 2)
                 {
-                    agentEnableMethod?.Invoke(agent2, new object[] {});
+                    agent2.LazyInitialize();
                     numberAgent2Initialization += 1;
                 }
 
 
             var aca = Academy.Instance;
 
-            var agentEnableMethod = typeof(Agent).GetMethod(
-                "OnEnableHelper", BindingFlags.Instance | BindingFlags.NonPublic);
-
-            agentEnableMethod?.Invoke(agent2, new object[] {});
+            agent2.LazyInitialize();
 
             var numberAgent1Reset = 0;
             var numberAgent2Reset = 0;
                 //Agent 1 is only initialized at step 2
                 if (i == 2)
                 {
-                    agentEnableMethod?.Invoke(agent1, new object[] {});
+                    agent1.LazyInitialize();
                 }
                 // Set agent 1 to done every 11 steps to test behavior
                 if (i % 11 == 5)
             var agent2 = agentGo2.GetComponent<TestAgent>();
             var aca = Academy.Instance;
 
-            var agentEnableMethod = typeof(Agent).GetMethod(
-                "OnEnableHelper", BindingFlags.Instance | BindingFlags.NonPublic);
-
             var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
             decisionRequester.DecisionPeriod = 2;
             decisionRequester.Awake();
-            agentEnableMethod?.Invoke(agent2, new object[] {});
-            agentEnableMethod?.Invoke(agent1, new object[] {});
-
+            agent2.LazyInitialize();
+            agent1.LazyInitialize();
 
             var j = 0;
             for (var i = 0; i < 500; i++)

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

+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Barracuda;
+using System.IO;
+using MLAgents;
+
+namespace MLAgentsExamples
+{
+    /// <summary>
+    /// Utility class to allow the NNModel file for an agent to be overriden during inference.
+    /// This is useful to validate the file after training is done.
+    /// The behavior name to override and file path are specified on the commandline, e.g.
+    /// player.exe --mlagents-override-model behavior1 /path/to/model1.nn --mlagents-override-model behavior2 /path/to/model2.nn
+    /// Note this will only work with example scenes that have 1:1 Agent:Behaviors. More complicated scenes like WallJump
+    /// probably won't override correctly.
+    /// </summary>
+    public class ModelOverrider : MonoBehaviour
+    {
+        const string k_CommandLineFlag = "--mlagents-override-model";
+        // Assets paths to use, with the behavior name as the key.
+        Dictionary<string, string> m_BehaviorNameOverrides = new Dictionary<string, string>();
+
+        // Cached loaded NNModels, with the behavior name as the key.
+        Dictionary<string, NNModel> m_CachedModels = new Dictionary<string, NNModel>();
+
+        /// <summary>
+        /// Get the asset path to use from the commandline arguments.
+        /// </summary>
+        /// <returns></returns>
+        void GetAssetPathFromCommandLine()
+        {
+            m_BehaviorNameOverrides.Clear();
+            m_BehaviorNameOverrides["3DBall"] = "/Users/chris.elion/code/ml-agents/models/ppo/3DBall.nn"; // TODO REMOVE ME
+
+            var args = Environment.GetCommandLineArgs();
+            for (var i = 0; i < args.Length-2; i++)
+            {
+                if (args[i] == k_CommandLineFlag)
+                {
+                    var key = args[i + 1].Trim();
+                    var value = args[i + 2].Trim();
+                    m_BehaviorNameOverrides[key] = value;
+                }
+            }
+        }
+
+        void OnEnable()
+        {
+            GetAssetPathFromCommandLine();
+            if (m_BehaviorNameOverrides.Count > 0)
+            {
+                OverrideModel();
+            }
+        }
+
+        NNModel GetModelForBehaviorName(string behaviorName)
+        {
+            if (m_CachedModels.ContainsKey(behaviorName))
+            {
+                return m_CachedModels[behaviorName];
+            }
+
+            if (!m_BehaviorNameOverrides.ContainsKey(behaviorName))
+            {
+                Debug.Log($"No override for behaviorName {behaviorName}");
+                return null;
+            }
+
+            var assetPath = m_BehaviorNameOverrides[behaviorName];
+
+            byte[] model = null;
+            try
+            {
+                model = File.ReadAllBytes(assetPath);
+            }
+            catch(IOException)
+            {
+                Debug.Log($"Couldn't load file {assetPath}", this);
+                // Cache the null so we don't repeatedly try to load a missing file
+                m_CachedModels[behaviorName] = null;
+                return null;
+            }
+
+            var asset = ScriptableObject.CreateInstance<NNModel>();
+            asset.Value = model;
+            asset.name = "Override - " + Path.GetFileName(assetPath);
+            m_CachedModels[behaviorName] = asset;
+            return asset;
+        }
+
+        /// <summary>
+        /// Load the NNModel file from the specified path, and give it to the attached agent.
+        /// </summary>
+        void OverrideModel()
+        {
+            var agent = GetComponent<Agent>();
+            agent.LazyInitialize();
+            var bp = agent.GetComponent<BehaviorParameters>();
+
+            var behaviorNameAndTeamId = bp.behaviorName;
+            var behaviorName = behaviorNameAndTeamId.Split('?')[0];
+            var nnModel = GetModelForBehaviorName(behaviorName);
+            Debug.Log($"Overriding behavior {behaviorName} for agent with model {nnModel?.name}");
+            // This might give a null model; that's better because we'll fall back to the Heuristic
+            agent.GiveModel($"Override_{behaviorName}", nnModel, InferenceDevice.CPU);
+
+        }
+    }
+}

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

+fileFormatVersion: 2
+guid: 3a6da8f78a394c6ab027688eab81e04d
+timeCreated: 1579651041