Merge branch 'master' into distributed-training

.circleci/config.yml

       pip_constraints:
         type: string
         description: Constraints file that is passed to "pip install". We constraint older versions of libraries for older python runtime, in order to help ensure compatibility.
+      enforce_onnx_conversion:
+        type: integer
+        default: 0
+        description: Whether to raise an exception if ONNX models couldn't be saved.
     executor: << parameters.executor >>
     working_directory: ~/repo
 
+      TEST_ENFORCE_ONNX_CONVERSION: << parameters.enforce_onnx_conversion >>
 
     steps:
       - checkout
           pyversion: 3.7.3
           # Test python 3.7 with the newest supported versions
           pip_constraints: test_constraints_max_tf1_version.txt
+          # Make sure ONNX conversion passes here (recent version of tensorflow 1.x)
+          enforce_onnx_conversion: 1
       - build_python:
           name: python_3.7.3+tf2
           executor: python373

.pylintrc

     # Appears to be https://github.com/PyCQA/pylint/issues/2981
     W0201,
 
+    # Using the global statement
+    W0603,

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

     packages:
       paths:
         - "upm-ci~/packages/**/*"
+  triggers:
+    cancel_old_ci: true

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

 test_editors:
   - version: 2018.4
+    # 2018.4 doesn't support code-coverage
+    coverageOptions:
+    minCoveragePct: 0
+    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
+    minCoveragePct: 72
+    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
+    minCoveragePct: 72
 test_platforms:
   - name: win
     type: Unity::VM
     flavor: {{ platform.flavor}}
   commands:
     - npm install upm-ci-utils@stable -g --registry https://api.bintray.com/npm/unity/unity-npm
-    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents
+    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents {{ editor.coverageOptions }}
+    - python ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ editor.minCoveragePct }}
   artifacts:
     logs:
       paths:
   triggers:
+    cancel_old_ci: true
+        - "ml-agents/tests/yamato/**"
         - ".yamato/com.unity.ml-agents-test.yml"
 
   {% endfor %}

.yamato/protobuf-generation-test.yml

       echo "Apply the patch with the command 'git apply proto.patch'";                                  \
       git diff -- :/ ":(exclude,top)$CS_PROTO_PATH/*.meta" > artifacts/proto.patch; exit $GIT_ERR; }
   triggers:
+    cancel_old_ci: true
     changes:
       only:
         - "protobuf-definitions/**"

.yamato/standalone-build-test.yml

     - pip install pyyaml
     - python -u -m ml-agents.tests.yamato.standalone_build_tests
   triggers:
+    cancel_old_ci: true
     changes:
       only:
         - "com.unity.ml-agents/**"
         - "*.md"
         - "com.unity.ml-agents/*.md"
         - "com.unity.ml-agents/**/*.md"
+  artifacts:
+    standalonebuild:
+      paths:
+        - "Project/testPlayer*/**"
 {% endfor %}

.yamato/training-int-tests.yml

   commands:
     - pip install pyyaml
     - python -u -m ml-agents.tests.yamato.training_int_tests
+    # Backwards-compatibility tests.
+    # If we make a breaking change to the communication protocol, these will need
+    # to be disabled until the next release.
+    - python -u -m ml-agents.tests.yamato.training_int_tests --python=0.15.0
+    - python -u -m ml-agents.tests.yamato.training_int_tests --csharp=0.15.0
+  dependencies:
+    - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }}
+    cancel_old_ci: true
     changes:
       only:
         - "com.unity.ml-agents/**"

DevProject/Packages/manifest.json

     "com.unity.2d.tilemap": "1.0.0",
     "com.unity.ads": "2.0.8",
     "com.unity.analytics": "3.3.5",
+    "com.unity.coding": "0.1.0-preview.13",
     "com.unity.collab-proxy": "1.2.16",
     "com.unity.ide.rider": "1.1.4",
     "com.unity.ide.vscode": "1.1.4",
     "com.unity.package-validation-suite": "0.7.15-preview",
     "com.unity.purchasing": "2.0.6",
-    "com.unity.test-framework": "1.1.9",
+    "com.unity.test-framework": "1.1.11",
-    "com.unity.timeline": "1.2.10",
+    "com.unity.timeline": "1.2.12",
     "com.unity.ugui": "1.0.0",
     "com.unity.xr.legacyinputhelpers": "1.3.8",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.video": "1.0.0",
     "com.unity.modules.vr": "1.0.0",
     "com.unity.modules.wind": "1.0.0",
-    "com.unity.modules.xr": "1.0.0",
-    "com.unity.coding" : "0.1.0-preview.13"
+    "com.unity.modules.xr": "1.0.0"
   },
   "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates",
   "testables": [

DevProject/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.3.0f6
-m_EditorVersionWithRevision: 2019.3.0f6 (27ab2135bccf)
+m_EditorVersion: 2019.3.3f1
+m_EditorVersionWithRevision: 2019.3.3f1 (7ceaae5f7503)

Dockerfile

 WORKDIR /ml-agents
 RUN pip install -e .
 
-# port 5005 is the port used in in Editor training.
-EXPOSE 5005
+# Port 5004 is the port used in in Editor training.
+# Environments will start from port 5005, 
+# so allow enough ports for several environments.
+EXPOSE 5004-5050
-ENTRYPOINT ["mlagents-learn"]
+ENTRYPOINT ["xvfb-run", "--auto-servernum", "--server-args='-screen 0 640x480x24'", "mlagents-learn"]

Project/Assets/ML-Agents/Editor/Tests/StandaloneBuildTest.cs

 {
     public class StandaloneBuildTest
     {
+        const string k_outputCommandLineFlag = "--mlagents-build-output-path";
+        const string k_sceneCommandLineFlag = "--mlagents-build-scene-path";
+
-            string[] scenes = { "Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity" };
-            var buildResult = BuildPipeline.BuildPlayer(scenes, "testPlayer", BuildTarget.StandaloneOSX, BuildOptions.None);
+            // Read commandline arguments for options
+            var outputPath = "testPlayer";
+            var scenePath = "Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity";
+
+            var args = Environment.GetCommandLineArgs();
+            for (var i = 0; i < args.Length - 1; i++)
+            {
+                if (args[i] == k_outputCommandLineFlag)
+                {
+                    outputPath = args[i + 1];
+                    Debug.Log($"Overriding output path to {outputPath}");
+                }
+                else if (args[i] == k_sceneCommandLineFlag)
+                {
+                    scenePath = args[i + 1];
+                }
+            }
+
+            string[] scenes = { scenePath };
+            var buildResult = BuildPipeline.BuildPlayer(
+                scenes,
+                outputPath,
+                BuildTarget.StandaloneOSX,
+                BuildOptions.None
+            );
             var isOk = buildResult.summary.result == BuildResult.Succeeded;
             var error = "";
             foreach (var stepInfo in buildResult.steps)

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

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   m_CustomReflection: {fileID: 0}
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-  m_IndirectSpecularColor: {r: 0.4497121, g: 0.49977785, b: 0.57563704, a: 1}
+  m_IndirectSpecularColor: {r: 0.44971162, g: 0.49977726, b: 0.5756362, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
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   solverIterations: 6

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

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

     [Header("Specific to Ball3D")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    IFloatProperties m_ResetParams;
+    FloatPropertiesChannel m_ResetParams;
-    public override void InitializeAgent()
+    public override void Initialize()
-        m_ResetParams = Academy.Instance.FloatProperties;
+        m_ResetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
         SetResetParameters();
     }
 
         sensor.AddObservation(m_BallRb.velocity);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
         var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
             Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
         {
             SetReward(-1f);
-            Done();
+            EndEpisode();
         }
         else
         {
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
         gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));

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

     [Header("Specific to Ball3DHard")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    IFloatProperties m_ResetParams;
+    FloatPropertiesChannel m_ResetParams;
-    public override void InitializeAgent()
+    public override void Initialize()
-        m_ResetParams = Academy.Instance.FloatProperties;
+        m_ResetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
         SetResetParameters();
     }
 
         sensor.AddObservation((ball.transform.position - gameObject.transform.position));
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
         var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
             Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
         {
             SetReward(-1f);
-            Done();
+            EndEpisode();
         }
         else
         {
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
         gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));

Project/Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity

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Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicController.cs

         if (m_Position == k_SmallGoalPosition)
         {
             m_Agent.AddReward(0.1f);
-            m_Agent.Done();
+            m_Agent.EndEpisode();
             ResetAgent();
         }
 
-            m_Agent.Done();
+            m_Agent.EndEpisode();
             ResetAgent();
         }
     }

Project/Assets/ML-Agents/Examples/Basic/TFModels/Basic.nn

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

     int m_NumberJumps = 20;
     int m_JumpLeft = 20;
 
-    IFloatProperties m_ResetParams;
+    FloatPropertiesChannel m_ResetParams;
-    public override void InitializeAgent()
+    public override void Initialize()
-        m_ResetParams = Academy.Instance.FloatProperties;
+        m_ResetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
 
         SetResetParameters();
     }
         sensor.AddObservation(target.transform.localPosition);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         for (var i = 0; i < vectorAction.Length; i++)
         {
         m_LookDir = new Vector3(x, y, z);
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         gameObject.transform.localPosition = new Vector3(
             (1 - 2 * Random.value) * 5, 2, (1 - 2 * Random.value) * 5);
         if (gameObject.transform.position.y < -1)
         {
             AddReward(-1);
-            Done();
+            EndEpisode();
             return;
         }
 
             AddReward(-1);
-            Done();
+            EndEpisode();
-            Done();
+            EndEpisode();
         }
     }
 

Project/Assets/ML-Agents/Examples/Crawler/Prefabs/FixedPlatform.prefab

   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: CrawlerStatic
-  m_TeamID: 0
-  m_useChildSensors: 1
+  TeamId: 0
+  m_UseChildSensors: 1
 --- !u!114 &114230237520033992
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   m_Script: {fileID: 11500000, guid: 2f37c30a5e8d04117947188818902ef3, type: 3}
   m_Name: 
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+  agentParameters:
+    maxStep: 0
+  hasUpgradedFromAgentParameters: 1
   maxStep: 5000
   target: {fileID: 4749909135913778}
   ground: {fileID: 4856650706546504}
   m_Name: 
   m_EditorClassIdentifier: 
   DecisionPeriod: 5
-  RepeatAction: 0
+  TakeActionsBetweenDecisions: 0
   offsetStep: 0
 --- !u!1 &1492926997393242
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   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1995322274649904}
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: -0, y: 0.5, z: 0}
-  m_LocalScale: {x: 0.01, y: 0.01, z: 0.01}
+  m_LocalPosition: {x: -0, y: 1.5, z: 0}
+  m_LocalScale: {x: 0.01, y: 0.03, z: 0.01}
   m_Children: []
   m_Father: {fileID: 4924174722017668}
   m_RootOrder: 1

Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity

   m_Component:
   - component: {fileID: 1392866532}
   - component: {fileID: 1392866531}
-  - component: {fileID: 1392866530}
   - component: {fileID: 1392866529}
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   m_Enabled: 1
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   m_CorrespondingSourceObject: {fileID: 0}
   m_Name: 
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   gravityMultiplier: 1
-  monitorVerticalOffset: 1
   fixedDeltaTime: 0.01333
   maximumDeltaTime: 0.15
   solverIterations: 12

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

     Quaternion m_LookRotation;
     Matrix4x4 m_TargetDirMatrix;
 
-    public override void InitializeAgent()
+    public override void Initialize()
     {
         m_JdController = GetComponent<JointDriveController>();
         m_DirToTarget = target.position - body.position;
         target.position = newTargetPos + ground.position;
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         // The dictionary with all the body parts in it are in the jdController
         var bpDict = m_JdController.bodyPartsDict;
     /// <summary>
     /// Loop over body parts and reset them to initial conditions.
     /// </summary>
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         if (m_DirToTarget != Vector3.zero)
         {

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

 using UnityEngine;
 using MLAgents;
 using MLAgents.Sensors;
+using MLAgents.SideChannels;
 
 public class FoodCollectorAgent : Agent
 {
     public bool useVectorObs;
 
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         m_AgentRb = GetComponent<Rigidbody>();
         m_MyArea = area.GetComponent<FoodCollectorArea>();
         m_FoodCollecterSettings = FindObjectOfType<FoodCollectorSettings>();
         gameObject.GetComponentInChildren<Renderer>().material = normalMaterial;
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         MoveAgent(vectorAction);
     }
         return action;
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         Unfreeze();
         Unpoison();
 
     public void SetLaserLengths()
     {
-        m_LaserLength = Academy.Instance.FloatProperties.GetPropertyWithDefault("laser_length", 1.0f);
+        m_LaserLength = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("laser_length", 1.0f);
-        float agentScale = Academy.Instance.FloatProperties.GetPropertyWithDefault("agent_scale", 1.0f);
+        float agentScale = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("agent_scale", 1.0f);
         gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale);
     }
 

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

 using UnityEngine;
 using UnityEngine.UI;
 using MLAgents;
+using MLAgents.SideChannels;
 
 public class FoodCollectorSettings : MonoBehaviour
 {
     public int totalScore;
     public Text scoreText;
 
+    StatsSideChannel m_statsSideChannel;
+
+        m_statsSideChannel = SideChannelUtils.GetSideChannel<StatsSideChannel>();
     }
 
     public void EnvironmentReset()
     public void Update()
     {
         scoreText.text = $"Score: {totalScore}";
+
+        // Send stats via SideChannel so that they'll appear in TensorBoard.
+        // These values get averaged every summary_frequency steps, so we don't
+        // need to send every Update() call.
+        if ((Time.frameCount % 100)== 0)
+        {
+            m_statsSideChannel?.AddStat("TotalScore", totalScore);
+        }
     }
 }

Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity

   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.4497121, g: 0.49977785, b: 0.57563704, a: 1}
+  m_IndirectSpecularColor: {r: 0.44971168, g: 0.4997775, b: 0.57563686, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
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   m_Layer: 0
   m_Name: Main Camera
   m_StaticEditorFlags: 0
   m_IsActive: 1
 --- !u!124 &99095113
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-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
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-  m_Enabled: 1
---- !u!92 &99095114
 Behaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_EditorClassIdentifier: 
   agentParameters:
     maxStep: 100
-    resetOnDone: 1
-    onDemandDecision: 1
-    numberOfActionsBetweenDecisions: 1
+  hasUpgradedFromAgentParameters: 1
+  maxStep: 100
   area: {fileID: 1795599557}
   timeBetweenDecisionsAtInference: 0.15
   renderCamera: {fileID: 797520692}
   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: GridWorld
-  m_TeamID: 0
-  m_useChildSensors: 1
+  TeamId: 0
+  m_UseChildSensors: 1
 --- !u!114 &125487791
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   m_ObjectHideFlags: 0
   m_Script: {fileID: 11500000, guid: 132e1194facb64429b007ea1edf562d0, type: 3}
   m_Name: 
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-  sensorName: RenderTextureSensor
-  grayscale: 0
-  compression: 1
+  m_RenderTexture: {fileID: 8400000, guid: 114608d5384404f89bff4b6f88432958, type: 2}
+  m_SensorName: RenderTextureSensor
+  m_Grayscale: 0
+  m_Compression: 1
 --- !u!1 &260425459
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   m_ObjectHideFlags: 0
   m_Father: {fileID: 363761400}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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-  m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: -369.5, y: -62.2}
-  m_SizeDelta: {x: 160, y: 55.6}
+  m_AnchorMin: {x: 0, y: 1}
+  m_AnchorMax: {x: 0, y: 1}
+  m_AnchoredPosition: {x: 150, y: -230}
+  m_SizeDelta: {x: 160, y: 55.599976}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &918893360
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       m_Calls: []
   m_FontData:
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+    m_FontSize: 22
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     m_MinSize: 2
   m_Father: {fileID: 363761400}
   m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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-  m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: -369.5, y: -197}
+  m_AnchorMin: {x: 0, y: 1}
+  m_AnchorMax: {x: 0, y: 1}
+  m_AnchoredPosition: {x: 150, y: -128}
   m_SizeDelta: {x: 200, y: 152}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &1305247361

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

 using MLAgents;
 using MLAgents.Sensors;
 using UnityEngine.Serialization;
+using MLAgents.SideChannels;
 
 public class GridAgent : Agent
 {
     const int k_Left = 3;
     const int k_Right = 4;
 
-    public override void InitializeAgent()
-    {
-    }
-
     public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
     {
         // Mask the necessary actions if selected by the user.
             var positionX = (int)transform.position.x;
             var positionZ = (int)transform.position.z;
-            var maxPosition = (int)Academy.Instance.FloatProperties.GetPropertyWithDefault("gridSize", 5f) - 1;
+            var maxPosition = (int)SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("gridSize", 5f) - 1;
 
             if (positionX == 0)
             {
     }
 
     // to be implemented by the developer
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         AddReward(-0.01f);
         var action = Mathf.FloorToInt(vectorAction[0]);
             if (hit.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
             {
                 SetReward(1f);
-                Done();
+                EndEpisode();
-                Done();
+                EndEpisode();
             }
         }
     }
     }
 
     // to be implemented by the developer
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         area.AreaReset();
     }

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

 
     public GameObject trueAgent;
 
-    IFloatProperties m_ResetParameters;
+    FloatPropertiesChannel m_ResetParameters;
 
     Camera m_AgentCam;
 
 
     public void Start()
     {
-        m_ResetParameters = Academy.Instance.FloatProperties;
+        m_ResetParameters = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
 
         m_Objects = new[] { goalPref, pitPref };
 

Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridSettings.cs

 using UnityEngine;
 using MLAgents;
+using MLAgents.SideChannels;
 
 public class GridSettings : MonoBehaviour
 {
     {
-        Academy.Instance.FloatProperties.RegisterCallback("gridSize", f =>
+        SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().RegisterCallback("gridSize", f =>
         {
             MainCamera.transform.position = new Vector3(-(f - 1) / 2f, f * 1.25f, -(f - 1) / 2f);
             MainCamera.orthographicSize = (f + 5f) / 2f;

Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs

     HallwaySettings m_HallwaySettings;
     int m_Selection;
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         m_HallwaySettings = FindObjectOfType<HallwaySettings>();
         m_AgentRb = GetComponent<Rigidbody>();
         m_GroundRenderer = ground.GetComponent<Renderer>();
         m_AgentRb.AddForce(dirToGo * m_HallwaySettings.agentRunSpeed, ForceMode.VelocityChange);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         AddReward(-1f / maxStep);
         MoveAgent(vectorAction);
                 SetReward(-0.1f);
                 StartCoroutine(GoalScoredSwapGroundMaterial(m_HallwaySettings.failMaterial, 0.5f));
             }
-            Done();
+            EndEpisode();
         }
     }
 
         return new float[] { 0 };
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         var agentOffset = -15f;
         var blockOffset = 0f;

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

 using System.Collections;
 using UnityEngine;
 using MLAgents;
+using MLAgents.SideChannels;
 
 public class PushAgentBasic : Agent
 {
         m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
     }
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         goalDetect = block.GetComponent<GoalDetect>();
         goalDetect.agent = this;
 
         AddReward(5f);
 
         // By marking an agent as done AgentReset() will be called automatically.
-        Done();
+        EndEpisode();
 
         // Swap ground material for a bit to indicate we scored.
         StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
     /// <summary>
     /// Called every step of the engine. Here the agent takes an action.
     /// </summary>
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         // Move the agent using the action.
         MoveAgent(vectorAction);
     /// In the editor, if "Reset On Done" is checked then AgentReset() will be
     /// called automatically anytime we mark done = true in an agent script.
     /// </summary>
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         var rotation = Random.Range(0, 4);
         var rotationAngle = rotation * 90f;
 
     public void SetGroundMaterialFriction()
     {
-        var resetParams = Academy.Instance.FloatProperties;
+        var resetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
 
         var groundCollider = ground.GetComponent<Collider>();
 
 
     public void SetBlockProperties()
     {
-        var resetParams = Academy.Instance.FloatProperties;
+        var resetParams = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
 
         var scale = resetParams.GetPropertyWithDefault("block_scale", 2);
         //Set the scale of the block

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

     public GameObject areaSwitch;
     public bool useVectorObs;
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         m_AgentRb = GetComponent<Rigidbody>();
         m_MyArea = area.GetComponent<PyramidArea>();
         m_SwitchLogic = areaSwitch.GetComponent<PyramidSwitch>();
         m_AgentRb.AddForce(dirToGo * 2f, ForceMode.VelocityChange);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         AddReward(-1f / maxStep);
         MoveAgent(vectorAction);
         return new float[] { 0 };
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         var enumerable = Enumerable.Range(0, 9).OrderBy(x => Guid.NewGuid()).Take(9);
         var items = enumerable.ToArray();
         if (collision.gameObject.CompareTag("goal"))
         {
             SetReward(2f);
-            Done();
+            EndEpisode();
         }
     }
 }

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

 using UnityEngine;
 using MLAgents;
 using MLAgents.Sensors;
+using MLAgents.SideChannels;
 
 public class ReacherAgent : Agent
 {
     /// Collect the rigidbodies of the reacher in order to resue them for
     /// observations and actions.
     /// </summary>
-    public override void InitializeAgent()
+    public override void Initialize()
     {
         m_RbA = pendulumA.GetComponent<Rigidbody>();
         m_RbB = pendulumB.GetComponent<Rigidbody>();
     /// <summary>
     /// The agent's four actions correspond to torques on each of the two joints.
     /// </summary>
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         m_GoalDegree += m_GoalSpeed;
         UpdateGoalPosition();
     /// <summary>
     /// Resets the position and velocity of the agent and the goal.
     /// </summary>
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
         pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
 
     public void SetResetParameters()
     {
-        var fp = Academy.Instance.FloatProperties;
+        var fp = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>();
         m_GoalSize = fp.GetPropertyWithDefault("goal_size", 5);
         m_GoalSpeed = Random.Range(-1f, 1f) * fp.GetPropertyWithDefault("goal_speed", 1);
         m_Deviation = fp.GetPropertyWithDefault("deviation", 0);

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

 
                 if (agentDoneOnGroundContact)
                 {
-                    agent.Done();
+                    agent.EndEpisode();
                 }
             }
         }

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

         void OverrideModel()
         {
             m_Agent.LazyInitialize();
-            var name = m_Agent.BehaviorName;
+            var bp = m_Agent.GetComponent<BehaviorParameters>();
+            var name = bp.behaviorName;
-            m_Agent.GiveModel($"Override_{name}", nnModel);
+            m_Agent.SetModel($"Override_{name}", nnModel);
 
         }
     }

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

 using UnityEngine;
 using MLAgents;
+using MLAgents.SideChannels;
 
 namespace MLAgentsExamples
 {
             Physics.defaultSolverIterations = solverIterations;
             Physics.defaultSolverVelocityIterations = solverVelocityIterations;
 
-            Academy.Instance.FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
+            SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
         }
 
         public void OnDestroy()

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

     [HideInInspector]
     public Rigidbody agentRb;
     SoccerSettings m_SoccerSettings;
+    BehaviorParameters m_BehaviorParameters;
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
-        if (TeamId == (int)Team.Blue)
+        m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>();
+        if (m_BehaviorParameters.TeamId == (int)Team.Blue)
         {
             team = Team.Blue;
             m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
             ForceMode.VelocityChange);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         // Existential penalty for strikers.
         AddReward(-1f / 3000f);
         }
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         if (team == Team.Purple)
         {

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

 using System.Collections;
 using System.Collections.Generic;
 using MLAgents;
+using MLAgents.SideChannels;
 using UnityEngine;
 using UnityEngine.Serialization;
 
             {
                 ps.agentScript.AddReward(-1);
             }
-            ps.agentScript.Done();  //all agents need to be reset
+            ps.agentScript.EndEpisode();  //all agents need to be reset
 
             if (goalTextUI)
             {
         ballRb.velocity = Vector3.zero;
         ballRb.angularVelocity = Vector3.zero;
 
-        var ballScale = Academy.Instance.FloatProperties.GetPropertyWithDefault("ball_scale", 0.015f);
+        var ballScale = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("ball_scale", 0.015f);
         ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
     }
 }

Project/Assets/ML-Agents/Examples/Startup/Scripts/Startup.cs

     internal class Startup : MonoBehaviour
     {
         const string k_SceneVariableName = "SCENE_NAME";
+        private const string k_SceneCommandLineFlag = "--mlagents-scene-name";
-            var sceneName = Environment.GetEnvironmentVariable(k_SceneVariableName);
+            var sceneName = "";
+            
+            // Check for the CLI '--scene-name' flag.  This will be used if
+            // no scene environment variable is found.
+            var args = Environment.GetCommandLineArgs();
+            Console.WriteLine("Command line arguments passed: " + String.Join(" ", args));
+            for (int i = 0; i < args.Length; i++) {
+                if (args [i] == k_SceneCommandLineFlag && i < args.Length - 1) {
+                    sceneName = args[i + 1];
+                }
+            }
+
+            var sceneEnvironmentVariable = Environment.GetEnvironmentVariable(k_SceneVariableName);
+            if (!string.IsNullOrEmpty(sceneEnvironmentVariable))
+            {
+                sceneName = sceneEnvironmentVariable;
+            }
+            
             SwitchScene(sceneName);
         }
 
             {
-                throw new ArgumentException(
-                    $"You didn't specified the {k_SceneVariableName} environment variable");
+                Console.WriteLine(
+                    $"You didn't specify the {k_SceneVariableName} environment variable or the {k_SceneCommandLineFlag} command line argument."
+                );
+                Application.Quit(22);
+                return;
-                throw new ArgumentException(
-                    $"The scene {sceneName} doesn't exist within your build. ");
+                Console.WriteLine(
+                    $"The scene {sceneName} doesn't exist within your build."
+                );
+                Application.Quit(22);
+                return;
             }
             SceneManager.LoadSceneAsync(sceneName);
         }

Project/Assets/ML-Agents/Examples/Template/Scene.unity

 --- !u!104 &2
 RenderSettings:
   m_ObjectHideFlags: 0
-  serializedVersion: 8
+  serializedVersion: 9
   m_Fog: 0
   m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1}
   m_FogMode: 3
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
   m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1}
+  m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
   m_ObjectHideFlags: 0
     m_BounceScale: 1
     m_IndirectOutputScale: 1
     m_AlbedoBoost: 1
-