Merging master

.pre-commit-config.yaml

         language: script
         entry: utils/validate_inits.py
         types: [python]
+    -   id: validate-release-links-py
+        name: validate release links
+        language: script
+        entry: utils/validate_release_links.py
+
 

.pre-commit-search-and-replace.yaml

   search: /ML[ -]Agents toolkit/
   replacement: ML-Agents Toolkit
   insensitive: true
+- description: Replace "the the"
+  search: /the the/
+  replacement: the
+  insensitive: true

.pylintrc

 [MASTER]
-# Add files or directories to the blacklist. They should be base names, not
+# Add files or directories to the ignore list. They should be base names, not
 # paths.
 ignore=CVS
 

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

-pack:
-  name: Pack
+packages:
+  - name: com.unity.ml-agents
+  - name: com.unity.ml-agents.extensions
+---
+
+{% for package in packages %}
+pack_{{ package.name }}:
+  name: Pack {{ package.name }}
   agent:
     type: Unity::VM::osx
     image: package-ci/mac:stable
-    - upm-ci package pack --package-path com.unity.ml-agents
+    - upm-ci package pack --package-path {{ package.name }}
   artifacts:
     packages:
       paths:
+{% endfor %}

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

     type: Unity::VM
     image: package-ci/ubuntu:stable
     flavor: b1.medium
+packages:
+  - name: com.unity.ml-agents
+  - name: com.unity.ml-agents.extensions
 ---
 
 all_package_tests:
       - branch: master
         frequency: daily
 
-{% for editor in test_editors %}
-  {% for platform in test_platforms %}
-test_{{ platform.name }}_{{ editor.version }}:
-  name : com.unity.ml-agents test {{ editor.version }} on {{ platform.name }}
+{% for package in packages %}
+  {% for editor in test_editors %}
+    {% for platform in test_platforms %}
+test_{{ package.name }}_{{ platform.name }}_{{ editor.version }}:
+  name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
   agent:
     type: {{ platform.type }}
     image: {{ platform.image }}
-    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents {{ editor.coverageOptions }}
+    - upm-ci package test -u {{ editor.version }} --package-path {{ package.name }} {{ editor.coverageOptions }}
+    {% if package.name == "com.unity.ml-agents" %}
+    # TODO get coverage tests running for extensions too
+    {% endif %}
-    - .yamato/com.unity.ml-agents-pack.yml#pack
+    - .yamato/com.unity.ml-agents-pack.yml#pack_{{ package.name }}
   triggers:
     cancel_old_ci: true
     {% if platform.name == "mac" %}
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR
+      {% if package.name == "com.unity.ml-agents" %}
+        pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
+      {% endif %}
+    {% endfor %}
-{% for editor in trunk_editor %}
-  {% for platform in test_platforms %}
-test_{{ platform.name }}_trunk:
-  name : com.unity.ml-agents test {{ editor.version }} on {{ platform.name }}
+{% for package in packages %}
+  {% for editor in trunk_editor %}
+    {% for platform in test_platforms %}
+test_{{ package.name }}_{{ platform.name }}_trunk:
+  name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
   agent:
     type: {{ platform.type }}
     image: {{ platform.image }}
     - unity-downloader-cli -u trunk -c editor --wait --fast
     - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
-    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents {{ editor.coverageOptions }}
+    - upm-ci package test -u {{ editor.version }} --package-path {{ package.name }} {{ editor.coverageOptions }}
+    {% if package.name == "com.unity.ml-agents" %}
+    # TODO get coverage tests running for extensions too
+    {% endif %}
-    - .yamato/com.unity.ml-agents-pack.yml#pack
+    - .yamato/com.unity.ml-agents-pack.yml#pack_{{ package.name }}
+{% endfor %}

.yamato/standalone-build-test.yml

       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR
+      pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
       pull_request.changes.any match ".yamato/standalone-build-test.yml") AND
       NOT pull_request.changes.all match "**/*.md"
   artifacts:

.yamato/training-int-tests.yml

       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR
+      pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
       pull_request.changes.any match "Project/**" OR
       pull_request.changes.any match "ml-agents/**" OR
       pull_request.changes.any match "ml-agents-envs/**" OR
     logs:
       paths:
         - "artifacts/standalone_build.txt"
+        - "artifacts/inference.nn.txt"
+        - "artifacts/inference.onnx.txt"
+        - "artifacts/models/**"
 {% endfor %}

DevProject/Packages/manifest.json

   "dependencies": {
     "com.unity.2d.sprite": "1.0.0",
     "com.unity.2d.tilemap": "1.0.0",
-    "com.unity.ads": "2.0.8",
+    "com.unity.ads": "3.4.4",
     "com.unity.analytics": "3.3.5",
     "com.unity.coding": "0.1.0-preview.13",
     "com.unity.collab-proxy": "1.2.16",
+    "com.unity.ml-agents.extensions": "file:../../com.unity.ml-agents.extensions",
-    "com.unity.package-validation-suite": "0.7.15-preview",
+    "com.unity.package-validation-suite": "0.11.0-preview",
-    "com.unity.test-framework": "1.1.11",
+    "com.unity.test-framework": "1.1.13",
+    "com.unity.test-framework.performance": "2.2.0-preview",
-    "com.unity.xr.legacyinputhelpers": "1.3.8",
+    "com.unity.xr.legacyinputhelpers": "1.3.11",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.androidjni": "1.0.0",
     "com.unity.modules.animation": "1.0.0",
   },
   "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates",
   "testables": [
-    "com.unity.ml-agents"
+    "com.unity.ml-agents",
+    "com.unity.ml-agents.extensions"
   ]
 }

DevProject/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.3.3f1
-m_EditorVersionWithRevision: 2019.3.3f1 (7ceaae5f7503)
+m_EditorVersion: 2019.3.11f1
+m_EditorVersionWithRevision: 2019.3.11f1 (ceef2d848e70)

Dockerfile

 WORKDIR /ml-agents
 RUN pip install -e .
 
-# Port 5004 is the port used in in Editor training.
+# Port 5004 is the port used in Editor training.
 # Environments will start from port 5005, 
 # so allow enough ports for several environments.
 EXPOSE 5004-5050

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

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

 [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
 public class CrawlerAgent : Agent
 {
-    [Header("Target To Walk Towards")]
-    [Space(10)]
-    public Transform target;
+    public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
+    Vector3 m_WalkDir; //Direction to the target
+    Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
-    public Transform ground;
-    public bool detectTargets;
-    public bool targetIsStatic;
-    public bool respawnTargetWhenTouched;
-    public float targetSpawnRadius;
+    [Header("Target To Walk Towards")] [Space(10)]
+    public Transform target; //Target the agent will walk towards.
+
+    public float targetSpawnRadius; //The radius in which a target can be randomly spawned.
+    public bool detectTargets; //Should this agent detect targets
+    public bool respawnTargetWhenTouched; //Should the target respawn to a different position when touched
+
+    public Transform ground; //Ground gameobject. The height will be used for target spawning
 
     [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
     public Transform leg3Upper;
     public Transform leg3Lower;
 
-    [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
-    Vector3 m_DirToTarget;
-    float m_MovingTowardsDot;
-    float m_FacingDot;
+
+    [Header("Orientation")] [Space(10)]
+    //This will be used as a stable reference point for observations
+    //Because ragdolls can move erratically, using a standalone reference point can significantly improve learning
+    public GameObject orientationCube;
+
+    JointDriveController m_JdController;
-    [Header("Reward Functions To Use")]
-    [Space(10)]
+    [Header("Reward Functions To Use")] [Space(10)]
-    [Header("Foot Grounded Visualization")]
-    [Space(10)]
+    [Header("Foot Grounded Visualization")] [Space(10)]
     public bool useFootGroundedVisualization;
 
     public MeshRenderer foot0;
     public Material groundedMaterial;
     public Material unGroundedMaterial;
 
-    Quaternion m_LookRotation;
-    Matrix4x4 m_TargetDirMatrix;
-
+        UpdateOrientationCube();
+
-        m_DirToTarget = target.position - body.position;
-
 
         //Setup each body part
         m_JdController.SetupBodyPart(body);
     /// </summary>
     public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
     {
-        var rb = bp.rb;
-        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
-        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+        //Get velocities in the context of our orientation cube's space
+        //Note: You can get these velocities in world space as well but it may not train as well.
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.velocity));
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
-        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
-        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+        //Get position relative to hips in the context of our orientation cube's space
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.position - body.position));
-            var localPosRelToBody = body.InverseTransformPoint(rb.position);
-            sensor.AddObservation(localPosRelToBody);
-            sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
-            sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
-            sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
+            sensor.AddObservation(bp.rb.transform.localRotation);
+    /// <summary>
+    /// Loop over body parts to add them to observation.
+    /// </summary>
-        m_JdController.GetCurrentJointForces();
+        sensor.AddObservation(Quaternion.FromToRotation(body.forward, orientationCube.transform.forward));
-        // Update pos to target
-        m_DirToTarget = target.position - body.position;
-        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
-        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
+        //Add pos of target relative to orientation cube
+        sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.position));
-        if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+        float maxRaycastDist = 10;
+        if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
-            sensor.AddObservation(hit.distance);
+            sensor.AddObservation(hit.distance / maxRaycastDist);
-            sensor.AddObservation(10.0f);
-
-        // Forward & up to help with orientation
-        var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
-        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
+            sensor.AddObservation(1);
-        var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
-        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
-
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        foreach (var bodyPart in m_JdController.bodyPartsList)
         {
             CollectObservationBodyPart(bodyPart, sensor);
         }
         bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
     }
 
+    void UpdateOrientationCube()
+    {
+        //FACING DIR
+        m_WalkDir = target.position - orientationCube.transform.position;
+        m_WalkDir.y = 0; //flatten dir on the y
+        m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
+
+        //UPDATE ORIENTATION CUBE POS & ROT
+        orientationCube.transform.position = body.position;
+        orientationCube.transform.rotation = m_WalkDirLookRot;
+    }
+
-            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            foreach (var bodyPart in m_JdController.bodyPartsList)
             {
                 if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
                 {
         }
+
+        UpdateOrientationCube();
 
         // If enabled the feet will light up green when the foot is grounded.
         // This is just a visualization and isn't necessary for function
     /// </summary>
     void RewardFunctionMovingTowards()
     {
-        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
-        AddReward(0.03f * m_MovingTowardsDot);
+        var movingTowardsDot = Vector3.Dot(orientationCube.transform.forward,
+            Vector3.ClampMagnitude(m_JdController.bodyPartsDict[body].rb.velocity, maximumWalkingSpeed));
+        ;
+        AddReward(0.03f * movingTowardsDot);
     }
 
     /// <summary>
     {
-        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
-        AddReward(0.01f * m_FacingDot);
+        AddReward(0.01f * Vector3.Dot(orientationCube.transform.forward, body.forward));
     }
 
     /// <summary>
     /// </summary>
     public override void OnEpisodeBegin()
     {
-        if (m_DirToTarget != Vector3.zero)
-        {
-            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
-        }
-        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
-
-        if (!targetIsStatic)
+
+        //Random start rotation to help generalize
+        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+
+        UpdateOrientationCube();
+
+        if (detectTargets && respawnTargetWhenTouched)
+        }
+    }
+
+    private void OnDrawGizmosSelected()
+    {
+        if (Application.isPlaying)
+        {
+            Gizmos.color = Color.green;
+            Gizmos.matrix = orientationCube.transform.localToWorldMatrix;
+            Gizmos.DrawWireCube(Vector3.zero, orientationCube.transform.localScale);
+            Gizmos.DrawRay(Vector3.zero, Vector3.forward);
         }
     }
 }

Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn.meta

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Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn.meta

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

 
     public override void Heuristic(float[] actionsOut)
     {
+        actionsOut[0] = 0f;
+        actionsOut[1] = 0f;
+        actionsOut[2] = 0f;
         if (Input.GetKey(KeyCode.D))
         {
             actionsOut[2] = 2f;

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

 
         var action = Mathf.FloorToInt(act[0]);
 
-        // Goalies and Strikers have slightly different action spaces.
         switch (action)
         {
             case 1:

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

         [HideInInspector] public Dictionary<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>();
 
         [HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>();
+        const float k_MaxAngularVelocity = 50.0f;
 
         /// <summary>
         /// Create BodyPart object and add it to dictionary.
                 startingPos = t.position,
                 startingRot = t.rotation
             };
-            bp.rb.maxAngularVelocity = 100;
+            bp.rb.maxAngularVelocity = k_MaxAngularVelocity;
 
             // Add & setup the ground contact script
             bp.groundContact = t.GetComponent<GroundContact>();

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

 using System.IO;
 using Unity.MLAgents;
 using Unity.MLAgents.Policies;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
 
 namespace Unity.MLAgentsExamples
 {
     /// The behavior name to override and file path are specified on the commandline, e.g.
-    /// player.exe --mlagents-override-model behavior1 /path/to/model1.nn --mlagents-override-model behavior2 /path/to/model2.nn
+    /// player.exe --mlagents-override-model-directory /path/to/models
     ///
     /// Additionally, a number of episodes to run can be specified; after this, the application will quit.
     /// Note this will only work with example scenes that have 1:1 Agent:Behaviors. More complicated scenes like WallJump
     {
+        HashSet<string> k_SupportedExtensions = new HashSet<string>{"nn", "onnx"};
+        const string k_CommandLineModelOverrideDirectoryFlag = "--mlagents-override-model-directory";
+        const string k_CommandLineModelOverrideExtensionFlag = "--mlagents-override-model-extension";
         const string k_CommandLineQuitAfterEpisodesFlag = "--mlagents-quit-after-episodes";
         const string k_CommandLineQuitOnLoadFailure = "--mlagents-quit-on-load-failure";
 
         // Assets paths to use, with the behavior name as the key.
         Dictionary<string, string> m_BehaviorNameOverrides = new Dictionary<string, string>();
 
+        string m_BehaviorNameOverrideDirectory;
+
+        string m_OverrideExtension = "nn";
+
+
 
         // Max episodes to run. Only used if > 0
         // Will default to 1 if override models are specified, otherwise 0.
+        int m_PreviousNumSteps;
+        int m_PreviousAgentCompletedEpisodes;
+        [Tooltip("Debug values to be used in place of the command line for overriding models.")]
+        public string debugCommandLineOverride;
+
+        // Static values to keep track of completed episodes and steps across resets
+        // These are updated in OnDisable.
+        static int s_PreviousAgentCompletedEpisodes;
+        static int s_PreviousNumSteps;
+
+        int TotalCompletedEpisodes
+        {
+            get { return m_PreviousAgentCompletedEpisodes + (m_Agent == null ? 0 : m_Agent.CompletedEpisodes);  }
+        }
+
+        int TotalNumSteps
+        {
+            get { return m_PreviousNumSteps + m_NumSteps; }
+        }
+
+        public bool HasOverrides
+        {
+            get { return m_BehaviorNameOverrides.Count > 0 || !string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory);  }
+        }
+
+        public static string GetOverrideBehaviorName(string originalBehaviorName)
+        {
+            return $"Override_{originalBehaviorName}";
+        }
 
         /// <summary>
         /// Get the asset path to use from the commandline arguments.
             m_BehaviorNameOverrides.Clear();
 
             var maxEpisodes = 0;
+            string[] commandLineArgsOverride = null;
+            if (!string.IsNullOrEmpty(debugCommandLineOverride) && Application.isEditor)
+            {
+                commandLineArgsOverride = debugCommandLineOverride.Split(' ');
+            }
-            var args = Environment.GetCommandLineArgs();
+            var args = commandLineArgsOverride ?? Environment.GetCommandLineArgs();
             for (var i = 0; i < args.Length; i++)
             {
                 if (args[i] == k_CommandLineModelOverrideFlag && i < args.Length-2)
                     m_BehaviorNameOverrides[key] = value;
                 }
+                else if (args[i] == k_CommandLineModelOverrideDirectoryFlag && i < args.Length-1)
+                {
+                    m_BehaviorNameOverrideDirectory = args[i + 1].Trim();
+                }
+                else if (args[i] == k_CommandLineModelOverrideExtensionFlag && i < args.Length-1)
+                {
+                    m_OverrideExtension = args[i + 1].Trim().ToLower();
+                    var isKnownExtension = k_SupportedExtensions.Contains(m_OverrideExtension);
+                    // Not supported yet - need to update the model loading code to support
+                    var isOnnx = m_OverrideExtension.Equals("onnx");
+                    if (!isKnownExtension || isOnnx)
+                    {
+                        Debug.LogError($"loading unsupported format: {m_OverrideExtension}");
+                        Application.Quit(1);
+#if UNITY_EDITOR
+                        EditorApplication.isPlaying = false;
+#endif
+                    }
+                }
                 else if (args[i] == k_CommandLineQuitAfterEpisodesFlag && i < args.Length-1)
                 {
                     Int32.TryParse(args[i + 1], out maxEpisodes);
                 }
             }
 
-            if (m_BehaviorNameOverrides.Count > 0)
+            if (HasOverrides)
             {
                 // If overriding models, set maxEpisodes to 1 or the command line value
                 m_MaxEpisodes = maxEpisodes > 0 ? maxEpisodes : 1;
 
         void OnEnable()
         {
+            // Start with these initialized to previous values in the case where we're resetting scenes.
+            m_PreviousNumSteps = s_PreviousNumSteps;
+            m_PreviousAgentCompletedEpisodes = s_PreviousAgentCompletedEpisodes;
+
-            if (m_BehaviorNameOverrides.Count > 0)
+            if (HasOverrides)
+        void OnDisable()
+        {
+            // Update the static episode and step counts.
+            // For a single agent in the scene, this will be a straightforward increment.
+            // If there are multiple agents, we'll increment the count by the Agent that completed the most episodes.
+            s_PreviousAgentCompletedEpisodes = Mathf.Max(s_PreviousAgentCompletedEpisodes, TotalCompletedEpisodes);
+            s_PreviousNumSteps = Mathf.Max(s_PreviousNumSteps, TotalNumSteps);
+        }
+
         void FixedUpdate()
         {
             if (m_MaxEpisodes > 0)
                 // Since we exit as soon as *any* Agent hits its target, the maxSteps condition keeps us running
                 // a bit longer in case there's an early failure.
-                if (m_Agent.CompletedEpisodes >= m_MaxEpisodes && m_NumSteps > m_MaxEpisodes * m_Agent.MaxStep)
+                if (TotalCompletedEpisodes >= m_MaxEpisodes && TotalNumSteps > m_MaxEpisodes * m_Agent.MaxStep)
+                    Debug.Log($"ModelOverride reached {TotalCompletedEpisodes} episodes and {TotalNumSteps} steps. Exiting.");
+#if UNITY_EDITOR
+                    EditorApplication.isPlaying = false;
+#endif
-        NNModel GetModelForBehaviorName(string behaviorName)
+        public NNModel GetModelForBehaviorName(string behaviorName)
         {
             if (m_CachedModels.ContainsKey(behaviorName))
             {
-            if (!m_BehaviorNameOverrides.ContainsKey(behaviorName))
+            string assetPath = null;
+            if (m_BehaviorNameOverrides.ContainsKey(behaviorName))
+            {
+                assetPath = m_BehaviorNameOverrides[behaviorName];
+            }
+            else if(!string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory))
+            {
+                assetPath = Path.Combine(m_BehaviorNameOverrideDirectory, $"{behaviorName}.{m_OverrideExtension}");
+            }
+
+            if (string.IsNullOrEmpty(assetPath))
-                Debug.Log($"No override for BehaviorName {behaviorName}");
+                Debug.Log($"No override for BehaviorName {behaviorName}, and no directory set.");
-
-            var assetPath = m_BehaviorNameOverrides[behaviorName];
 
             byte[] model = null;
             try
             catch(IOException)
             {
-                Debug.Log($"Couldn't load file {assetPath}", this);
+                Debug.Log($"Couldn't load file {assetPath} at full path {Path.GetFullPath(assetPath)}", this);
+            // Note - this approach doesn't work for onnx files. Need to replace with
+            // the equivalent of ONNXModelImporter.OnImportAsset()
             var asset = ScriptableObject.CreateInstance<NNModel>();
             asset.modelData = ScriptableObject.CreateInstance<NNModelData>();
             asset.modelData.Value = model;
         /// </summary>
         void OverrideModel()
         {
+            bool overrideOk = false;
+            string overrideError = null;
+
-            if (nnModel == null && m_QuitOnLoadFailure)
+            if (nnModel == null)
-                Debug.Log(
+                overrideError =
-                    $"and that the model file exists"
-                );
+                    $"and that the model file exists";
+            }
+            else
+            {
+                var modelName = nnModel != null ? nnModel.name : "<null>";
+                Debug.Log($"Overriding behavior {behaviorName} for agent with model {modelName}");
+                try
+                {
+                    m_Agent.SetModel(GetOverrideBehaviorName(behaviorName), nnModel);
+                    overrideOk = true;
+                }
+                catch (Exception e)
+                {
+                    overrideError = $"Exception calling Agent.SetModel: {e}";
+                }
+            }
+
+            if (!overrideOk && m_QuitOnLoadFailure)
+            {
+                if(!string.IsNullOrEmpty(overrideError))
+                {
+                    Debug.LogWarning(overrideError);
+                }
+#if UNITY_EDITOR
+                EditorApplication.isPlaying = false;
+#endif
-            var modelName = nnModel != null ? nnModel.name : "<null>";
-            Debug.Log($"Overriding behavior {behaviorName} for agent with model {modelName}");
-            // This might give a null model; that's better because we'll fall back to the Heuristic
-            m_Agent.SetModel($"Override_{behaviorName}", nnModel);
 
         }
     }

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

     public class ProjectSettingsOverrides : MonoBehaviour
     {
         // Original values
-
+        bool m_OriginalReuseCollisionCallbacks;
 
         [Tooltip("Increase or decrease the scene gravity. Use ~3x to make things less floaty")]
         public float gravityMultiplier = 1.0f;
         public int solverIterations = 6;
         [Tooltip("Affects how accurately the Rigidbody joints and collision contacts are resolved. (default 1). Must be positive.")]
         public int solverVelocityIterations = 1;
+        [Tooltip("Determines whether the garbage collector should reuse only a single instance of a Collision type for all collision callbacks. Reduces Garbage.")]
+        public bool reuseCollisionCallbacks = true;
 
         public void Awake()
         {
             m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
             m_OriginalSolverIterations = Physics.defaultSolverIterations;
             m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
+            m_OriginalReuseCollisionCallbacks = Physics.reuseCollisionCallbacks ;
 
             // Override
             Physics.gravity *= gravityMultiplier;
             Physics.defaultSolverVelocityIterations = solverVelocityIterations;
+            Physics.reuseCollisionCallbacks = reuseCollisionCallbacks;
 
             // Make sure the Academy singleton is initialized first, since it will create the SideChannels.
             Academy.Instance.EnvironmentParameters.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
             Time.maximumDeltaTime = m_OriginalMaximumDeltaTime;
             Physics.defaultSolverIterations = m_OriginalSolverIterations;
             Physics.defaultSolverVelocityIterations = m_OriginalSolverVelocityIterations;
+            Physics.reuseCollisionCallbacks = m_OriginalReuseCollisionCallbacks;
         }
     }
 }

Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab

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Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab

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