Updating the barracuda 1.4.0 (#5291)

Initial commit

second commit. The no-extrinsic was trained without the log reward (reward = prob) while the new  one is (reward = log_prob - log_prior)

A few results, it looks like Walker-diverse-r05-bigger.onnx is doing something

Modified pushblock

using next state and action. Did not help

Fixing bug that had 9 diversity settings instead of 8

removing results

Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab

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

 using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Sensors;
 
 public class PushAgentBasic : Agent
 {
         m_ResetParams = Academy.Instance.EnvironmentParameters;
 
         SetResetParameters();
+        GetComponent<VectorSensorComponent>().CreateSensors();
+        m_DiversitySettingSensor = GetComponent<VectorSensorComponent>();
+    }
+
+    VectorSensorComponent m_DiversitySettingSensor;
+    public int m_DiversitySetting = 0;
+
+
+    /// <summary>
+    /// Loop over body parts to add them to observation.
+    /// </summary>
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        m_DiversitySettingSensor.GetSensor().Reset();
+        m_DiversitySettingSensor.GetSensor().AddOneHotObservation(m_DiversitySetting, 8);
     }
 
     /// <summary>
         m_AgentRb.angularVelocity = Vector3.zero;
 
         SetResetParameters();
+        m_DiversitySetting = Random.Range(0, 8);
     }
 
     public void SetGroundMaterialFriction()

Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab

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   m_Materials:
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   m_LightProbeVolumeOverride: {fileID: 0}
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   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
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   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
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   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0

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

     public GameObject areaSwitch;
     public bool useVectorObs;
 
+
+    VectorSensorComponent m_DiversitySettingSensor;
+    public int m_DiversitySetting = 0;
+
+                GetComponent<VectorSensorComponent>().CreateSensors();
+        m_DiversitySettingSensor = GetComponent<VectorSensorComponent>();
     }
 
     public override void CollectObservations(VectorSensor sensor)
             sensor.AddObservation(m_SwitchLogic.GetState());
             sensor.AddObservation(transform.InverseTransformDirection(m_AgentRb.velocity));
         }
+
+        m_DiversitySettingSensor.GetSensor().Reset();
+        m_DiversitySettingSensor.GetSensor().AddOneHotObservation(m_DiversitySetting, 8);
     }
 
     public void MoveAgent(ActionSegment<int> act)
         m_MyArea.CreateStonePyramid(1, items[6]);
         m_MyArea.CreateStonePyramid(1, items[7]);
         m_MyArea.CreateStonePyramid(1, items[8]);
+
+        m_DiversitySetting = Random.Range(0, 8);
     }
 
     void OnCollisionEnter(Collision collision)

Project/Assets/ML-Agents/Examples/Walker/Prefabs/Platforms/Platform.prefab

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         type: 3}
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Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

         m_ResetParams = Academy.Instance.EnvironmentParameters;
 
         SetResetParameters();
+        GetComponent<VectorSensorComponent>().CreateSensors();
+        m_DiversitySettingSensor = GetComponent<VectorSensorComponent>();
+
+    VectorSensorComponent m_DiversitySettingSensor;
+    public int m_DiversitySetting = 0;
 
     /// <summary>
     /// Loop over body parts and reset them to initial conditions.
             randomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : MTargetWalkingSpeed;
 
         SetResetParameters();
+
+        m_DiversitySetting = Random.Range(0, 8);
     }
 
     /// <summary>
     /// </summary>
     public override void CollectObservations(VectorSensor sensor)
     {
+        m_DiversitySettingSensor.GetSensor().Reset();
+        m_DiversitySettingSensor.GetSensor().AddOneHotObservation(m_DiversitySetting, 8);
+
         var cubeForward = m_OrientationCube.transform.forward;
 
         //velocity we want to match

com.unity.ml-agents/CHANGELOG.md

 sizes and will need to be retrained. (#5181)
 - The `AbstractBoard` class for integration with Match-3 games was changed to make it easier to support boards with
 different sizes using the same model. For a summary of the interface changes, please see the Migration Guide. (##5189)
-- Updated the Barracuda package to version `1.3.3-preview`(#5236)
+- Updated the Barracuda package to version `1.4.0-preview`(#5236)
 - `GridSensor` has been refactored and moved to main package, with changes to both sensor interfaces and behaviors.
 Exsisting GridSensor created by extension package will not work in newer version. Previously trained models will
 need to be retrained. Please see the Migration Guide for more details. (#5256)

com.unity.ml-agents/package.json

   "unity": "2019.4",
   "description": "Use state-of-the-art machine learning to create intelligent character behaviors in any Unity environment (games, robotics, film, etc.).",
   "dependencies": {
-    "com.unity.barracuda": "1.3.3-preview",
+    "com.unity.barracuda": "1.4.0-preview",
     "com.unity.modules.imageconversion": "1.0.0",
     "com.unity.modules.jsonserialize": "1.0.0"
   }

config/ppo/Pyramids.yaml

       hidden_units: 512
       num_layers: 2
       vis_encode_type: simple
+      goal_conditioning_type: none
-      curiosity:
+      # curiosity:
+      #   gamma: 0.99
+      #   strength: 0.02
+      #   network_settings:
+      #     hidden_units: 256
+      #   learning_rate: 0.0003
+      diverse:
-        strength: 0.02
-        network_settings:
-          hidden_units: 256
+        strength: 0.1
         learning_rate: 0.0003
     keep_checkpoints: 5
     max_steps: 10000000

config/ppo/Walker.yaml

       hidden_units: 512
       num_layers: 3
       vis_encode_type: simple
+      goal_conditioning_type: none
+      diverse:
+        gamma: 0.99
+        strength: 0.1
     keep_checkpoints: 5
     max_steps: 30000000
     time_horizon: 1000

ml-agents/mlagents/trainers/settings.py

     GAIL: str = "gail"
     CURIOSITY: str = "curiosity"
     RND: str = "rnd"
+    DIVERSE:str = "diverse"
 
     def to_settings(self) -> type:
         _mapping = {
             RewardSignalType.RND: RNDSettings,
+            RewardSignalType.DIVERSE: DiverseSettings,
         }
         return _mapping[self]
 
 
 @attr.s(auto_attribs=True)
 class RNDSettings(RewardSignalSettings):
+    learning_rate: float = 1e-4
+    encoding_size: Optional[int] = None
+
+@attr.s(auto_attribs=True)
+class DiverseSettings(RewardSignalSettings):
     learning_rate: float = 1e-4
     encoding_size: Optional[int] = None
 

ml-agents/mlagents/trainers/torch/components/reward_providers/__init__.py

 from mlagents.trainers.torch.components.reward_providers.rnd_reward_provider import (  # noqa F401
     RNDRewardProvider,
 )
+from mlagents.trainers.torch.components.reward_providers.diverse_reward_provider import (  # noqa F401
+    DiverseRewardProvider,
+)
 from mlagents.trainers.torch.components.reward_providers.reward_provider_factory import (  # noqa F401
     create_reward_provider,
 )

ml-agents/mlagents/trainers/torch/components/reward_providers/reward_provider_factory.py

 from mlagents.trainers.torch.components.reward_providers.rnd_reward_provider import (
     RNDRewardProvider,
 )
+from mlagents.trainers.torch.components.reward_providers.diverse_reward_provider import (
+    DiverseRewardProvider,
+)
 
 from mlagents_envs.base_env import BehaviorSpec
 
     RewardSignalType.GAIL: GAILRewardProvider,
     RewardSignalType.RND: RNDRewardProvider,
+    RewardSignalType.DIVERSE: DiverseRewardProvider,
 }