Merge branch 'main' into hh/develop/dodgeball

.github/PULL_REQUEST_TEMPLATE.md

 
 ### Checklist
 - [ ] Added tests that prove my fix is effective or that my feature works
-- [ ] Updated the [changelog](https://github.com/Unity-Technologies/ml-agents/blob/master/com.unity.ml-agents/CHANGELOG.md) (if applicable)
-- [ ] Updated the [documentation](https://github.com/Unity-Technologies/ml-agents/tree/master/docs) (if applicable)
-- [ ] Updated the [migration guide](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Migrating.md) (if applicable)
+- [ ] Updated the [changelog](https://github.com/Unity-Technologies/ml-agents/blob/main/com.unity.ml-agents/CHANGELOG.md) (if applicable)
+- [ ] Updated the [documentation](https://github.com/Unity-Technologies/ml-agents/tree/main/docs) (if applicable)
+- [ ] Updated the [migration guide](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Migrating.md) (if applicable)
 
 ### Other comments

.github/workflows/pre-commit.yml

 on:
   pull_request:
   push:
-    branches: [master]
+    branches: [main]
 
 jobs:
   pre-commit:

.github/workflows/publish_pypi.yaml

             package-path: [ml-agents, ml-agents-envs, gym-unity]
 
     steps:
-    - uses: actions/checkout@master
+    - uses: actions/checkout@main
     - name: Set up Python 3.7
       uses: actions/setup-python@v1
       with:

.github/workflows/pytest.yml

     - 'test_requirements.txt'
     - '.github/workflows/pytest.yml'
   push:
-    branches: [master]
+    branches: [main]
 
 jobs:
   pytest:

.yamato/com.unity.ml-agents-performance.yml

   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
   artifacts:
     logs:

.yamato/com.unity.ml-agents-test.yml

   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
 
 {% for package in packages %}
     cancel_old_ci: true
     {% if platform.name == "linux" %}
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

.yamato/compressed-sensor-test.yml

     cancel_old_ci: true
     {% if editor.extra_test == "sensor" %}
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

.yamato/gym-interface-test.yml

     cancel_old_ci: true
     {% if editor.extra_test == "gym" %}
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

.yamato/protobuf-generation-test.yml

   triggers:
     cancel_old_ci: true
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "protobuf-definitions/**" OR

.yamato/pytest-gpu.yml

   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
   artifacts:
     logs:

.yamato/python-ll-api-test.yml

     cancel_old_ci: true
     {% if editor.extra_test == "llapi" %}
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

.yamato/standalone-build-test.yml

   triggers:
     cancel_old_ci: true
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

.yamato/standalone-build-webgl-test.yml

   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: weekly
   artifacts:
     logs:

.yamato/training-backcompat-tests.yml

   triggers:
     cancel_old_ci: true
     recurring:
-      - branch: master
+      - branch: main
         frequency: daily
   artifacts:
     logs:

.yamato/training-int-tests.yml

   triggers:
     cancel_old_ci: true
     expression: |
-      (pull_request.target eq "master" OR
+      (pull_request.target eq "main" OR
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR

Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab

     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 48d14da88fea74d0693c691c6e3f2e34, type: 3}
+  m_Model: {fileID: 11400000, guid: 28ccdfd7cb3d941ce8af0ab89e06130a, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: Match3VisualObs

README.md

 
 # Unity ML-Agents Toolkit
 
-[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/)
+[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/)
 
 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)
 
 
 ## Releases & Documentation
 
-**Our latest, stable release is `Release 12`. Click
-[here](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md)
+
+**Our latest, stable release is `Release 13`. Click
+[here](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md)
-The table below lists all our releases, including our `master` branch which is
+The table below lists all our releases, including our `main` branch which is
 under active development and may be unstable. A few helpful guidelines:
 - The [Versioning page](docs/Versioning.md) overviews how we manage our GitHub
   releases and the versioning process for each of the ML-Agents components.
 
 | **Version** | **Release Date** | **Source** | **Documentation** | **Download** | **Python Package** | **Unity Package** |
 |:-------:|:------:|:-------------:|:-------:|:------------:|:------------:|:------------:|
-| **master (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/master) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/master/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/master.zip) | -- | -- |
-| **Release 12** | **December 22, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_12)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_12.zip)** | **[0.23.0](https://pypi.org/project/mlagents/0.23.0/)** | **[1.7.2](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html)** |
+| **main (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/main) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/main/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/main.zip) | -- | -- |
+| **Release 13** | **February 17, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_13)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_13.zip)** | **[0.24.0](https://pypi.org/project/mlagents/0.24.0/)** | **[1.8.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html)** |
+| **Release 12** | December 22, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_12) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_12.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.2](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) |
 | **Release 11** | December 21, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_11) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_11_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_11.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) |
 | **Release 10** | November 18, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_10) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_10_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_10.zip) | [0.22.0](https://pypi.org/project/mlagents/0.22.0/) | [1.6.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.6/manual/index.html) |
 | **Verified Package 1.0.6** | **November 16, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/com.unity.ml-agents_1.0.6)** | **[docs](https://github.com/Unity-Technologies/ml-agents/blob/release_2_verified_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/com.unity.ml-agents_1.0.6.zip)** | **[0.16.1](https://pypi.org/project/mlagents/0.16.1/)** | **[1.0.6](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.0/manual/index.html)** |
-| **Release 7** | September 16, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_7) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_7_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_7.zip) | [0.20.0](https://pypi.org/project/mlagents/0.20.0/) | [1.4.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.4/manual/index.html) |
 
 If you are a researcher interested in a discussion of Unity as an AI platform,
 see a pre-print of our
   ([multi-armed bandit](https://blogs.unity3d.com/2017/06/26/unity-ai-themed-blog-entries/)
   and
   [Q-learning](https://blogs.unity3d.com/2017/08/22/unity-ai-reinforcement-learning-with-q-learning/))
+
+### More from Unity
+
+- [Unity Robotics](https://github.com/Unity-Technologies/Unity-Robotics-Hub)
+- [Unity Computer Vision](https://unity.com/computer-vision)
+- [Unity Game Simulation](https://unity.com/products/game-simulation)
 
 ## Community and Feedback
 

com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md

 
 # Contribution
 
+An image can be thought of as a matrix of a predefined width (W) and a height (H) and each pixel can be thought of as simply an array of length 3 (in the case of RGB), `[Red, Green, Blue]` holding the different channel information of the color (channel) intensities at that pixel location. Thus an image is just a 3 dimensional matrix of size WxHx3. A Grid Observation can be thought of as a generalization of this setup where in place of a pixel there is a "cell" which is an array of length N representing different channel intensities at that cell position. From a Convolutional Neural Network point of view, the introduction of multiple channels in an "image" isn't a new concept. One such example is using an RGB-Depth image which is used in several robotics applications. The distinction of Grid Observations is what the data within the channels represents. Instead of limiting the channels to color intensities, the channels within a cell of a Grid Observation generalize to any data that can be represented by a single number (float or int).
+
+Before jumping into the details of the Grid Sensor, an important thing to note is the agent performance and qualitatively different behavior over raycasts. Unity MLAgent's comes with a suite of example environments. One in particular, the [Food Collector](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Examples.md#food-collector), has been the focus of the Grid Sensor development.
+
+The Food Collector environment can be described as:
+* Set-up: A multi-agent environment where agents compete to collect food.
+* Goal: The agents must learn to collect as many green food spheres as possible while avoiding red spheres.
+* Agents: The environment contains 5 agents with same Behavior Parameters.
+
+When applying the Grid Sensor to this environment, in place of the Raycast Vector Sensor or the Camera Sensor, a Mean Reward of 40-50 is observed. This performance is on par with what is seen by agents trained with RayCasts but the side-by-side comparison of trained agents, shows a qualitative difference in behavior. A deeper study and interpretation of the qualitative differences between agents trained with Raycasts and Vector Sensors verses Grid Sensors is left to future studies.
+
+<img src="images/gridobs-vs-vectorobs.gif" align="middle" width="3000"/>
+
 ## Overview
 
 There are three main phases to the observation process of the Grid Sensor:
 
 ### Channel Based
 
-The Channel Based Grid Observations represent obsevations in a normalized form with 0 to 1. To distinguish between categorical and continuous data, one would use the ChannelDepth array to signify the ranges that the values in the `channelValues` array could take. If one sets ChannelDepth[i] to be 1, it is assumed that the value of `channelValues[i]` is already normalized. Else ChannelDepth[i] represents the total number of possible values that `channelValues[i]` can take and will be used for normalization.
+The Channel Based Grid Observations is perhaps the simplest in terms of usability and similarity with other machine learning applications. Each grid is of size WxHxC where C is the number of channels. To distinguish between categorical and continuous data, one would use the ChannelDepth array to signify the ranges that the values in the `channelValues` array could take. If one sets ChannelDepth[i] to be 1, it is assumed that the value of `channelValues[i]` is already normalized. Else ChannelDepth[i] represents the total number of possible values that `channelValues[i]` can take.
+As the "enemy" is in the second position of the observed tags, its value can be normalized by:
 For ObjectType, "weapon", "enemy" will be represented respectively as:
 ```
 weapon = DetectableObjects.IndexOfTag("weapon")/ChannelDepth[0] = 1/2 = 0.5;

com.unity.ml-agents.extensions/Documentation~/Match3.md

 This implementation includes:
 
 * C# implementation catered toward a Match-3 setup including concepts around encoding for moves based on [Human Like Playtesting with Deep Learning](https://www.researchgate.net/publication/328307928_Human-Like_Playtesting_with_Deep_Learning)
-* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/docs/Learning-Environment-Examples.md#match-3).
+* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/docs/Learning-Environment-Examples.md#match-3).
 
 ### Feedback
 If you are a Match-3 developer and are trying to leverage ML-Agents for this scenario, [we want to hear from you](https://forms.gle/TBsB9jc8WshgzViU9). Additionally, we are also looking for interested Match-3 teams to speak with us for 45 minutes. If you are interested, please indicate that in the [form](https://forms.gle/TBsB9jc8WshgzViU9).  If selected, we will provide gift cards as a token of appreciation.

com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md

 recommended ways to install the package:
 
 ### Local Installation
-[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the
-[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Installation.md#advanced-local-installation-for-development-1)
+[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the
+[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Installation.md#advanced-local-installation-for-development-1)
-![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/images/unity_package_manager_git_url.png)
-
+![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/images/unity_package_manager_git_url.png)
 In the dialog that appears, enter
  ```
  git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions
     - No way to customize the action space of the `InputActuatorComponent`
 
 ## Need Help?
-The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/README.md) contains links for contacting the team or getting support.
+The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/README.md) contains links for contacting the team or getting support.

com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs

     /// <see cref="Agent"/>'s <see cref="BehaviorParameters"/> indicate that the Agent is running in Heuristic Mode,
     /// this Actuator will write actions from the <see cref="InputSystem"/> to the <see cref="ActionBuffers"/> object.
     /// </summary>
-    public class InputActionActuator : IActuator, IHeuristicProvider
+    public class InputActionActuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         readonly BehaviorParameters m_BehaviorParameters;
         readonly InputAction m_Action;
         /// <param name="adaptor">The <see cref="IRLActionInputAdaptor"/> that will convert data between ML-Agents
         ///     and the <see cref="InputSystem"/>.</param>
         public InputActionActuator(InputDevice inputDevice, BehaviorParameters behaviorParameters,
-            InputAction action,
-            IRLActionInputAdaptor adaptor)
+                                   InputAction action,
+                                   IRLActionInputAdaptor adaptor)
         {
             m_BehaviorParameters = behaviorParameters;
             Name = $"InputActionActuator-{action.name}";
             Profiler.BeginSample("InputActionActuator.Heuristic");
             m_InputAdaptor.WriteToHeuristic(m_Action, actionBuffersOut);
             Profiler.EndSample();
+        }
+
+        /// <inheritdoc/>
+        public BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.InputActionActuator;
         }
     }
 }

com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs

     /// <see cref="InputActionActuator"/>s.
     /// </summary>
     [RequireComponent(typeof(PlayerInput), typeof(IInputActionAssetProvider))]
+    [AddComponentMenu("ML Agents/Input Actuator", (int)MenuGroup.Actuators)]
     public class InputActuatorComponent : ActuatorComponent
     {
         InputActionAsset m_InputAsset;
             }
 
             var inputControlScheme = new InputControlScheme(
-                 mlAgentsControlSchemeName,
+                mlAgentsControlSchemeName,
                 deviceRequirements);
 
             return inputControlScheme;
                     var builder = new InputControlLayout.Builder()
                         .WithName(layoutName)
                         .WithFormat(mlAgentsLayoutFormat);
-                    for(var i = 0; i < defaultMap.actions.Count; i++)
+                    for (var i = 0; i < defaultMap.actions.Count; i++)
                     {
                         var action = defaultMap.actions[i];
                         builder.AddControl(action.name)
-
                 }, layoutName);
             }
         }

com.unity.ml-agents.extensions/Runtime/Match3/Match3Actuator.cs

     /// Actuator for a Match3 game. It translates valid moves (defined by AbstractBoard.IsMoveValid())
     /// in action masks, and applies the action to the board via AbstractBoard.MakeMove().
     /// </summary>
-    public class Match3Actuator : IActuator, IHeuristicProvider
+    public class Match3Actuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         protected AbstractBoard m_Board;
         protected System.Random m_Random;
         /// <inheritdoc/>
         public void ResetData()
         {
+        }
+
+        /// <inheritdoc/>
+        public BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.Match3Actuator;
         }
 
         IEnumerable<int> InvalidMoveIndices()
         {
             return 1;
         }
-
     }
 }

com.unity.ml-agents.extensions/Runtime/Match3/Match3ActuatorComponent.cs

     /// <summary>
     /// Actuator component for a Match3 game. Generates a Match3Actuator at runtime.
     /// </summary>
+    [AddComponentMenu("ML Agents/Match 3 Actuator", (int)MenuGroup.Actuators)]
     public class Match3ActuatorComponent : ActuatorComponent
     {
         /// <summary>

com.unity.ml-agents.extensions/Runtime/Match3/Match3SensorComponent.cs

 using Unity.MLAgents.Sensors;
+using UnityEngine;
 
 namespace Unity.MLAgents.Extensions.Match3
 {
+    [AddComponentMenu("ML Agents/Match 3 Sensor", (int)MenuGroup.Sensors)]
     public class Match3SensorComponent : SensorComponent
     {
         /// <summary>

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

     /// <summary>
     /// Grid-based sensor.
     /// </summary>
+    [AddComponentMenu("ML Agents/Grid Sensor", (int)MenuGroup.Sensors)]
     public class GridSensor : SensorComponent, ISensor, IBuiltInSensor
     {
         /// <summary>
         {
             return BuiltInSensorType.GridSensor;
         }
-
 
         /// <summary>
         /// GetCompressedObservation - Calls Perceive then puts the data stored on the perception buffer

com.unity.ml-agents.extensions/package.json

 {
   "name": "com.unity.ml-agents.extensions",
   "displayName": "ML Agents Extensions",
-  "version": "0.0.1-preview",
+  "version": "0.1.0-preview",
   "unity": "2018.4",
   "description": "A source-only package for new features based on ML-Agents",
   "dependencies": {

com.unity.ml-agents/CHANGELOG.md

 - Added a `--torch-device` commandline option to `mlagents-learn`, which sets the default
   [`torch.device`](https://pytorch.org/docs/stable/tensor_attributes.html#torch.torch.device) used for training. (#4888)
 - The `--cpu` commandline option had no effect and was removed. Use `--torch-device=cpu` to force CPU training. (#4888)
-- The `mlagents_env` API has changed, `BehaviorSpec` now has a `observation_specs` property containing a list of `ObservationSpec`. For more information on `ObservationSpec` see [here](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Python-API.md#behaviorspec). (#4763, #4825)
+- The `mlagents_env` API has changed, `BehaviorSpec` now has a `observation_specs` property containing a list of `ObservationSpec`. For more information on `ObservationSpec` see [here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Python-API.md#behaviorspec). (#4763, #4825)
 
 ### Bug Fixes
 #### com.unity.ml-agents (C#)
 #### com.unity.ml-agents (C#)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
  - PyTorch trainers are now the default. See the
- [installation docs](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Installation.md) for
+ [installation docs](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Installation.md) for
  more information on installing PyTorch. For the time being, TensorFlow is still available;
  you can use the TensorFlow backend by adding `--tensorflow` to the CLI, or
  adding `framework: tensorflow` in the configuration YAML. (#4517)
 - The Barracuda dependency was upgraded to 1.1.2 (#4571)
 - Utilities were added to `com.unity.ml-agents.extensions` to make it easier to
-integrate with match-3 games. See the [readme](https://github.com/Unity-Technologies/ml-agents/blob/master/com.unity.ml-agents.extensions/Documentation~/Match3.md)
+integrate with match-3 games. See the [readme](https://github.com/Unity-Technologies/ml-agents/blob/main/com.unity.ml-agents.extensions/Documentation~/Match3.md)
 for more details. (#4515)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - The `action_probs` node is no longer listed as an output in TensorFlow models (#4613).
 #### ml-agents / ml-agents-envs / gym-unity (Python)
  - Added the Random Network Distillation (RND) intrinsic reward signal to the Pytorch
  trainers. To use RND, add a `rnd` section to the `reward_signals` section of your
- yaml configuration file. [More information here](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Training-Configuration-File.md#rnd-intrinsic-reward) (#4473)
+ yaml configuration file. [More information here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Training-Configuration-File.md#rnd-intrinsic-reward) (#4473)
 ### Minor Changes
 #### com.unity.ml-agents (C#)
  - Stacking for compressed observations is now supported. An additional setting
 ### Major Changes
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - The Parameter Randomization feature has been refactored to enable sampling of new parameters per episode to improve robustness. The
-  `resampling-interval` parameter has been removed and the config structure updated. More information [here](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Training-ML-Agents.md). (#4065)
+  `resampling-interval` parameter has been removed and the config structure updated. More information [here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Training-ML-Agents.md). (#4065)
-[here](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Training-ML-Agents.md).(#4160)
+[here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Training-ML-Agents.md).(#4160)
 
 ### Minor Changes
 #### com.unity.ml-agents (C#)

com.unity.ml-agents/CONTRIBUTING.md

 ## Communication
 
 First, please read through our
-[code of conduct](https://github.com/Unity-Technologies/ml-agents/blob/master/CODE_OF_CONDUCT.md),
+[code of conduct](https://github.com/Unity-Technologies/ml-agents/blob/main/CODE_OF_CONDUCT.md),
 as we expect all our contributors to follow it.
 
 Second, before starting on a project that you intend to contribute to the
 
 ## Git Branches
 
-The master branch corresponds to the most recent version of the project. Note
+The main 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).
 

com.unity.ml-agents/Documentation~/com.unity.ml-agents.md

 [unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents
 [unity inference engine]: https://docs.unity3d.com/Packages/com.unity.barracuda@latest/index.html
 [package manager documentation]: https://docs.unity3d.com/Manual/upm-ui-install.html
-[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Installation.md
+[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Installation.md
-[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/com.unity.ml-agents.extensions
+[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/com.unity.ml-agents.extensions

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

  * API. For more information on each of these entities, in addition to how to
  * set-up a learning environment and train the behavior of characters in a
  * Unity scene, please browse our documentation pages on GitHub:
- * https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/
+ * https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/
  */
 
 namespace Unity.MLAgents
     /// fall back to inference or heuristic decisions. (You can also set agents to always use
     /// inference or heuristics.)
     /// </remarks>
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/" +
         "docs/Learning-Environment-Design.md")]
     public class Academy : IDisposable
     {

com.unity.ml-agents/Runtime/Actuators/ActionSpec.cs

         /// <param name="numContinuousActions">The number of continuous actions available.</param>
         /// <param name="discreteBranchSizes">The array of branch sizes for the discrete actions.  Each index
         /// contains the number of actions available for that branch.</param>
-        /// <returns>An ActionSpec initialized with the specified action sizes.</returns>
         public ActionSpec(int numContinuousActions = 0, int[] discreteBranchSizes = null)
         {
             m_NumContinuousActions = numContinuousActions;

com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs

         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
         void WriteDiscreteActionMask(IDiscreteActionMask actionMask);

com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs

         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="branch">The branch for which the actions will be masked.</param>
         /// <param name="actionIndices">The indices of the masked actions.</param>

com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs

     /// <summary>
     /// IActuator implementation that forwards calls to an <see cref="IActionReceiver"/> and an <see cref="IHeuristicProvider"/>.
     /// </summary>
-    internal class VectorActuator : IActuator, IHeuristicProvider
+    internal class VectorActuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         IActionReceiver m_ActionReceiver;
         IHeuristicProvider m_HeuristicProvider;
 
         /// <inheritdoc />
         public string Name { get; }
+
+        /// <inheritdoc />
+        public virtual BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.VectorActuator;
+        }
     }
 }

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

     }
 
     /// <summary>
+    /// Simple wrapper around VectorActuator that overrides GetBuiltInActuatorType
+    /// so that it can be distinguished from a standard VectorActuator.
+    /// </summary>
+    internal class AgentVectorActuator : VectorActuator
+    {
+        public AgentVectorActuator(IActionReceiver actionReceiver,
+            IHeuristicProvider heuristicProvider,
+            ActionSpec actionSpec,
+            string name = "VectorActuator"
+        ) : base(actionReceiver, heuristicProvider, actionSpec, name)
+        { }
+
+        public override BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.AgentVectorActuator;
+        }
+    }
+
+    /// <summary>
     /// An agent is an actor that can observe its environment, decide on the
     /// best course of action using those observations, and execute those actions
     /// within the environment.
     /// [OnDisable()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnDisable.html]
     /// [OnBeforeSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnBeforeSerialize.html
     /// [OnAfterSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnAfterSerialize.html
-    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md
-    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design.md
+    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md
+    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design.md
-    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Readme.md
+    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Readme.md
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/" +
         "docs/Learning-Environment-Design-Agents.md")]
     [Serializable]
     [RequireComponent(typeof(BehaviorParameters))]
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         /// </remarks>
         /// <param name="reward">The new value of the reward.</param>
         public void SetReward(float reward)
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         ///</remarks>
         /// <param name="increment">Incremental reward value.</param>
         public void AddReward(float increment)
         /// implementing a simple heuristic function can aid in debugging agent actions and interactions
         /// with its environment.
         ///
-        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
-        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
+        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
         /// </remarks>
         /// <example>
             // Support legacy OnActionReceived
             // TODO don't set this up if the sizes are 0?
             var param = m_PolicyFactory.BrainParameters;
-            m_VectorActuator = new VectorActuator(this, this, param.ActionSpec);
+            m_VectorActuator = new AgentVectorActuator(this, this, param.ActionSpec);
             m_ActuatorManager = new ActuatorManager(attachedActuators.Length + 1);
             m_LegacyActionCache = new float[m_VectorActuator.TotalNumberOfActions()];
             m_LegacyHeuristicCache = new float[m_VectorActuator.TotalNumberOfActions()];
         /// For more information about observations, see [Observations and Sensors].
         ///
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
+        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
         /// </remarks>
         public virtual void CollectObservations(VectorSensor sensor)
         {
         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
         public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
         ///
         /// For more information about implementing agent actions see [Agents - Actions].
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="actions">
         /// Struct containing the buffers of actions to be executed at this step.

com.unity.ml-agents/Runtime/Analytics/Events.cs

         public int InferenceDevice;
         public List<EventObservationSpec> ObservationSpecs;
         public EventActionSpec ActionSpec;
+        public List<EventActuatorInfo> ActuatorInfos;
         public int MemorySize;
         public long TotalWeightSizeBytes;
         public string ModelHash;
                 NumContinuousActions = actionSpec.NumContinuousActions,
                 NumDiscreteActions = actionSpec.NumDiscreteActions,
                 BranchSizes = branchSizes,
+            };
+        }
+    }
+
+    /// <summary>
+    /// Information about an actuator.
+    /// </summary>
+    [Serializable]
+    internal struct EventActuatorInfo
+    {
+        public int BuiltInActuatorType;
+        public int NumContinuousActions;
+        public int NumDiscreteActions;
+
+        public static EventActuatorInfo FromActuator(IActuator actuator)
+        {
+            BuiltInActuatorType builtInActuatorType = Actuators.BuiltInActuatorType.Unknown;
+            if (actuator is IBuiltInActuator builtInActuator)
+            {
+                builtInActuatorType = builtInActuator.GetBuiltInActuatorType();
+            }
+
+            var actionSpec = actuator.ActionSpec;
+
+            return new EventActuatorInfo
+            {
+                BuiltInActuatorType = (int)builtInActuatorType,
+                NumContinuousActions = actionSpec.NumContinuousActions,
+                NumDiscreteActions = actionSpec.NumDiscreteActions
             };
         }
     }
         public string BehaviorName;
         public List<EventObservationSpec> ObservationSpecs;
         public EventActionSpec ActionSpec;
+        public List<EventActuatorInfo> ActuatorInfos;
 
         /// <summary>
         /// This will be the same as TrainingEnvironmentInitializedEvent if available, but

com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs

         /// <param name="inferenceDevice">Whether inference is being performed on the CPU or GPU</param>
         /// <param name="sensors">List of ISensors for the Agent. Used to generate information about the observation space.</param>
         /// <param name="actionSpec">ActionSpec for the Agent. Used to generate information about the action space.</param>
+        /// <param name="actuators">List of IActuators for the Agent. Used to generate information about the action space.</param>
         /// <returns></returns>
         public static void InferenceModelSet(
             NNModel nnModel,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             // The event shouldn't be able to report if this is disabled but if we know we're not going to report
                 return;
             }
 
-            var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec);
+            var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec, actuators);
-            //Debug.Log(JsonUtility.ToJson(data, true));
+            // Debug.Log(JsonUtility.ToJson(data, true));
 #if UNITY_EDITOR
             if (AnalyticsUtils.s_SendEditorAnalytics)
             {
         /// <param name="inferenceDevice"></param>
         /// <param name="sensors"></param>
         /// <param name="actionSpec"></param>
+        /// <param name="actuators"></param>
         /// <returns></returns>
         internal static InferenceEvent GetEventForModel(
             NNModel nnModel,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             var barracudaModel = ModelLoader.Load(nnModel);
             foreach (var sensor in sensors)
             {
                 inferenceEvent.ObservationSpecs.Add(EventObservationSpec.FromSensor(sensor));
+            }
+
+            inferenceEvent.ActuatorInfos = new List<EventActuatorInfo>(actuators.Count);
+            foreach (var actuator in actuators)
+            {
+                inferenceEvent.ActuatorInfos.Add(EventActuatorInfo.FromActuator(actuator));
             }
 
             inferenceEvent.TotalWeightSizeBytes = GetModelWeightSize(barracudaModel);

com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs

         public static void RemotePolicyInitialized(
             string fullyQualifiedBehaviorName,
             IList<ISensor> sensors,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             if (!IsAnalyticsEnabled())
                 return;
             }
 
-            var data = GetEventForRemotePolicy(behaviorName, sensors, actionSpec);
+            var data = GetEventForRemotePolicy(behaviorName, sensors, actionSpec, actuators);
             // Note - to debug, use JsonUtility.ToJson on the event.
             // Debug.Log(
             //     $"Would send event {k_RemotePolicyInitializedEventName} with body {JsonUtility.ToJson(data, true)}"
 #endif
         }
 
-        static RemotePolicyInitializedEvent GetEventForRemotePolicy(
+        internal static RemotePolicyInitializedEvent GetEventForRemotePolicy(
-            ActionSpec actionSpec)
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
+        )
         {
             var remotePolicyEvent = new RemotePolicyInitializedEvent();
 
             foreach (var sensor in sensors)
             {
                 remotePolicyEvent.ObservationSpecs.Add(EventObservationSpec.FromSensor(sensor));
+            }
+
+            remotePolicyEvent.ActuatorInfos = new List<EventActuatorInfo>(actuators.Count);
+            foreach (var actuator in actuators)
+            {
+                remotePolicyEvent.ActuatorInfos.Add(EventActuatorInfo.FromActuator(actuator));
             }
 
             remotePolicyEvent.MLAgentsEnvsVersion = s_TrainerPackageVersion;

com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs

 #if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
+#define MLA_SUPPORTED_TRAINING_PLATFORM
+#endif
+
+# if MLA_SUPPORTED_TRAINING_PLATFORM
 using Grpc.Core;
 #if UNITY_EDITOR
 using UnityEditor;
         /// <param name="initParametersOut">The External Initialization Parameters received.</param>
         public bool Initialize(CommunicatorInitParameters initParameters, out UnityRLInitParameters initParametersOut)
         {
+#if MLA_SUPPORTED_TRAINING_PLATFORM
             var academyParameters = new UnityRLInitializationOutputProto
             {
                 Name = initParameters.name,
             UpdateEnvironmentWithInput(input.RlInput);
             initParametersOut = initializationInput.RlInitializationInput.ToUnityRLInitParameters();
             return true;
+#else
+            initParametersOut = new UnityRLInitParameters();
+            return false;
+#endif
         }
 
         /// <summary>

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

     internal enum MenuGroup
     {
         Default = 0,
-        Sensors = 50
+        Sensors = 50,
+        Actuators = 100
     }
 }

com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs

     /// See [Imitation Learning - Recording Demonstrations] for more information.
     ///
     /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
+    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
     /// </remarks>
     [RequireComponent(typeof(Agent))]
     [AddComponentMenu("ML Agents/Demonstration Recorder", (int)MenuGroup.Default)]

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

         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="branch">The branch for which the actions will be masked.</param>
         /// <param name="actionIndices">The indices of the masked actions.</param>

com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs

         private string m_BehaviorName;
 
         /// <summary>
+        /// List of actuators, only used for analytics
+        /// </summary>
+        private IList<IActuator> m_Actuators;
+
+        /// <summary>
         /// Whether or not we've tried to send analytics for this model. We only ever try to send once per policy,
         /// and do additional deduplication in the analytics code.
         /// </summary>
         public BarracudaPolicy(
             ActionSpec actionSpec,
+            IList<IActuator> actuators,
             NNModel model,
             InferenceDevice inferenceDevice,
             string behaviorName
             m_ModelRunner = modelRunner;
             m_BehaviorName = behaviorName;
             m_ActionSpec = actionSpec;
+            m_Actuators = actuators;
         }
 
         /// <inheritdoc />
                     m_BehaviorName,
                     m_ModelRunner.InferenceDevice,
                     sensors,
-                    m_ActionSpec
+                    m_ActionSpec,
+                    m_Actuators
                 );
             }
             m_AgentId = info.episodeId;

com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs

                                 "Either assign a model, or change to a different Behavior Type."
                             );
                         }
-                        return new BarracudaPolicy(actionSpec, m_Model, m_InferenceDevice, m_BehaviorName);
+                        return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
-                        return new RemotePolicy(actionSpec, FullyQualifiedBehaviorName);
+                        return new RemotePolicy(actionSpec, actuatorManager, FullyQualifiedBehaviorName);
-                        return new BarracudaPolicy(actionSpec, m_Model, m_InferenceDevice, m_BehaviorName);
+                        return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
                     }
                     else
                     {

com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs

 
         internal ICommunicator m_Communicator;
 
+        /// <summary>
+        /// List of actuators, only used for analytics
+        /// </summary>
+        private IList<IActuator> m_Actuators;
+
+            IList<IActuator> actuators,
             string fullyQualifiedBehaviorName)
         {
             m_FullyQualifiedBehaviorName = fullyQualifiedBehaviorName;
+            m_Actuators = actuators;
         }
 
         /// <inheritdoc />
                 TrainingAnalytics.RemotePolicyInitialized(
                     m_FullyQualifiedBehaviorName,
                     sensors,
-                    m_ActionSpec
+                    m_ActionSpec,
+                    m_Actuators
                 );
             }
             m_AgentId = info.episodeId;

com.unity.ml-agents/Runtime/Sensors/IBuiltInSensor.cs

     /// </summary>
     public enum BuiltInSensorType
     {
+        /// <summary>
+        /// Default Sensor type if it cannot be determined.
+        /// </summary>
+        /// <summary>
+        /// The Vector sensor used by the agent.
+        /// </summary>
-        // Note that StackingSensor actually returns the wrapped sensor's type
+        /// <summary>
+        /// The Stacking Sensor type. NOTE: StackingSensor actually returns the wrapped sensor's type.
+        /// </summary>
+        /// <summary>
+        /// The RayPerception Sensor types, both 3D and 2D.
+        /// </summary>
+        /// <summary>
+        /// The observable attribute sensor type.
+        /// </summary>
+        /// <summary>
+        /// Sensors that use the Camera for observations.
+        /// </summary>
+        /// <summary>
+        /// Sensors that use RenderTextures for observations.
+        /// </summary>
+        /// <summary>
+        /// Sensors that use buffers or tensors for observations.
+        /// </summary>
+        /// <summary>
+        /// The sensors that observe properties of rigid bodies.
+        /// </summary>
+        /// <summary>
+        /// The sensors that observe Match 3 boards.
+        /// </summary>
+        /// <summary>
+        /// Sensors that break down the world into a grid of colliders to observe an area at a pre-defined granularity.
+        /// </summary>
         GridSensor = 10
     }
 
     /// </summary>
-    public interface IBuiltInSensor
+    internal interface IBuiltInSensor
     {
         /// <summary>
         /// Return the corresponding BuiltInSensorType for the sensor.
     }
-
-
 }

com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs

             }
         }
 
+        /// <summary>
+        /// Write the list of floats.
+        /// </summary>
+        /// <param name="data">The actual list of floats to write.</param>
+        /// <param name="writeOffset">Optional write offset to start writing from.</param>
         public void AddList(IList<float> data, int writeOffset = 0)
         {
             if (m_Data != null)
                     var val = data[index];
                     m_Data[index + m_Offset + writeOffset] = val;
-
                 }
             }
             else

com.unity.ml-agents/Runtime/SideChannels/TrainingAnalyticsSideChannel.cs

 
 namespace Unity.MLAgents.SideChannels
 {
-    public class TrainingAnalyticsSideChannel : SideChannel
+    /// <summary>
+    /// Side Channel implementation for recording which training features are being used.
+    /// </summary>
+    internal class TrainingAnalyticsSideChannel : SideChannel
     {
         const string k_TrainingAnalyticsConfigId = "b664a4a9-d86f-5a5f-95cb-e8353a7e8356";
 

com.unity.ml-agents/Tests/Editor/Analytics/InferenceAnalyticsTests.cs

+using System;
 using System.Collections.Generic;
 using NUnit.Framework;
 using Unity.MLAgents.Sensors;
         {
             var sensors = new List<ISensor> { sensor_21_20_3.Sensor, sensor_20_22_3.Sensor };
             var behaviorName = "continuousModel";
+            var actionSpec = GetContinuous2vis8vec2actionActionSpec();
+
+            var vectorActuator = new VectorActuator(null, actionSpec, "test'");
+            var actuators = new IActuator[] { vectorActuator };
-                InferenceDevice.CPU, sensors, GetContinuous2vis8vec2actionActionSpec()
+                InferenceDevice.CPU, sensors, actionSpec,
+                actuators
             );
 
             // The behavior name should be hashed, not pass-through.
             Assert.AreEqual((int)DimensionProperty.None, continuousEvent.ObservationSpecs[0].DimensionInfos[2].Flags);
             Assert.AreEqual("None", continuousEvent.ObservationSpecs[0].CompressionType);
             Assert.AreEqual(Test3DSensor.k_BuiltInSensorType, continuousEvent.ObservationSpecs[0].BuiltInSensorType);
+            Assert.AreEqual((int)BuiltInActuatorType.VectorActuator, continuousEvent.ActuatorInfos[0].BuiltInActuatorType);
             Assert.AreNotEqual(null, continuousEvent.ModelHash);
 
             // Make sure nested fields get serialized
             Assert.IsTrue(jsonString.Contains("NumDiscreteActions"));
             Assert.IsTrue(jsonString.Contains("SensorName"));
             Assert.IsTrue(jsonString.Contains("Flags"));
+            Assert.IsTrue(jsonString.Contains("ActuatorInfos"));
         }
 
         [Test]
             using (new AnalyticsUtils.DisableAnalyticsSending())
             {
                 var sensors = new List<ISensor> { sensor_21_20_3.Sensor, sensor_20_22_3.Sensor };
-                var policy = new BarracudaPolicy(GetContinuous2vis8vec2actionActionSpec(), continuousONNXModel, InferenceDevice.CPU, "testBehavior");
+                var policy = new BarracudaPolicy(
+                    GetContinuous2vis8vec2actionActionSpec(),
+                    Array.Empty<IActuator>(),
+                    continuousONNXModel,
+                    InferenceDevice.CPU,
+                    "testBehavior"
+                );
                 policy.RequestDecision(new AgentInfo(), sensors);
             }
             Academy.Instance.Dispose();

com.unity.ml-agents/Tests/Editor/Analytics/TrainingAnalyticsTest.cs

+using System;
-using UnityEngine;
-using Unity.Barracuda;
-using UnityEditor;
 
 namespace Unity.MLAgents.Tests.Analytics
 {
         }
 
         [Test]
+        public void TestRemotePolicyEvent()
+        {
+            var behaviorName = "testBehavior";
+            var sensor1 = new Test3DSensor("SensorA", 21, 20, 3);
+            var sensor2 = new Test3DSensor("SensorB", 20, 22, 3);
+            var sensors = new List<ISensor> { sensor1, sensor2 };
+
+            var actionSpec = ActionSpec.MakeContinuous(2);
+
+            var vectorActuator = new VectorActuator(null, actionSpec, "test'");
+            var actuators = new IActuator[] { vectorActuator };
+
+            var remotePolicyEvent = TrainingAnalytics.GetEventForRemotePolicy(behaviorName, sensors, actionSpec, actuators);
+
+            // The behavior name should be hashed, not pass-through.
+            Assert.AreNotEqual(behaviorName, remotePolicyEvent.BehaviorName);
+
+            Assert.AreEqual(2, remotePolicyEvent.ObservationSpecs.Count);
+            Assert.AreEqual(3, remotePolicyEvent.ObservationSpecs[0].DimensionInfos.Length);
+            Assert.AreEqual(20, remotePolicyEvent.ObservationSpecs[0].DimensionInfos[0].Size);
+            Assert.AreEqual("None", remotePolicyEvent.ObservationSpecs[0].CompressionType);
+            Assert.AreEqual(Test3DSensor.k_BuiltInSensorType, remotePolicyEvent.ObservationSpecs[0].BuiltInSensorType);
+
+            Assert.AreEqual(2, remotePolicyEvent.ActionSpec.NumContinuousActions);
+            Assert.AreEqual(0, remotePolicyEvent.ActionSpec.NumDiscreteActions);
+
+            Assert.AreEqual(2, remotePolicyEvent.ActuatorInfos[0].NumContinuousActions);
+            Assert.AreEqual(0, remotePolicyEvent.ActuatorInfos[0].NumDiscreteActions);
+
+        }
+
+        [Test]
         public void TestRemotePolicy()
         {
             if (Academy.IsInitialized)
             using (new AnalyticsUtils.DisableAnalyticsSending())
             {
                 var actionSpec = ActionSpec.MakeContinuous(3);
-                var policy = new RemotePolicy(actionSpec, "TestBehavior?team=42");
+                var policy = new RemotePolicy(actionSpec, Array.Empty<IActuator>(), "TestBehavior?team=42");
                 policy.RequestDecision(new AgentInfo(), new List<ISensor>());
             }
 

config/ppo/Match3.yaml

+default_settings:
+  trainer_type: ppo
+  hyperparameters:
+    batch_size: 16
+    buffer_size: 120
+    learning_rate: 0.0003
+    beta: 0.005
+    epsilon: 0.2
+    lambd: 0.99
+    num_epoch: 3
+    learning_rate_schedule: constant
+  network_settings:
+    normalize: true
+    hidden_units: 256
+    num_layers: 4
+    vis_encode_type: match3
+  reward_signals:
+    extrinsic:
+      gamma: 0.99
+      strength: 1.0
+  keep_checkpoints: 5
+  max_steps: 5000000
+  time_horizon: 128
+  summary_freq: 10000
+  threaded: true
+
-  Match3VectorObs:
-    trainer_type: ppo
-    hyperparameters:
-      batch_size: 64
-      buffer_size: 12000
-      learning_rate: 0.0003
-      beta: 0.001
-      epsilon: 0.2
-      lambd: 0.99
-      num_epoch: 3
-      learning_rate_schedule: constant
-    network_settings:
-      normalize: true
-      hidden_units: 128
-      num_layers: 2
-      vis_encode_type: match3
-    reward_signals:
-      extrinsic: