RayPercpetion, Push Block, and misc environment changes (#432)

RayPerception moved to a component that is now used by Banana, Soccer, Hallway, and Push Block.
Converted Push Block to use RayPerception for local perception and retrained model.
Re-worked Hallway to be more extensible.

python/trainer_config.yaml

     summary_freq: 1000
     use_recurrent: false
 
-PushBlockBrain:
-    max_steps: 2.0e5
-    batch_size: 1048
+BananaBrain:
+    normalize: false
+    batch_size: 1024
+    beta: 5.0e-3
+
+PushBlockBrain:
+    max_steps: 5.0e4
+    batch_size: 128
+    buffer_size: 2048
-    hidden_units: 128
+    hidden_units: 256
     summary_freq: 2000
     time_horizon: 64
     num_layers: 2
     batch_size: 32
     buffer_size: 320
 
-HallwayBrainDC:
-    num_layers: 3
-    hidden_units: 256
-    beta: 1.0e-2
-    gamma: 0.99
-    num_epoch: 3
-    buffer_size: 512
-    batch_size: 64
-    max_steps: 5.0e5
-    summary_freq: 1000
-    time_horizon: 64
-
-BrainWallJumpDC:
+HallwayBrain:
+    memory_size: 256
-    buffer_size: 16
-    batch_size: 2
-    max_steps: 5.0e5
-    summary_freq: 1000
-    time_horizon: 64
-
-HallwayBrainDCLSTM:
-    use_recurrent: true
-    sequence_length: 64
-    num_layers: 2
-    hidden_units: 128
-    beta: 1.0e-2
-    gamma: 0.99
-    num_epoch: 3
-    buffer_size: 16
-    batch_size: 2
+    buffer_size: 1024
+    batch_size: 128
     max_steps: 5.0e5
     summary_freq: 1000
     time_horizon: 64

unity-environment/Assets/ML-Agents/Examples/Banana/Prefabs/BANANA.prefab

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   - component: {fileID: 114475702868436998}
   m_Layer: 0
-  m_Name: BANANA
+  m_Name: Banana
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   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
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unity-environment/Assets/ML-Agents/Examples/Banana/Prefabs/StudentAgent.prefab

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-  value: 0
-  CumulativeReward: 0
-  stepCounter: 0
-  agentStoredAction: []
-  memory: []
-  id: 0
+  agentParameters:
+    agentCameras: []
+    maxStep: 0
+    resetOnDone: 1
+    onDemandDecision: 0
+    numberOfActionsBetweenDecisions: 1
-  xForce: 100
-  yForce: 300
-  zForce: 100
+  moveSpeed: 2
-  myLazer: {fileID: 1711242980656446}
+  myLaser: {fileID: 0}
   contribute: 1

unity-environment/Assets/ML-Agents/Examples/Banana/Prefabs/BADBANANA.prefab

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   - component: {fileID: 114713238261374398}
   m_Layer: 0
-  m_Name: BAD BANANA
+  m_Name: BadBanana
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   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
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unity-environment/Assets/ML-Agents/Examples/Banana/Prefabs/TeacherAgent.prefab

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   - component: {fileID: 114899212543667072}
   m_Layer: 0
-  m_Name: ExpertAgent
+  m_Name: TeacherAgent
   m_TagString: agent
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
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   m_MotionVectors: 1
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-  maxStepReached: 0
-  value: 0
-  CumulativeReward: 0
-  stepCounter: 0
-  agentStoredAction: []
-  memory: []
-  id: 0
+  agentParameters:
+    agentCameras: []
+    maxStep: 0
+    resetOnDone: 1
+    onDemandDecision: 0
+    numberOfActionsBetweenDecisions: 1
-  xForce: 100
-  yForce: 300
-  zForce: 100
+  moveSpeed: 2
-  myLazer: {fileID: 1194927375649470}
+  myLaser: {fileID: 0}
   contribute: 0
 --- !u!136 &136300867333360650
 CapsuleCollider:

unity-environment/Assets/ML-Agents/Examples/Banana/Scripts/BananaAgent.cs

     float frozenTime;
     float effectTime;
     Rigidbody agentRB;
-    public float turnSpeed;
-    public float xForce;
-    public float yForce;
-    public float zForce;
+
+    // Speed of agent rotation.
+    public float turnSpeed = 300;
+
+    // Speed of agent movement.
+    public float moveSpeed = 2;
-    public GameObject myLazer;
+    public GameObject myLaser;
+    RayPerception rayPer;
-        agentRB = GetComponent<Rigidbody>(); // cache the RB
+        agentRB = GetComponent<Rigidbody>();
+        rayPer = GetComponent<RayPerception>();
         myAcademy = myAcademyObj.GetComponent<BananaAcademy>();
     }
 
         float[] rayAngles = { 20f, 90f, 160f, 45f, 135f, 70f, 110f };
         string[] detectableObjects = { "banana", "agent", "wall", "badBanana", "frozenAgent" };
-        RayPerception(rayDistance, rayAngles, detectableObjects);
+        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
         Vector3 localVelocity = transform.InverseTransformDirection(agentRB.velocity);
         AddVectorObs(localVelocity.x);
         AddVectorObs(localVelocity.z);
 
-
-    public void RayPerception(float rayDistance, float[] rayAngles, string[] detectableObjects) {
-        foreach (float angle in rayAngles)
-        {
-            float noise = 0f;
-            float noisyAngle = angle + Random.Range(-noise, noise);
-            Vector3 position = transform.TransformDirection(GiveCatersian(rayDistance, noisyAngle));
-            Debug.DrawRay(transform.position, position, Color.green, 0.0f, true);
-            RaycastHit hit;
-            float[] subList = new float[detectableObjects.Length + 2];
-            if (Physics.SphereCast(transform.position, 1.0f, position, out hit, rayDistance))
-            {
-                for (int i = 0; i < detectableObjects.Length; i++)
-                {
-                    if (hit.collider.gameObject.CompareTag(detectableObjects[i]))
-                    {
-                        subList[i] = 1;
-                        subList[detectableObjects.Length + 1] = hit.distance / rayDistance;
-                        break;
-                    }
-                }
-            }
-            else
-            {
-                subList[detectableObjects.Length] = 1f;
-            }
-            foreach (float f in subList)
-                AddVectorObs(f);
-        }
-    }
-
-    public Vector3 GiveCatersian(float radius, float angle)
-    {
-        float x = radius * Mathf.Cos(DegreeToRadian(angle));
-        float z = radius * Mathf.Sin(DegreeToRadian(angle));
-        return new Vector3(x, -0.1f, z);
-    }
-
-    public float DegreeToRadian(float degree)
-    {
-        return degree * Mathf.PI / 180f;
-    }
-
     public Color32 ToColor(int HexVal)
     {
         byte R = (byte)((HexVal >> 16) & 0xFF);
                 dirToGo *= 0.5f;
                 agentRB.velocity *= 0.75f;
             }
-            agentRB.AddForce(new Vector3(dirToGo.x * xForce, dirToGo.y * yForce, dirToGo.z * zForce), 
-                             ForceMode.Acceleration);
-            transform.Rotate(rotateDir, Time.deltaTime * turnSpeed);
+            agentRB.AddForce(dirToGo * moveSpeed, ForceMode.VelocityChange);
+            transform.Rotate(rotateDir, Time.fixedDeltaTime * turnSpeed);
         }
 
         if (agentRB.velocity.sqrMagnitude > 25f) // slow it down
 
         if (shoot)
         {
-            myLazer.transform.localScale = new Vector3(1f, 1f, 1f);
-            Vector3 position = transform.TransformDirection(GiveCatersian(25f, 90f));
+            myLaser.transform.localScale = new Vector3(1f, 1f, 1f);
+            Vector3 position = transform.TransformDirection(RayPerception.PolarToCartesian(25f, 90f));
             Debug.DrawRay(transform.position, position, Color.red, 0f, true);
             RaycastHit hit;
             if (Physics.SphereCast(transform.position, 2f, position, out hit, 25f))
         }
         else
         {
-            myLazer.transform.localScale = new Vector3(0f, 0f, 0f);
+            myLaser.transform.localScale = new Vector3(0f, 0f, 0f);
 
         }
 
         shoot = false;
         agentRB.velocity = Vector3.zero;
         bananas = 0;
-        myLazer.transform.localScale = new Vector3(0f, 0f, 0f);
+        myLaser.transform.localScale = new Vector3(0f, 0f, 0f);
         transform.position = new Vector3(Random.Range(-myArea.range, myArea.range), 
                                          2f, Random.Range(-myArea.range, myArea.range)) 
             + area.transform.position;

unity-environment/Assets/ML-Agents/Examples/Hallway/Prefabs/HallwayArea.prefab

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   - component: {fileID: 23564461918312698}
   m_Layer: 0
-  m_Name: GoalB
-  m_TagString: goal
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+  m_TagString: redGoal
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-  m_TagString: goal
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+  m_TagString: orangeGoal
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   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: -7, y: 0.5, z: 8.699999}
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   m_PrefabParentObject: {fileID: 0}
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   m_Enabled: 0
   serializedVersion: 2
   m_Name: 
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   brain: {fileID: 0}
-  stepCounter: 0
-    maxStep: 0
+    maxStep: 3000
-  goalA: {fileID: 1185286572034058}
-  goalB: {fileID: 1390180936769712}
+  orangeGoal: {fileID: 1390180936769712}
+  redGoal: {fileID: 1185286572034058}
-  violetBlock: {fileID: 1143687295388296}
+  redBlock: {fileID: 1143687295388296}
+--- !u!114 &114569343444552314
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unity-environment/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs

-// Put this script on your blue cube.
-
-using System.Collections;
+using System.Collections;
-    public GameObject ground; // ground game object. we will use the area bounds to spawn the blocks
+    public GameObject ground;
-
-    public GameObject goalA;
-    public GameObject goalB;
-    public GameObject orangeBlock; // the orange block we are going to be pushing
-    public GameObject violetBlock;
-    Rigidbody shortBlockRB;  // cached on initialization
-    Rigidbody agentRB;  // cached on initialization
-    Material groundMaterial; // cached on Awake()
+    public GameObject orangeGoal;
+    public GameObject redGoal;
+    public GameObject orangeBlock;
+    public GameObject redBlock;
+    RayPerception rayPer;
+    Rigidbody shortBlockRB;
+    Rigidbody agentRB;
+    Material groundMaterial;
-
     int selection;
 
     public override void InitializeAgent()
-        brain = FindObjectOfType<Brain>(); // only one brain in the scene so this should find our brain. BRAAAINS.
-
-        agentRB = GetComponent<Rigidbody>(); // cache the agent rigidbody
-        groundRenderer = ground.GetComponent<Renderer>(); // get the ground renderer so we can change the material when a goal is scored
-        groundMaterial = groundRenderer.material; // starting material
-
+        brain = FindObjectOfType<Brain>();
+        rayPer = GetComponent<RayPerception>();
+        agentRB = GetComponent<Rigidbody>();
+        groundRenderer = ground.GetComponent<Renderer>();
+        groundMaterial = groundRenderer.material;
-    public void RayPerception(float rayDistance,
-                                 float[] rayAngles, string[] detectableObjects, float height)
-    {
-        foreach (float angle in rayAngles)
-        {
-            float noise = 0f;
-            float noisyAngle = angle + Random.Range(-noise, noise);
-            Vector3 position = transform.TransformDirection(GiveCatersian(rayDistance, noisyAngle));
-            position.y = height;
-            Debug.DrawRay(transform.position, position, Color.red, 0.1f, true);
-            RaycastHit hit;
-            float[] subList = new float[detectableObjects.Length + 2];
-            if (Physics.SphereCast(transform.position, 1.0f, position, out hit, rayDistance))
-            {
-                for (int i = 0; i < detectableObjects.Length; i++)
-                {
-                    if (hit.collider.gameObject.CompareTag(detectableObjects[i]))
-                    {
-                        subList[i] = 1;
-                        subList[detectableObjects.Length + 1] = hit.distance / rayDistance;
-                        break;
-                    }
-                }
-            }
-            else
-            {
-                subList[detectableObjects.Length] = 1f;
-            }
-            foreach (float f in subList)
-                AddVectorObs(f);
-        }
-    }
-
-    public Vector3 GiveCatersian(float radius, float angle)
-    {
-        float x = radius * Mathf.Cos(DegreeToRadian(angle));
-        float z = radius * Mathf.Sin(DegreeToRadian(angle));
-        return new Vector3(x, 1f, z);
-    }
-
-    public float DegreeToRadian(float degree)
-    {
-        return degree * Mathf.PI / 180f;
-    }
-
-
-        float rayDistance = 8.5f;
-        float[] rayAngles = { 0f, 45f, 90f, 135f, 180f };
-        string[] detectableObjects = { "goal", "orangeBlock", "redBlock", "wall" };
-        RayPerception(rayDistance, rayAngles, detectableObjects, 0f);
+        float rayDistance = 12f;
+        float[] rayAngles = { 20f, 60f, 90f, 120f, 160f };
+        string[] detectableObjects = { "orangeGoal", "redGoal", "orangeBlock", "redBlock", "wall" };
+        AddVectorObs((float)GetStepCount() / (float)agentParameters.maxStep);
+        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
-    // swap ground material, wait time seconds, then swap back to the regular ground material.
-        yield return new WaitForSeconds(time); // wait for 2 sec
+        yield return new WaitForSeconds(time);
-
 
     public void MoveAgent(float[] act)
     {
 
-
-        // If we're using Continuous control you will need to change the Action
         if (brain.brainParameters.vectorActionSpaceType == SpaceType.continuous)
         {
             dirToGo = transform.forward * Mathf.Clamp(act[0], -1f, 1f);
         {
             int action = Mathf.FloorToInt(act[0]);
-            if (action == 0)
-            {
-                dirToGo = transform.forward * 1f;
-            }
-            else if (action == 1)
+            switch (action)
-                dirToGo = transform.forward * -1f;
-            }
-            else if (action == 2)
-            {
-                rotateDir = transform.up * 1f;
-            }
-            else if (action == 3)
-            {
-                rotateDir = transform.up * -1f;
+                case 0:
+                    dirToGo = transform.forward * 1f;
+                    break;
+                case 1:
+                    dirToGo = transform.forward * -1f;
+                    break;
+                case 2:
+                    rotateDir = transform.up * 1f;
+                    break;
+                case 3:
+                    rotateDir = transform.up * -1f;
+                    break;
-        transform.Rotate(rotateDir, Time.deltaTime * 100f);
-        agentRB.AddForce(dirToGo * academy.agentRunSpeed, ForceMode.VelocityChange); // GO
+        transform.Rotate(rotateDir, Time.deltaTime * 150f);
+        agentRB.AddForce(dirToGo * academy.agentRunSpeed, ForceMode.VelocityChange);
-        AddReward(-0.0003f);
-
-        MoveAgent(vectorAction); //perform agent actions
-        bool fail = false;  // did the agent or block get pushed off the edge?
-
-        if (!Physics.Raycast(agentRB.position, Vector3.down, 20)) // if the agent has gone over the edge, we done.
-        {
-            fail = true; // fell off bro
-            AddReward(-1f); // BAD AGENT
-                          //transform.position =  GetRandomSpawnPos(agentSpawnAreaBounds, agentSpawnArea);
-            Done(); // if we mark an agent as done it will be reset automatically. AgentReset() will be called.
-        }
-
-        if (fail)
-        {
-            StartCoroutine(GoalScoredSwapGroundMaterial(academy.failMaterial, .5f)); // swap ground material to indicate fail
-        }
+        AddReward(-1f / agentParameters.maxStep);
+        MoveAgent(vectorAction);
-    // detect when we touch the goal
-        if (col.gameObject.CompareTag("goal")) // touched goal
+        if (col.gameObject.CompareTag("orangeGoal") || col.gameObject.CompareTag("redGoal"))
-            if ((selection == 0 && col.gameObject.name == "GoalA") || (selection == 1 && col.gameObject.name == "GoalB"))
+            if ((selection == 0 && col.gameObject.CompareTag("orangeGoal")) ||
+                (selection == 1 && col.gameObject.CompareTag("redGoal")))
-                AddReward(1f); // you get 5 points
-                StartCoroutine(GoalScoredSwapGroundMaterial(academy.goalScoredMaterial, 2)); // swap ground material for a bit to indicate we scored.
+                SetReward(1f);
+                StartCoroutine(GoalScoredSwapGroundMaterial(academy.goalScoredMaterial, 0.5f));
-                AddReward(-0.1f); // you lose a point
-                StartCoroutine(GoalScoredSwapGroundMaterial(academy.failMaterial, .5f)); // swap ground material to indicate fail
+                SetReward(-0.1f);
+                StartCoroutine(GoalScoredSwapGroundMaterial(academy.failMaterial, 0.5f));
-            Done(); // if we mark an agent as done it will be reset automatically. AgentReset() will be called.
+            Done();
-    // In the editor, if "Reset On Done" is checked then AgentReset() will be called automatically anytime we mark done = true in an agent script.
+        float agentOffset = -15f;
+        float blockOffset = 0f;
-            orangeBlock.transform.position = new Vector3(0f + Random.Range(-3f, 3f), 2f, -15f + Random.Range(-5f, 5f)) + ground.transform.position;
-            violetBlock.transform.position = new Vector3(0f, -1000f, -15f + Random.Range(-5f, 5f)) + ground.transform.position;
+            orangeBlock.transform.position =
+                new Vector3(0f + Random.Range(-3f, 3f), 2f, blockOffset + Random.Range(-5f, 5f))
+                + ground.transform.position;
+            redBlock.transform.position =
+                new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+                + ground.transform.position;
-            orangeBlock.transform.position = new Vector3(0f, -1000f, -15f + Random.Range(-5f, 5f)) + ground.transform.position;
-            violetBlock.transform.position = new Vector3(0f, 2f, -15f + Random.Range(-5f, 5f)) + ground.transform.position;
+            orangeBlock.transform.position =
+                           new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f))
+                           + ground.transform.position;
+            redBlock.transform.position =
+                new Vector3(0f, 2f, blockOffset + Random.Range(-5f, 5f))
+                + ground.transform.position;
-        transform.position = new Vector3(0f+ Random.Range(-3f, 3f), 1f, 0f + Random.Range(-5f, 5f)) + ground.transform.position;
+
+        transform.position = new Vector3(0f + Random.Range(-3f, 3f),
+                                         1f, agentOffset + Random.Range(-5f, 5f))
+            + ground.transform.position;
+
+        int goalPos = Random.Range(0, 2);
+        if (goalPos == 0)
+        {
+            orangeGoal.transform.position = new Vector3(7f, 0.5f, 9f) + area.transform.position;
+            redGoal.transform.position = new Vector3(-7f, 0.5f, 9f) + area.transform.position;
+        }
+        else
+        {
+            redGoal.transform.position = new Vector3(7f, 0.5f, 9f) + area.transform.position;
+            orangeGoal.transform.position = new Vector3(-7f, 0.5f, 9f) + area.transform.position;
+        }
-

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unity-environment/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs

     Rigidbody blockRB;  //cached on initialization
     Rigidbody agentRB;  //cached on initialization
     Material groundMaterial; //cached on Awake()
+    RayPerception rayPer;
 
     /// <summary>
     /// We will be changing the ground material based on success/failue
         base.InitializeAgent();
         goalDetect = block.GetComponent<GoalDetect>();
         goalDetect.agent = this;
+        rayPer = GetComponent<RayPerception>();
 
         // Cache the agent rigidbody
         agentRB = GetComponent<Rigidbody>();
 
     public override void CollectObservations()
     {
-        // Block position relative to goal.
-        Vector3 blockPosRelToGoal = blockRB.position - goal.transform.position;
-        // Block position relative to agent.
-        Vector3 blockPosRelToAgent = blockRB.position - agentRB.position;
-        // Obstacle position relative to agent.
-
-        // Agent position relative to ground.
-        Vector3 agentPos = agentRB.position - area.transform.position;
-        // Goal position relative to ground.
-        Vector3 goalPos = goal.transform.position - ground.transform.position;
-
-        AddVectorObs(agentPos);
-        AddVectorObs(goalPos);
-        AddVectorObs(blockPosRelToGoal);
-        AddVectorObs(blockPosRelToAgent);
-
-        // Add velocity of block and agent to observations.
-        AddVectorObs(blockRB.velocity);
-        AddVectorObs(agentRB.velocity);
+        float rayDistance = 12f;
+        float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
+        string[] detectableObjects;
+        detectableObjects = new string[] { "block", "goal", "wall" };
+        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
+        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 1.5f, 0f));
-    public Vector3 GetRandomSpawnPos(float spawnHeight)
+    public Vector3 GetRandomSpawnPos()
     {
         bool foundNewSpawnLocation = false;
         Vector3 randomSpawnPos = Vector3.zero;
         Done();
 
         // Swap ground material for a bit to indicate we scored.
-        StartCoroutine(GoalScoredSwapGroundMaterial(academy.goalScoredMaterial, 1));
+        StartCoroutine(GoalScoredSwapGroundMaterial(academy.goalScoredMaterial, 0.5f));
     }
 
     /// <summary>
     /// </summary>
 	public void MoveAgent(float[] act)
     {
-        // AGENT ACTIONS
-        // Here we define the actions our agent can use, such as
-        // "go left", "go forward", "turn", etc.
-        // In the brain we  define the number of axes we want to use here. 
-        // In this example we need 2 axes to define:
-        // Right/left movement (act[0])
-        // Forward/back movement (act[1])
+        Vector3 dirToGo = Vector3.zero;
+        Vector3 rotateDir = Vector3.zero;
-        // Example: Right/Left Movement. It is defined in this line:
-        // Vector3 directionX = Vector3.right * Mathf.Clamp(act[0], -1f, 1f);
-
-        // The neural network is setting the act[0] value.
-        // If it chooses 1 then the agent will go right. 
-        // If it chooses -1 the agent will go left. 
-        // If it chooses .42 then it will go a little bit right
-        // If it chooses -.8 then it will go left (well...80% left)
-
-        // Energy Conservation Penalties
-        // Give penalties based on how fast the agent chooses to go. 
-        // The agent should only exert as much energy as necessary.
-        // This is how animals work as well. 
-        // i.e. You're probably not running in place at all times.
-
-        // Larger the value, the less the penalty is.
-        float energyConservPenaltyModifier = 10000;
-
-        // The larger the movement, the greater the penalty given.
-        AddReward(-Mathf.Abs(act[0]) / energyConservPenaltyModifier);
-        AddReward(-Mathf.Abs(act[1]) / energyConservPenaltyModifier);
-
-        Vector3 directionX = Vector3.zero;
-        Vector3 directionZ = Vector3.zero;
-
-
-        // Move left or right in world space.
-        directionX = Vector3.right * Mathf.Clamp(act[0], -1f, 1f);
-
-        // Move forward or back in world space.
-        directionZ = Vector3.forward * Mathf.Clamp(act[1], -1f, 1f);
-
-        // Add directions together. This is the direction we want the agent
-        // to move in.
-        Vector3 dirToGo = directionX + directionZ;
+        int action = Mathf.FloorToInt(act[0]);
-        // Apply movement force!
-        agentRB.AddForce(dirToGo * academy.agentRunSpeed, ForceMode.VelocityChange);
-        if (dirToGo != Vector3.zero)
+        // Goalies and Strikers have slightly different action spaces.
+        switch (action)
-            // Rotate the agent appropriately.
-            agentRB.rotation = Quaternion.Lerp(agentRB.rotation,
-                                               Quaternion.LookRotation(dirToGo),
-                                               Time.deltaTime * academy.agentRotationSpeed);
+            case 0:
+                dirToGo = transform.forward * 1f;
+                break;
+            case 1:
+                dirToGo = transform.forward * -1f;
+                break;
+            case 2:
+                rotateDir = transform.up * 1f;
+                break;
+            case 3:
+                rotateDir = transform.up * -1f;
+                break;
+            case 4:
+                dirToGo = transform.right * -0.75f;
+                break;
+            case 5:
+                dirToGo = transform.right * 0.75f;
+                break;
+        transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
+        agentRB.AddForce(dirToGo * academy.agentRunSpeed,
+                         ForceMode.VelocityChange);
 
     }
 
         MoveAgent(vectorAction);
 
         // Penalty given each step to encourage agent to finish task quickly.
-        AddReward(-.00005f);
-
-        // Did the agent or block get pushed off the edge?
-        bool fail = false;
-
-        // If the agent has gone over the edge, end the episode.
-        if (!Physics.Raycast(agentRB.position, Vector3.down, 3))
-        {
-            // Fell off bro
-            fail = true;
-
-            // BAD AGENT
-            SetReward(-1f);
-
-            // If we mark an agent as done it will be reset automatically. 
-            // AgentReset() will be called.
-            Done();
-        }
-
-        // If the block has gone over the edge, end the episode.
-        if (!Physics.Raycast(blockRB.position, Vector3.down, 3))
-        {
-            // Fell off bro
-            fail = true;
-
-            // BAD AGENT
-            SetReward(-1f);
-
-            // If we mark an agent as done it will be reset automatically. 
-            // AgentReset() will be called.
-            Done();
-        }
-
-        if (fail)
-        {
-            // Swap ground material to indicate failure of the episode.
-            StartCoroutine(GoalScoredSwapGroundMaterial(academy.failMaterial, 1f));
-        }
+        AddReward(-1f / agentParameters.maxStep);
     }
 
     /// <summary>
     {
         // Get a random position for the block.
-        block.transform.position = GetRandomSpawnPos(1.5f);
+        block.transform.position = GetRandomSpawnPos();
 
         // Reset block velocity back to zero.
         blockRB.velocity = Vector3.zero;
         area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
 
         ResetBlock();
-        transform.position = GetRandomSpawnPos(1.5f);
+        transform.position = GetRandomSpawnPos();
-

unity-environment/Assets/ML-Agents/Examples/Reacher/Materials/Materials/checker1.mat

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unity-environment/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerBall/Prefabs/SoccerBall.prefab

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+  m_Name: SoccerBall
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   agentTag: agent
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unity-environment/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity

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unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

     [HideInInspector]
     public Rigidbody agentRB;
     SoccerAcademy academy;
-    Renderer renderer;
+    Renderer agentRenderer;
+    RayPerception rayPer;
-        renderer.material = team == Team.red ? academy.redMaterial : academy.blueMaterial;
+        agentRenderer.material = team == Team.red ? academy.redMaterial : academy.blueMaterial;
     }
 
     public void JoinRedTeam(AgentRole role)
-        renderer.material = academy.redMaterial;
+        agentRenderer.material = academy.redMaterial;
     }
 
     public void JoinBlueTeam(AgentRole role)
-        renderer.material = academy.blueMaterial;
+        agentRenderer.material = academy.blueMaterial;
-    void Awake()
+    public override void InitializeAgent()
-        renderer = GetComponent<Renderer>();
+        base.InitializeAgent();
+        agentRenderer = GetComponent<Renderer>();
+        rayPer = GetComponent<RayPerception>();
         academy = FindObjectOfType<SoccerAcademy>();
         PlayerState playerState = new PlayerState();
         playerState.agentRB = GetComponent<Rigidbody>();
         playerState.playerIndex = playerIndex;
     }
 
-    public override void InitializeAgent()
-    {
-        base.InitializeAgent();
-    }
-
-    public void RayPerception(float rayDistance,
-                             float[] rayAngles, string[] detectableObjects,
-                              float startHeight, float endHeight)
-    {
-        foreach (float angle in rayAngles)
-        {
-            float noise = 0f;
-            float noisyAngle = angle + Random.Range(-noise, noise);
-            Vector3 position = transform.TransformDirection(
-                GiveCatersian(rayDistance, noisyAngle));
-            position.y = endHeight;
-            Debug.DrawRay(transform.position + new Vector3(0f, startHeight, 0f),
-                          position, Color.red, 0.1f, true);
-            RaycastHit hit;
-            float[] subList = new float[detectableObjects.Length + 2];
-            if (Physics.SphereCast(transform.position +
-                                   new Vector3(0f, startHeight, 0f), 1.0f,
-                                   position, out hit, rayDistance))
-            {
-                for (int i = 0; i < detectableObjects.Length; i++)
-                {
-                    if (hit.collider.gameObject.CompareTag(detectableObjects[i]))
-                    {
-                        subList[i] = 1;
-                        subList[detectableObjects.Length + 1] = hit.distance / rayDistance;
-                        break;
-                    }
-                }
-            }
-            else
-            {
-                subList[detectableObjects.Length] = 1f;
-            }
-            foreach (float f in subList)
-                AddVectorObs(f);
-        }
-    }
-
-    public Vector3 GiveCatersian(float radius, float angle)
-    {
-        float x = radius * Mathf.Cos(DegreeToRadian(angle));
-        float z = radius * Mathf.Sin(DegreeToRadian(angle));
-        return new Vector3(x, 1f, z);
-    }
-
-    public float DegreeToRadian(float degree)
-    {
-        return degree * Mathf.PI / 180f;
-    }
-
     public override void CollectObservations()
     {
         float rayDistance = 20f;
             detectableObjects = new string[] { "ball", "blueGoal", "redGoal",
                 "wall", "blueAgent", "redAgent" };
         }
-        RayPerception(rayDistance, rayAngles, detectableObjects, 0f, 0f);
-        RayPerception(rayDistance, rayAngles, detectableObjects, 1f, 1f);
+        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f));
+        AddVectorObs(rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 1f, 0f));
     }
 
     public void MoveAgent(float[] act)
         if (agentRole == AgentRole.goalie)
         {
             kickPower = 0f;
-            if (action == 0)
+            switch (action)
-                dirToGo = transform.forward * 1f;
-                kickPower = 1f;
+                case 0:
+                    dirToGo = transform.forward * 1f;
+                    kickPower = 1f;
+                    break;
+                case 1:
+                    dirToGo = transform.forward * -1f;
+                    break;
+                case 3:
+                    dirToGo = transform.right * -1f;
+                    break;
+                case 2:
+                    dirToGo = transform.right * 1f;
+                    break;
-            else if (action == 1)
-            {
-                dirToGo = transform.forward * -1f;
-            }
-            else if (action == 3)
-            {
-                dirToGo = transform.right * -1f;
-            }
-            else if (action == 2)
-            {
-                dirToGo = transform.right * 1f;
-            }
-
-            if (action == 0)
+            switch (action)
-                dirToGo = transform.forward * 1f;
-                kickPower = 1f;
-            }
-            else if (action == 1)
-            {
-                dirToGo = transform.forward * -1f;
-            }
-            else if (action == 2)
-            {
-                rotateDir = transform.up * 1f;
-            }
-            else if (action == 3)
-            {
-                rotateDir = transform.up * -1f;
-            }
-            else if (action == 4)
-            {
-                dirToGo = transform.right * -1f;
-            }
-            else if (action == 5)
-            {
-                dirToGo = transform.right * 1f;
+                case 0:
+                    dirToGo = transform.forward * 1f;
+                    kickPower = 1f;
+                    break;
+                case 1:
+                    dirToGo = transform.forward * -1f;
+                    break;
+                case 2:
+                    rotateDir = transform.up * 1f;
+                    break;
+                case 3:
+                    rotateDir = transform.up * -1f;
+                    break;
+                case 4:
+                    dirToGo = transform.right * -0.75f;
+                    break;
+                case 5:
+                    dirToGo = transform.right * 0.75f;
+                    break;
             }
         }
         transform.Rotate(rotateDir, Time.deltaTime * 100f);

unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Ball.mat

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Block.mat

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/Goal.mat

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/SuccessGround.mat

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Materials/MaterialsGrid/agentMaterial.mat

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unity-environment/Assets/ML-Agents/Scripts/Brain.cs

      * the state
      * <br> If discrete : The number of possible values the state can take*/
 
-    [Range(1, 10)]
+    [Range(1, 50)]
     public int numStackedVectorObservations = 1;
 
     public int vectorActionSize = 1;

unity-environment/ProjectSettings/TagManager.asset

   - blueGoal
   - blueAgent
   - redAgent
+  - redBlock
+  - goal
+  - ground
+  - orangeBlock
+  - block
+  - orangeGoal
   layers:
   - Default
   - TransparentFX

unity-environment/Assets/ML-Agents/Examples/Banana/Prefabs/RLArea.prefab.meta

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception.cs

+using System.Collections.Generic;
+using UnityEngine;
+
+/// <summary>
+/// Ray perception component. Attach this to agents to enable "local perception"
+/// via the use of ray casts directed outward from the agent. 
+/// </summary>
+public class RayPerception : MonoBehaviour
+{
+    List<float> perceptionBuffer = new List<float>();
+    Vector3 endPosition;
+    RaycastHit hit;
+    /// <summary>
+    /// Creates perception vector to be used as part of an observation of an agent.
+    /// </summary>
+    /// <returns>The partial vector observation corresponding to the set of rays</returns>
+    /// <param name="rayDistance">Radius of rays</param>
+    /// <param name="rayAngles">Anlges of rays (starting from (1,0) on unit circle).</param>
+    /// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
+    /// <param name="startOffset">Starting heigh offset of ray from center of agent.</param>
+    /// <param name="endOffset">Ending height offset of ray from center of agent.</param>
+    public List<float> Perceive(float rayDistance,
+                         float[] rayAngles, string[] detectableObjects,
+                          float startOffset, float endOffset)
+    {
+        perceptionBuffer.Clear();
+        // For each ray sublist stores categorial information on detected object
+        // along with object distance.
+        foreach (float angle in rayAngles)
+        {
+            endPosition = transform.TransformDirection(
+                PolarToCartesian(rayDistance, angle));
+            endPosition.y = endOffset;
+            if (Application.isEditor)
+            {
+                Debug.DrawRay(transform.position + new Vector3(0f, startOffset, 0f),
+              endPosition, Color.black, 0.01f, true);
+            }
+            float[] subList = new float[detectableObjects.Length + 2];
+            if (Physics.SphereCast(transform.position +
+                                   new Vector3(0f, startOffset, 0f), 0.5f,
+                                   endPosition, out hit, rayDistance))
+            {
+                for (int i = 0; i < detectableObjects.Length; i++)
+                {
+                    if (hit.collider.gameObject.CompareTag(detectableObjects[i]))
+                    {
+                        subList[i] = 1;
+                        subList[detectableObjects.Length + 1] = hit.distance / rayDistance;
+                        break;
+                    }
+                }
+            }
+            else
+            {
+                subList[detectableObjects.Length] = 1f;
+            }
+            perceptionBuffer.AddRange(subList);
+        }
+        return perceptionBuffer;
+    }
+
+    /// <summary>
+    /// Converts polar coordinate to cartesian coordinate.
+    /// </summary>
+    public static Vector3 PolarToCartesian(float radius, float angle)
+    {
+        float x = radius * Mathf.Cos(DegreeToRadian(angle));
+        float z = radius * Mathf.Sin(DegreeToRadian(angle));
+        return new Vector3(x, 0f, z);
+    }
+
+    /// <summary>
+    /// Converts degrees to radians.
+    /// </summary>
+    public static float DegreeToRadian(float degree)
+    {
+        return degree * Mathf.PI / 180f;
+    }
+}

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