Merge pull request #3038 from Unity-Technologies/develop

Merge develop to master

.circleci/config.yml

     executor: << parameters.executor >>
     working_directory: ~/repo
 
+    # Run additional numpy checks on unit tests
+    environment:
+      TEST_ENFORCE_NUMPY_FLOAT32: 1
+
     steps:
       - checkout
 

CONTRIBUTING.md

 issues with the `contributions welcome` label.
 
 ## Git Branches
+The master branch corresponds to the most recent version of the project.
+Note that this may be newer that the [latest release](https://github.com/Unity-Technologies/ml-agents/releases/tag/latest_release).
-Starting with v0.3, we adopted the
-[Gitflow Workflow](http://nvie.com/posts/a-successful-git-branching-model/).
-Consequently, the `master` branch corresponds to the latest release of
-the project, while the `develop` branch corresponds to the most recent, stable,
-version of the project.
-
-Thus, when adding to the project, **please branch off `develop`**
-and make sure that your Pull Request (PR) contains the following:
+When contributing to the project, please make sure that your Pull Request (PR) contains the following:
 
 * Detailed description of the changes performed
 * Corresponding changes to documentation, unit tests and sample environments (if

README.md

 [![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](docs/Readme.md)
 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)
 
+([latest release](https://github.com/Unity-Technologies/ml-agents/releases/tag/latest_release))
+([all releases](https://github.com/Unity-Technologies/ml-agents/releases))
+
 **The Unity Machine Learning Agents Toolkit** (ML-Agents) is an open-source
 Unity plugin that enables games and simulations to serve as environments for
 training intelligent agents. Agents can be trained using reinforcement learning,

UnitySDK/Assets/ML-Agents/Editor/Tests/DemonstrationTests.cs

             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
             var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
                 BindingFlags.Instance | BindingFlags.NonPublic);

UnitySDK/Assets/ML-Agents/Editor/Tests/EditModeTestInternalBrainTensorGenerator.cs

             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
             var goA = new GameObject("goA");
             var bpA = goA.AddComponent<BehaviorParameters>();

UnitySDK/Assets/ML-Agents/Editor/Tests/MLAgentsEditModeTest.cs

             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
             Assert.AreEqual(0, aca.initializeAcademyCalls);
             Assert.AreEqual(0, aca.GetStepCount());
             Assert.AreEqual(0, aca.GetEpisodeCount());
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
             Assert.AreEqual(false, agent1.IsDone());
             Assert.AreEqual(false, agent2.IsDone());
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
             var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
                 BindingFlags.Instance | BindingFlags.NonPublic);
             academyInitializeMethod?.Invoke(aca, new object[] { });
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
             var academyInitializeMethod = typeof(Academy).GetMethod(
                 "InitializeEnvironment", BindingFlags.Instance | BindingFlags.NonPublic);
             academyInitializeMethod?.Invoke(aca, new object[] { });
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(

UnitySDK/Assets/ML-Agents/Editor/Tests/TimerTest.cs

 using NUnit.Framework;
+using UnityEditor.Graphs;
 using UnityEngine;
 
 namespace MLAgents.Tests
         {
             TimerStack myTimer = TimerStack.Instance;
             myTimer.Reset();
-
             using (myTimer.Scoped("foo"))
             {
                 for (int i = 0; i < 5; i++)
+                        myTimer.SetGauge("my_gauge", (float)i);
                     }
                 }
             }
             Assert.AreEqual(rootChildren["foo"].NumCalls, 1);
+            var gauge = myTimer.RootNode.Gauges["my_gauge"];
+            Assert.NotNull(gauge);
+            Assert.AreEqual(5, gauge.count);
+            Assert.AreEqual(0, gauge.minValue);
+            Assert.AreEqual(4, gauge.maxValue);
+            Assert.AreEqual(4, gauge.value);
 
             var fooChildren = rootChildren["foo"].Children;
             Assert.That(fooChildren, Contains.Key("bar"));

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAcademy.cs

 
 public class Ball3DAcademy : Academy
 {
-    public override void AcademyReset()
+    public override void InitializeAcademy()
-        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
+        FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
-    public override void AcademyStep()
-    {
-    }
 }

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs

     [Header("Specific to Ball3D")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
         SetResetParameters();
     }
 
     public void SetBall()
     {
         //Set the attributes of the ball by fetching the information from the academy
-        m_BallRb.mass = m_ResetParams["mass"];
-        var scale = m_ResetParams["scale"];
+        m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
+        var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
         ball.transform.localScale = new Vector3(scale, scale, scale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs

     [Header("Specific to Ball3DHard")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
         SetResetParameters();
     }
 
     public void SetBall()
     {
         //Set the attributes of the ball by fetching the information from the academy
-        m_BallRb.mass = m_ResetParams["mass"];
-        var scale = m_ResetParams["scale"];
+        m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
+        var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
         ball.transform.localScale = new Vector3(scale, scale, scale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs

 
     void WaitTimeInference()
     {
-        if (!m_Academy.GetIsInference())
+        if (!m_Academy.IsCommunicatorOn)
         {
             RequestDecision();
         }

UnitySDK/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs

     int m_NumberJumps = 20;
     int m_JumpLeft = 20;
 
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
 
     public override void InitializeAgent()
     {
         var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
 
         SetResetParameters();
     }
 
     public void SetTargetScale()
     {
-        var targetScale = m_ResetParams["target_scale"];
+        var targetScale = m_ResetParams.GetPropertyWithDefault("target_scale", 1.0f);
         target.transform.localScale = new Vector3(targetScale, targetScale, targetScale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs

 
     public void SetLaserLengths()
     {
-        m_LaserLength = m_MyAcademy.resetParameters.TryGetValue("laser_length", out m_LaserLength) ? m_LaserLength : 1.0f;
+        m_LaserLength = m_MyAcademy.FloatProperties.GetPropertyWithDefault("laser_length", 1.0f);
-        float agentScale;
-        agentScale = m_MyAcademy.resetParameters.TryGetValue("agent_scale", out agentScale) ? agentScale : 1.0f;
+        float agentScale = m_MyAcademy.FloatProperties.GetPropertyWithDefault("agent_scale", 1.0f);
         gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAcademy.cs

 {
     public Camera MainCamera;
 
-    public override void AcademyReset()
+    public override void InitializeAcademy()
-        MainCamera.transform.position = new Vector3(-((int)resetParameters["gridSize"] - 1) / 2f,
-            (int)resetParameters["gridSize"] * 1.25f,
-            -((int)resetParameters["gridSize"] - 1) / 2f);
-        MainCamera.orthographicSize = ((int)resetParameters["gridSize"] + 5f) / 2f;
+        FloatProperties.RegisterCallback("gridSize", f =>
+        {
+            MainCamera.transform.position = new Vector3(-(f - 1) / 2f, f * 1.25f, -(f - 1) / 2f);
+            MainCamera.orthographicSize = (f + 5f) / 2f;
+        });
+
     }
 }

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

         // 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_Academy.resetParameters["gridSize"] - 1;
+        var maxPosition = (int)m_Academy.FloatProperties.GetPropertyWithDefault("gridSize", 5f) - 1;
 
         if (positionX == 0)
         {
             renderCamera.Render();
         }
 
-        if (!m_Academy.GetIsInference())
+        if (!m_Academy.IsCommunicatorOn)
         {
             RequestDecision();
         }

UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs

 
     public GameObject trueAgent;
 
-    ResetParameters m_ResetParameters;
+    IFloatProperties m_ResetParameters;
 
     Camera m_AgentCam;
 
 
     public void Awake()
     {
-        m_ResetParameters = FindObjectOfType<Academy>().resetParameters;
+        m_ResetParameters = FindObjectOfType<Academy>().FloatProperties;
 
         m_Objects = new[] { goalPref, pitPref };
 
 
     public void SetEnvironment()
     {
-        transform.position = m_InitialPosition * (m_ResetParameters["gridSize"] + 1);
+        transform.position = m_InitialPosition * (m_ResetParameters.GetPropertyWithDefault("gridSize", 5f) + 1);
-        for (var i = 0; i < (int)m_ResetParameters["numObstacles"]; i++)
+        for (var i = 0; i < (int)m_ResetParameters.GetPropertyWithDefault("numObstacles", 1); i++)
-        for (var i = 0; i < (int)m_ResetParameters["numGoals"]; i++)
+        for (var i = 0; i < (int)m_ResetParameters.GetPropertyWithDefault("numGoals", 1f); i++)
-        var gridSize = (int)m_ResetParameters["gridSize"];
+        var gridSize = (int)m_ResetParameters.GetPropertyWithDefault("gridSize", 5f);
         m_Plane.transform.localScale = new Vector3(gridSize / 10.0f, 1f, gridSize / 10.0f);
         m_Plane.transform.localPosition = new Vector3((gridSize - 1) / 2f, -0.5f, (gridSize - 1) / 2f);
         m_Sn.transform.localScale = new Vector3(1, 1, gridSize + 2);
 
     public void AreaReset()
     {
-        var gridSize = (int)m_ResetParameters["gridSize"];
+        var gridSize = (int)m_ResetParameters.GetPropertyWithDefault("gridSize", 5f); ;
         foreach (var actor in actorObjs)
         {
             DestroyImmediate(actor);

UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs

 
     public void SetGroundMaterialFriction()
     {
-        var resetParams = m_Academy.resetParameters;
+        var resetParams = m_Academy.FloatProperties;
-        groundCollider.material.dynamicFriction = resetParams["dynamic_friction"];
-        groundCollider.material.staticFriction = resetParams["static_friction"];
+        groundCollider.material.dynamicFriction = resetParams.GetPropertyWithDefault("dynamic_friction", 0);
+        groundCollider.material.staticFriction = resetParams.GetPropertyWithDefault("static_friction", 0);
-        var resetParams = m_Academy.resetParameters;
+        var resetParams = m_Academy.FloatProperties;
+        var scale = resetParams.GetPropertyWithDefault("block_scale", 2);
-        m_BlockRb.transform.localScale = new Vector3(resetParams["block_scale"], 0.75f, resetParams["block_scale"]);
+        m_BlockRb.transform.localScale = new Vector3(scale, 0.75f, scale);
-        m_BlockRb.drag = resetParams["block_drag"];
+        m_BlockRb.drag = resetParams.GetPropertyWithDefault("block_drag", 0.5f);
     }
 
     public void SetResetParameters()

UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAcademy.cs

 {
     public override void AcademyReset()
     {
-        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
+        FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
+
     }
 
     public override void AcademyStep()

UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs

 
     public void SetResetParameters()
     {
-        m_GoalSize = m_MyAcademy.resetParameters["goal_size"];
-        m_GoalSpeed = Random.Range(-1f, 1f) * m_MyAcademy.resetParameters["goal_speed"];
-        m_Deviation = m_MyAcademy.resetParameters["deviation"];
-        m_DeviationFreq = m_MyAcademy.resetParameters["deviation_freq"];
+        var fp = m_MyAcademy.FloatProperties;
+        m_GoalSize = fp.GetPropertyWithDefault("goal_size", 5);
+        m_GoalSpeed = Random.Range(-1f, 1f) * fp.GetPropertyWithDefault("goal_speed", 1);
+        m_Deviation = fp.GetPropertyWithDefault("deviation", 0);
+        m_DeviationFreq = fp.GetPropertyWithDefault("deviation_freq", 0);
     }
 }

UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerAcademy.cs

         Physics.gravity *= gravityMultiplier; //for soccer a multiplier of 3 looks good
     }
 
-    public override void AcademyReset()
+    public override void InitializeAcademy()
-        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
+        FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
     }
 
     public override void AcademyStep()

UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs

         ballRb.velocity = Vector3.zero;
         ballRb.angularVelocity = Vector3.zero;
 
-        var ballScale = m_Academy.resetParameters["ball_scale"];
+        var ballScale = m_Academy.FloatProperties.GetPropertyWithDefault("ball_scale", 0.015f);
         ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
     }
 }

UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAcademy.cs

 
 public class TennisAcademy : Academy
 {
-    public override void AcademyReset()
+    public override void InitializeAcademy()
-        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
+        FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
+
     }
 
     public override void AcademyStep()

UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs

     Rigidbody m_AgentRb;
     Rigidbody m_BallRb;
     float m_InvertMult;
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
 
     // Looks for the scoreboard based on the name of the gameObjects.
     // Do not modify the names of the Score GameObjects
         var canvas = GameObject.Find(k_CanvasName);
         GameObject scoreBoard;
         var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
         if (invertX)
         {
             scoreBoard = canvas.transform.Find(k_ScoreBoardBName).gameObject;
 
     public void SetRacket()
     {
-        angle = m_ResetParams["angle"];
+        angle = m_ResetParams.GetPropertyWithDefault("angle", 55);
         gameObject.transform.eulerAngles = new Vector3(
             gameObject.transform.eulerAngles.x,
             gameObject.transform.eulerAngles.y,
 
     public void SetBall()
     {
-        scale = m_ResetParams["scale"];
+        scale = m_ResetParams.GetPropertyWithDefault("scale", 1);
         ball.transform.localScale = new Vector3(scale, scale, scale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs

         Physics.defaultSolverVelocityIterations = 12;
         Time.fixedDeltaTime = 0.01333f; //(75fps). default is .2 (60fps)
         Time.maximumDeltaTime = .15f; // Default is .33
-    }
-    public override void AcademyReset()
-    {
-        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
+        FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
+
     }
 
     public override void AcademyStep()

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

 
 public class WalkerAgent : Agent
 {
-    [Header("Specific to Walker")][Header("Target To Walk Towards")][Space(10)]
+    [Header("Specific to Walker")]
+    [Header("Target To Walk Towards")]
+    [Space(10)]
     public Transform target;
 
     Vector3 m_DirToTarget;
     Rigidbody m_ChestRb;
     Rigidbody m_SpineRb;
 
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
 
     public override void InitializeAgent()
     {
         m_SpineRb = spine.GetComponent<Rigidbody>();
 
         var academy = FindObjectOfType<WalkerAcademy>();
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
 
         SetResetParameters();
     }
 
     public void SetTorsoMass()
     {
-        m_ChestRb.mass = m_ResetParams["chest_mass"];
-        m_SpineRb.mass = m_ResetParams["spine_mass"];
-        m_HipsRb.mass = m_ResetParams["hip_mass"];
+        m_ChestRb.mass = m_ResetParams.GetPropertyWithDefault("chest_mass", 8);
+        m_SpineRb.mass = m_ResetParams.GetPropertyWithDefault("spine_mass", 10);
+        m_HipsRb.mass = m_ResetParams.GetPropertyWithDefault("hip_mass", 15);
     }
 
     public void SetResetParameters()

UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs

         {
             localScale = new Vector3(
                 localScale.x,
-                m_Academy.resetParameters["no_wall_height"],
+                m_Academy.FloatProperties.GetPropertyWithDefault("no_wall_height", 0),
                 localScale.z);
             wall.transform.localScale = localScale;
             GiveModel("SmallWallJump", noWallBrain);
             localScale = new Vector3(
                 localScale.x,
-                m_Academy.resetParameters["small_wall_height"],
+                m_Academy.FloatProperties.GetPropertyWithDefault("small_wall_height", 4),
                 localScale.z);
             wall.transform.localScale = localScale;
             GiveModel("SmallWallJump", smallWallBrain);
-            var height =
-                m_Academy.resetParameters["big_wall_min_height"] +
-                Random.value * (m_Academy.resetParameters["big_wall_max_height"] -
-                    m_Academy.resetParameters["big_wall_min_height"]);
+            var min = m_Academy.FloatProperties.GetPropertyWithDefault("big_wall_min_height", 8);
+            var max = m_Academy.FloatProperties.GetPropertyWithDefault("big_wall_max_height", 8);
+            var height = min + Random.value * (max - min);
             localScale = new Vector3(
                 localScale.x,
                 height,

UnitySDK/Assets/ML-Agents/Scripts/Academy.cs

 
 namespace MLAgents
 {
-    /// <summary>
-    /// Wraps the environment-level parameters that are provided within the
-    /// Editor. These parameters can be provided for training and inference
-    /// modes separately and represent screen resolution, rendering quality and
-    /// frame rate.
-    /// </summary>
-    [System.Serializable]
-    public class EnvironmentConfiguration
-    {
-        [Tooltip("Width of the environment window in pixels.")]
-        public int width;
-
-        [Tooltip("Height of the environment window in pixels.")]
-        public int height;
-
-        [Tooltip("Rendering quality of environment. (Higher is better quality.)")]
-        [Range(0, 5)]
-        public int qualityLevel;
-
-        [Tooltip("Speed at which environment is run. (Higher is faster.)")]
-        [Range(1f, 100f)]
-        public float timeScale;
-
-        [Tooltip("Frames per second (FPS) engine attempts to maintain.")]
-        public int targetFrameRate;
-
-        /// Initializes a new instance of the
-        /// <see cref="EnvironmentConfiguration"/> class.
-        /// <param name="width">Width of environment window (pixels).</param>
-        /// <param name="height">Height of environment window (pixels).</param>
-        /// <param name="qualityLevel">
-        /// Rendering quality of environment. Ranges from 0 to 5, with higher.
-        /// </param>
-        /// <param name="timeScale">
-        /// Speed at which environment is run. Ranges from 1 to 100, with higher
-        /// values representing faster speed.
-        /// </param>
-        /// <param name="targetFrameRate">
-        /// Target frame rate (per second) that the engine tries to maintain.
-        /// </param>
-        public EnvironmentConfiguration(
-            int width, int height, int qualityLevel,
-            float timeScale, int targetFrameRate)
-        {
-            this.width = width;
-            this.height = height;
-            this.qualityLevel = qualityLevel;
-            this.timeScale = timeScale;
-            this.targetFrameRate = targetFrameRate;
-        }
-    }
 
     /// <summary>
     /// An Academy is where Agent objects go to train their behaviors.
         /// Used to restore original value when deriving Academy modifies it
         float m_OriginalMaximumDeltaTime;
 
-        // Fields provided in the Inspector
+        public IFloatProperties FloatProperties;
-        [FormerlySerializedAs("trainingConfiguration")]
-        [SerializeField]
-        [Tooltip("The engine-level settings which correspond to rendering " +
-            "quality and engine speed during Training.")]
-        EnvironmentConfiguration m_TrainingConfiguration =
-            new EnvironmentConfiguration(80, 80, 1, 100.0f, -1);
-
-        [FormerlySerializedAs("inferenceConfiguration")]
-        [SerializeField]
-        [Tooltip("The engine-level settings which correspond to rendering " +
-            "quality and engine speed during Inference.")]
-        EnvironmentConfiguration m_InferenceConfiguration =
-            new EnvironmentConfiguration(1280, 720, 5, 1.0f, 60);
-
-        /// <summary>
-        /// Contains a mapping from parameter names to float values. They are
-        /// used in <see cref="AcademyReset"/> and <see cref="AcademyStep"/>
-        /// to modify elements in the environment at reset time.
-        /// </summary>
-        /// <remarks>
-        /// Default reset parameters are specified in the academy Editor, and can
-        /// be modified when training by passing a config
-        /// dictionary at reset.
-        /// </remarks>
-        [SerializeField]
-        [Tooltip("List of custom parameters that can be changed in the " +
-            "environment when it resets.")]
-        public ResetParameters resetParameters;
-        public CommunicatorObjects.CustomResetParametersProto customResetParameters;
 
         // Fields not provided in the Inspector.
 
             get { return Communicator != null; }
         }
 
-        /// If true, the Academy will use inference settings. This field is
-        /// initialized in <see cref="Awake"/> depending on the presence
-        /// or absence of a communicator. Furthermore, it can be modified during
-        /// training via <see cref="SetIsInference"/>.
-        bool m_IsInference = true;
-
         /// The number of episodes completed by the environment. Incremented
         /// each time the environment is reset.
         int m_EpisodeCount;
         /// The number of total number of steps completed during the whole simulation. Incremented
         /// each time a step is taken in the environment.
         int m_TotalStepCount;
-
-        /// Flag that indicates whether the inference/training mode of the
-        /// environment was switched by the training process. This impacts the
-        /// engine settings at the next environment step.
-        bool m_ModeSwitched;
 
         /// Pointer to the communicator currently in use by the Academy.
         public ICommunicator Communicator;
             m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
             m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
 
+            var floatProperties = new FloatPropertiesChannel();
+            FloatProperties = floatProperties;
+
 
             // Try to launch the communicator by using the arguments passed at launch
             try
 
             if (Communicator != null)
             {
+                Communicator.RegisterSideChannel(new EngineConfigurationChannel());
+                Communicator.RegisterSideChannel(floatProperties);
                 // We try to exchange the first message with Python. If this fails, it means
                 // no Python Process is ready to train the environment. In this case, the
                 //environment must use Inference.
                         {
                             version = k_ApiVersion,
                             name = gameObject.name,
-                            environmentResetParameters = new EnvironmentResetParameters
-                            {
-                                resetParameters = resetParameters,
-                                customResetParameters = customResetParameters
-                            }
                         });
                     Random.InitState(unityRLInitParameters.seed);
                 }
                 {
                     Communicator.QuitCommandReceived += OnQuitCommandReceived;
                     Communicator.ResetCommandReceived += OnResetCommand;
-                    Communicator.RLInputReceived += OnRLInputReceived;
                 }
             }
 
-
-            SetIsInference(!IsCommunicatorOn);
 
             DecideAction += () => { };
             DestroyAction += () => { };
             AgentAct += () => { };
             AgentForceReset += () => { };
 
-            ConfigureEnvironment();
         }
 
         static void OnQuitCommandReceived()
             Application.Quit();
         }
 
-        void OnResetCommand(EnvironmentResetParameters newResetParameters)
+        void OnResetCommand()
-            UpdateResetParameters(newResetParameters);
-        void OnRLInputReceived(UnityRLInputParameters inputParams)
-        {
-            m_IsInference = !inputParams.isTraining;
-        }
-
-        void UpdateResetParameters(EnvironmentResetParameters newResetParameters)
-        {
-            if (newResetParameters.resetParameters != null)
-            {
-                foreach (var kv in newResetParameters.resetParameters)
-                {
-                    resetParameters[kv.Key] = kv.Value;
-                }
-            }
-            customResetParameters = newResetParameters.customResetParameters;
-        }
-
-        /// <summary>
-        /// Configures the environment settings depending on the training/inference
-        /// mode and the corresponding parameters passed in the Editor.
-        /// </summary>
-        void ConfigureEnvironment()
-        {
-            if (m_IsInference)
-            {
-                ConfigureEnvironmentHelper(m_InferenceConfiguration);
-                Monitor.SetActive(true);
-            }
-            else
-            {
-                ConfigureEnvironmentHelper(m_TrainingConfiguration);
-                Monitor.SetActive(false);
-            }
-        }
-
-        /// <summary>
-        /// Helper method for initializing the environment based on the provided
-        /// configuration.
-        /// </summary>
-        /// <param name="config">
-        /// Environment configuration (specified in the Editor).
-        /// </param>
-        static void ConfigureEnvironmentHelper(EnvironmentConfiguration config)
-        {
-            Screen.SetResolution(config.width, config.height, false);
-            QualitySettings.SetQualityLevel(config.qualityLevel, true);
-            Time.timeScale = config.timeScale;
-            Time.captureFramerate = 60;
-            Application.targetFrameRate = config.targetFrameRate;
-        }
-
         /// <summary>
         /// Initializes the academy and environment. Called during the waking-up
         /// phase of the environment before any of the scene objects/agents have
         {
         }
 
-        /// <summary>
-        /// Returns the <see cref="m_IsInference"/> flag.
-        /// </summary>
-        /// <returns>
-        /// <c>true</c>, if current mode is inference, <c>false</c> if training.
-        /// </returns>
-        public bool GetIsInference()
-        {
-            return m_IsInference;
-        }
-
-        /// <summary>
-        /// Sets the <see cref="m_IsInference"/> flag to the provided value. If
-        /// the new flag differs from the current flag value, this signals that
-        /// the environment configuration needs to be updated.
-        /// </summary>
-        /// <param name="isInference">
-        /// Environment mode, if true then inference, otherwise training.
-        /// </param>
-        public void SetIsInference(bool isInference)
-        {
-            if (m_IsInference != isInference)
-            {
-                m_IsInference = isInference;
-
-                // This signals to the academy that at the next environment step
-                // the engine configurations need updating to the respective mode
-                // (i.e. training vs inference) configuration.
-                m_ModeSwitched = true;
-            }
-        }
 
         /// <summary>
         /// Returns the current episode counter.
         /// </summary>
         void EnvironmentStep()
         {
-            if (m_ModeSwitched)
-            {
-                ConfigureEnvironment();
-                m_ModeSwitched = false;
-            }
             if (!m_FirstAcademyReset)
             {
                 ForcedFullReset();

UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/UnityRlInitializationOutput.cs

             "CkdtbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL3VuaXR5X3Js",
             "X2luaXRpYWxpemF0aW9uX291dHB1dC5wcm90bxIUY29tbXVuaWNhdG9yX29i",
             "amVjdHMaOW1sYWdlbnRzL2VudnMvY29tbXVuaWNhdG9yX29iamVjdHMvYnJh",
-            "aW5fcGFyYW1ldGVycy5wcm90bxo/bWxhZ2VudHMvZW52cy9jb21tdW5pY2F0",
-            "b3Jfb2JqZWN0cy9lbnZpcm9ubWVudF9wYXJhbWV0ZXJzLnByb3RvIusBCiBV",
-            "bml0eVJMSW5pdGlhbGl6YXRpb25PdXRwdXRQcm90bxIMCgRuYW1lGAEgASgJ",
-            "Eg8KB3ZlcnNpb24YAiABKAkSEAoIbG9nX3BhdGgYAyABKAkSRAoQYnJhaW5f",
-            "cGFyYW1ldGVycxgFIAMoCzIqLmNvbW11bmljYXRvcl9vYmplY3RzLkJyYWlu",
-            "UGFyYW1ldGVyc1Byb3RvElAKFmVudmlyb25tZW50X3BhcmFtZXRlcnMYBiAB",
-            "KAsyMC5jb21tdW5pY2F0b3Jfb2JqZWN0cy5FbnZpcm9ubWVudFBhcmFtZXRl",
-            "cnNQcm90b0IfqgIcTUxBZ2VudHMuQ29tbXVuaWNhdG9yT2JqZWN0c2IGcHJv",
-            "dG8z"));
+            "aW5fcGFyYW1ldGVycy5wcm90byKfAQogVW5pdHlSTEluaXRpYWxpemF0aW9u",
+            "T3V0cHV0UHJvdG8SDAoEbmFtZRgBIAEoCRIPCgd2ZXJzaW9uGAIgASgJEhAK",
+            "CGxvZ19wYXRoGAMgASgJEkQKEGJyYWluX3BhcmFtZXRlcnMYBSADKAsyKi5j",
+            "b21tdW5pY2F0b3Jfb2JqZWN0cy5CcmFpblBhcmFtZXRlcnNQcm90b0oECAYQ",
+            "B0IfqgIcTUxBZ2VudHMuQ29tbXVuaWNhdG9yT2JqZWN0c2IGcHJvdG8z"));
-          new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.BrainParametersReflection.Descriptor, global::MLAgents.CommunicatorObjects.EnvironmentParametersReflection.Descriptor, },
+          new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.BrainParametersReflection.Descriptor, },
-            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLInitializationOutputProto), global::MLAgents.CommunicatorObjects.UnityRLInitializationOutputProto.Parser, new[]{ "Name", "Version", "LogPath", "BrainParameters", "EnvironmentParameters" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLInitializationOutputProto), global::MLAgents.CommunicatorObjects.UnityRLInitializationOutputProto.Parser, new[]{ "Name", "Version", "LogPath", "BrainParameters" }, null, null, null)
           }));
     }
     #endregion
       version_ = other.version_;
       logPath_ = other.logPath_;
       brainParameters_ = other.brainParameters_.Clone();
-      EnvironmentParameters = other.environmentParameters_ != null ? other.EnvironmentParameters.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 
       get { return brainParameters_; }
     }
 
-    /// <summary>Field number for the "environment_parameters" field.</summary>
-    public const int EnvironmentParametersFieldNumber = 6;
-    private global::MLAgents.CommunicatorObjects.EnvironmentParametersProto environmentParameters_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public global::MLAgents.CommunicatorObjects.EnvironmentParametersProto EnvironmentParameters {
-      get { return environmentParameters_; }
-      set {
-        environmentParameters_ = value;
-      }
-    }
-
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as UnityRLInitializationOutputProto);
       if (Version != other.Version) return false;
       if (LogPath != other.LogPath) return false;
       if(!brainParameters_.Equals(other.brainParameters_)) return false;
-      if (!object.Equals(EnvironmentParameters, other.EnvironmentParameters)) return false;
       return Equals(_unknownFields, other._unknownFields);
     }
 
       if (Version.Length != 0) hash ^= Version.GetHashCode();
       if (LogPath.Length != 0) hash ^= LogPath.GetHashCode();
       hash ^= brainParameters_.GetHashCode();
-      if (environmentParameters_ != null) hash ^= EnvironmentParameters.GetHashCode();
       if (_unknownFields != null) {
         hash ^= _unknownFields.GetHashCode();
       }
         output.WriteString(LogPath);
       }
       brainParameters_.WriteTo(output, _repeated_brainParameters_codec);
-      if (environmentParameters_ != null) {
-        output.WriteRawTag(50);
-        output.WriteMessage(EnvironmentParameters);
-      }
       if (_unknownFields != null) {
         _unknownFields.WriteTo(output);
       }
         size += 1 + pb::CodedOutputStream.ComputeStringSize(LogPath);
       }
       size += brainParameters_.CalculateSize(_repeated_brainParameters_codec);
-      if (environmentParameters_ != null) {
-        size += 1 + pb::CodedOutputStream.ComputeMessageSize(EnvironmentParameters);
-      }
       if (_unknownFields != null) {
         size += _unknownFields.CalculateSize();
       }
         LogPath = other.LogPath;
       }
       brainParameters_.Add(other.brainParameters_);
-      if (other.environmentParameters_ != null) {
-        if (environmentParameters_ == null) {
-          environmentParameters_ = new global::MLAgents.CommunicatorObjects.EnvironmentParametersProto();
-        }
-        EnvironmentParameters.MergeFrom(other.EnvironmentParameters);
-      }
       _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
     }
 
           }
           case 42: {
             brainParameters_.AddEntriesFrom(input, _repeated_brainParameters_codec);
-            break;
-          }
-          case 50: {
-            if (environmentParameters_ == null) {
-              environmentParameters_ = new global::MLAgents.CommunicatorObjects.EnvironmentParametersProto();
-            }
-            input.ReadMessage(environmentParameters_);
             break;
           }
         }

UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/UnityRlInput.cs

             "CjdtbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL3VuaXR5X3Js",
             "X2lucHV0LnByb3RvEhRjb21tdW5pY2F0b3Jfb2JqZWN0cxo1bWxhZ2VudHMv",
             "ZW52cy9jb21tdW5pY2F0b3Jfb2JqZWN0cy9hZ2VudF9hY3Rpb24ucHJvdG8a",
-            "P21sYWdlbnRzL2VudnMvY29tbXVuaWNhdG9yX29iamVjdHMvZW52aXJvbm1l",
-            "bnRfcGFyYW1ldGVycy5wcm90bxowbWxhZ2VudHMvZW52cy9jb21tdW5pY2F0",
-            "b3Jfb2JqZWN0cy9jb21tYW5kLnByb3RvIsMDChFVbml0eVJMSW5wdXRQcm90",
-            "bxJQCg1hZ2VudF9hY3Rpb25zGAEgAygLMjkuY29tbXVuaWNhdG9yX29iamVj",
-            "dHMuVW5pdHlSTElucHV0UHJvdG8uQWdlbnRBY3Rpb25zRW50cnkSUAoWZW52",
-            "aXJvbm1lbnRfcGFyYW1ldGVycxgCIAEoCzIwLmNvbW11bmljYXRvcl9vYmpl",
-            "Y3RzLkVudmlyb25tZW50UGFyYW1ldGVyc1Byb3RvEhMKC2lzX3RyYWluaW5n",
-            "GAMgASgIEjMKB2NvbW1hbmQYBCABKA4yIi5jb21tdW5pY2F0b3Jfb2JqZWN0",
-            "cy5Db21tYW5kUHJvdG8aTQoUTGlzdEFnZW50QWN0aW9uUHJvdG8SNQoFdmFs",
-            "dWUYASADKAsyJi5jb21tdW5pY2F0b3Jfb2JqZWN0cy5BZ2VudEFjdGlvblBy",
-            "b3RvGnEKEUFnZW50QWN0aW9uc0VudHJ5EgsKA2tleRgBIAEoCRJLCgV2YWx1",
-            "ZRgCIAEoCzI8LmNvbW11bmljYXRvcl9vYmplY3RzLlVuaXR5UkxJbnB1dFBy",
-            "b3RvLkxpc3RBZ2VudEFjdGlvblByb3RvOgI4AUIfqgIcTUxBZ2VudHMuQ29t",
-            "bXVuaWNhdG9yT2JqZWN0c2IGcHJvdG8z"));
+            "MG1sYWdlbnRzL2VudnMvY29tbXVuaWNhdG9yX29iamVjdHMvY29tbWFuZC5w",
+            "cm90byL+AgoRVW5pdHlSTElucHV0UHJvdG8SUAoNYWdlbnRfYWN0aW9ucxgB",
+            "IAMoCzI5LmNvbW11bmljYXRvcl9vYmplY3RzLlVuaXR5UkxJbnB1dFByb3Rv",
+            "LkFnZW50QWN0aW9uc0VudHJ5EjMKB2NvbW1hbmQYBCABKA4yIi5jb21tdW5p",
+            "Y2F0b3Jfb2JqZWN0cy5Db21tYW5kUHJvdG8SFAoMc2lkZV9jaGFubmVsGAUg",
+            "ASgMGk0KFExpc3RBZ2VudEFjdGlvblByb3RvEjUKBXZhbHVlGAEgAygLMiYu",
+            "Y29tbXVuaWNhdG9yX29iamVjdHMuQWdlbnRBY3Rpb25Qcm90bxpxChFBZ2Vu",
+            "dEFjdGlvbnNFbnRyeRILCgNrZXkYASABKAkSSwoFdmFsdWUYAiABKAsyPC5j",
+            "b21tdW5pY2F0b3Jfb2JqZWN0cy5Vbml0eVJMSW5wdXRQcm90by5MaXN0QWdl",
+            "bnRBY3Rpb25Qcm90bzoCOAFKBAgCEANKBAgDEARCH6oCHE1MQWdlbnRzLkNv",
+            "bW11bmljYXRvck9iamVjdHNiBnByb3RvMw=="));
-          new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.AgentActionReflection.Descriptor, global::MLAgents.CommunicatorObjects.EnvironmentParametersReflection.Descriptor, global::MLAgents.CommunicatorObjects.CommandReflection.Descriptor, },
+          new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.AgentActionReflection.Descriptor, global::MLAgents.CommunicatorObjects.CommandReflection.Descriptor, },
-            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLInputProto), global::MLAgents.CommunicatorObjects.UnityRLInputProto.Parser, new[]{ "AgentActions", "EnvironmentParameters", "IsTraining", "Command" }, null, null, new pbr::GeneratedClrTypeInfo[] { new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLInputProto.Types.ListAgentActionProto), global::MLAgents.CommunicatorObjects.UnityRLInputProto.Types.ListAgentActionProto.Parser, new[]{ "Value" }, null, null, null),
+            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLInputProto), global::MLAgents.CommunicatorObjects.UnityRLInputProto.Parser, new[]{ "AgentActions", "Command", "SideChannel" }, null, null, new pbr::GeneratedClrTypeInfo[] { new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLInputProto.Types.ListAgentActionProto), global::MLAgents.CommunicatorObjects.UnityRLInputProto.Types.ListAgentActionProto.Parser, new[]{ "Value" }, null, null, null),
             null, })
           }));
     }
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public UnityRLInputProto(UnityRLInputProto other) : this() {
       agentActions_ = other.agentActions_.Clone();
-      EnvironmentParameters = other.environmentParameters_ != null ? other.EnvironmentParameters.Clone() : null;
-      isTraining_ = other.isTraining_;
+      sideChannel_ = other.sideChannel_;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 
       get { return agentActions_; }
     }
 
-    /// <summary>Field number for the "environment_parameters" field.</summary>
-    public const int EnvironmentParametersFieldNumber = 2;
-    private global::MLAgents.CommunicatorObjects.EnvironmentParametersProto environmentParameters_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public global::MLAgents.CommunicatorObjects.EnvironmentParametersProto EnvironmentParameters {
-      get { return environmentParameters_; }
-      set {
-        environmentParameters_ = value;
-      }
-    }
-
-    /// <summary>Field number for the "is_training" field.</summary>
-    public const int IsTrainingFieldNumber = 3;
-    private bool isTraining_;
-    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
-    public bool IsTraining {
-      get { return isTraining_; }
-      set {
-        isTraining_ = value;
-      }
-    }
-
     /// <summary>Field number for the "command" field.</summary>
     public const int CommandFieldNumber = 4;
     private global::MLAgents.CommunicatorObjects.CommandProto command_ = 0;
       }
     }
 
+    /// <summary>Field number for the "side_channel" field.</summary>
+    public const int SideChannelFieldNumber = 5;
+    private pb::ByteString sideChannel_ = pb::ByteString.Empty;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public pb::ByteString SideChannel {
+      get { return sideChannel_; }
+      set {
+        sideChannel_ = pb::ProtoPreconditions.CheckNotNull(value, "value");
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as UnityRLInputProto);
         return true;
       }
       if (!AgentActions.Equals(other.AgentActions)) return false;
-      if (!object.Equals(EnvironmentParameters, other.EnvironmentParameters)) return false;
-      if (IsTraining != other.IsTraining) return false;
+      if (SideChannel != other.SideChannel) return false;
       return Equals(_unknownFields, other._unknownFields);
     }
 
       hash ^= AgentActions.GetHashCode();
-      if (environmentParameters_ != null) hash ^= EnvironmentParameters.GetHashCode();
-      if (IsTraining != false) hash ^= IsTraining.GetHashCode();
+      if (SideChannel.Length != 0) hash ^= SideChannel.GetHashCode();
       if (_unknownFields != null) {
         hash ^= _unknownFields.GetHashCode();
       }
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public void WriteTo(pb::CodedOutputStream output) {
       agentActions_.WriteTo(output, _map_agentActions_codec);
-      if (environmentParameters_ != null) {
-        output.WriteRawTag(18);
-        output.WriteMessage(EnvironmentParameters);
-      }
-      if (IsTraining != false) {
-        output.WriteRawTag(24);
-        output.WriteBool(IsTraining);
-      }
+      }
+      if (SideChannel.Length != 0) {
+        output.WriteRawTag(42);
+        output.WriteBytes(SideChannel);
       }
       if (_unknownFields != null) {
         _unknownFields.WriteTo(output);
     public int CalculateSize() {
       int size = 0;
       size += agentActions_.CalculateSize(_map_agentActions_codec);
-      if (environmentParameters_ != null) {
-        size += 1 + pb::CodedOutputStream.ComputeMessageSize(EnvironmentParameters);
-      }
-      if (IsTraining != false) {
-        size += 1 + 1;
-      }
+      if (SideChannel.Length != 0) {
+        size += 1 + pb::CodedOutputStream.ComputeBytesSize(SideChannel);
+      }
       if (_unknownFields != null) {
         size += _unknownFields.CalculateSize();
       }
         return;
       }
       agentActions_.Add(other.agentActions_);
-      if (other.environmentParameters_ != null) {
-        if (environmentParameters_ == null) {
-          environmentParameters_ = new global::MLAgents.CommunicatorObjects.EnvironmentParametersProto();
-        }
-        EnvironmentParameters.MergeFrom(other.EnvironmentParameters);
-      }
-      if (other.IsTraining != false) {
-        IsTraining = other.IsTraining;
-      }
+      }
+      if (other.SideChannel.Length != 0) {
+        SideChannel = other.SideChannel;
       }
       _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
     }
             agentActions_.AddEntriesFrom(input, _map_agentActions_codec);
             break;
           }
-          case 18: {
-            if (environmentParameters_ == null) {
-              environmentParameters_ = new global::MLAgents.CommunicatorObjects.EnvironmentParametersProto();
-            }
-            input.ReadMessage(environmentParameters_);
-            break;
-          }
-          case 24: {
-            IsTraining = input.ReadBool();
+          case 32: {
+            command_ = (global::MLAgents.CommunicatorObjects.CommandProto) input.ReadEnum();
-          case 32: {
-            command_ = (global::MLAgents.CommunicatorObjects.CommandProto) input.ReadEnum();
+          case 42: {
+            SideChannel = input.ReadBytes();
             break;
           }
         }

UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/UnityRlOutput.cs

           string.Concat(
             "CjhtbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL3VuaXR5X3Js",
             "X291dHB1dC5wcm90bxIUY29tbXVuaWNhdG9yX29iamVjdHMaM21sYWdlbnRz",
-            "L2VudnMvY29tbXVuaWNhdG9yX29iamVjdHMvYWdlbnRfaW5mby5wcm90byKj",
+            "L2VudnMvY29tbXVuaWNhdG9yX29iamVjdHMvYWdlbnRfaW5mby5wcm90byK5",
-            "bmZvc0VudHJ5GkkKEkxpc3RBZ2VudEluZm9Qcm90bxIzCgV2YWx1ZRgBIAMo",
-            "CzIkLmNvbW11bmljYXRvcl9vYmplY3RzLkFnZW50SW5mb1Byb3RvGm4KD0Fn",
-            "ZW50SW5mb3NFbnRyeRILCgNrZXkYASABKAkSSgoFdmFsdWUYAiABKAsyOy5j",
-            "b21tdW5pY2F0b3Jfb2JqZWN0cy5Vbml0eVJMT3V0cHV0UHJvdG8uTGlzdEFn",
-            "ZW50SW5mb1Byb3RvOgI4AUoECAEQAkIfqgIcTUxBZ2VudHMuQ29tbXVuaWNh",
-            "dG9yT2JqZWN0c2IGcHJvdG8z"));
+            "bmZvc0VudHJ5EhQKDHNpZGVfY2hhbm5lbBgDIAEoDBpJChJMaXN0QWdlbnRJ",
+            "bmZvUHJvdG8SMwoFdmFsdWUYASADKAsyJC5jb21tdW5pY2F0b3Jfb2JqZWN0",
+            "cy5BZ2VudEluZm9Qcm90bxpuCg9BZ2VudEluZm9zRW50cnkSCwoDa2V5GAEg",
+            "ASgJEkoKBXZhbHVlGAIgASgLMjsuY29tbXVuaWNhdG9yX29iamVjdHMuVW5p",
+            "dHlSTE91dHB1dFByb3RvLkxpc3RBZ2VudEluZm9Qcm90bzoCOAFKBAgBEAJC",
+            "H6oCHE1MQWdlbnRzLkNvbW11bmljYXRvck9iamVjdHNiBnByb3RvMw=="));
-            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLOutputProto), global::MLAgents.CommunicatorObjects.UnityRLOutputProto.Parser, new[]{ "AgentInfos" }, null, null, new pbr::GeneratedClrTypeInfo[] { new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLOutputProto.Types.ListAgentInfoProto), global::MLAgents.CommunicatorObjects.UnityRLOutputProto.Types.ListAgentInfoProto.Parser, new[]{ "Value" }, null, null, null),
+            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLOutputProto), global::MLAgents.CommunicatorObjects.UnityRLOutputProto.Parser, new[]{ "AgentInfos", "SideChannel" }, null, null, new pbr::GeneratedClrTypeInfo[] { new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.UnityRLOutputProto.Types.ListAgentInfoProto), global::MLAgents.CommunicatorObjects.UnityRLOutputProto.Types.ListAgentInfoProto.Parser, new[]{ "Value" }, null, null, null),
             null, })
           }));
     }
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public UnityRLOutputProto(UnityRLOutputProto other) : this() {
       agentInfos_ = other.agentInfos_.Clone();
+      sideChannel_ = other.sideChannel_;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 
       get { return agentInfos_; }
     }
 
+    /// <summary>Field number for the "side_channel" field.</summary>
+    public const int SideChannelFieldNumber = 3;
+    private pb::ByteString sideChannel_ = pb::ByteString.Empty;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public pb::ByteString SideChannel {
+      get { return sideChannel_; }
+      set {
+        sideChannel_ = pb::ProtoPreconditions.CheckNotNull(value, "value");
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as UnityRLOutputProto);
         return true;
       }
       if (!AgentInfos.Equals(other.AgentInfos)) return false;
+      if (SideChannel != other.SideChannel) return false;
       return Equals(_unknownFields, other._unknownFields);
     }
 
       hash ^= AgentInfos.GetHashCode();
+      if (SideChannel.Length != 0) hash ^= SideChannel.GetHashCode();
       if (_unknownFields != null) {
         hash ^= _unknownFields.GetHashCode();
       }
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public void WriteTo(pb::CodedOutputStream output) {
       agentInfos_.WriteTo(output, _map_agentInfos_codec);
+      if (SideChannel.Length != 0) {
+        output.WriteRawTag(26);
+        output.WriteBytes(SideChannel);
+      }
       if (_unknownFields != null) {
         _unknownFields.WriteTo(output);
       }
     public int CalculateSize() {
       int size = 0;