Merge pull request #3749 from Unity-Technologies/develop-add-inference-examples

Add ModelOverrider to all of the Agent prefabs to enable Barracuda Inference with specified .nn model file

Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab

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

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

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Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab

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Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab

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Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab

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

         {
             if (m_MaxEpisodes > 0)
             {
-                if (m_NumSteps > m_MaxEpisodes * m_Agent.maxStep)
+                // For Agents without maxSteps, exit as soon as we've hit the target number of episodes.
+                // For Agents that specify maxStep, also make sure we've gone at least that many steps.
+                // 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)
                 {
                     Application.Quit(0);
                 }

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

             Physics.defaultSolverIterations = solverIterations;
             Physics.defaultSolverVelocityIterations = solverVelocityIterations;
 
+            // Make sure the Academy singleton is initialized first, since it will create the SideChannels.
+            var academy = Academy.Instance;
             SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
         }
 
             Physics.defaultSolverVelocityIterations = m_OriginalSolverVelocityIterations;
         }
     }
-}
+}

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

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+  m_EditorClassIdentifier: 
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Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerPair.prefab

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   - component: {fileID: 114614375190687060}
   - component: {fileID: 7095046440131842424}
+  - component: {fileID: 526281586680617836}
   m_Layer: 0
   m_Name: WalkerAgent
   m_TagString: Untagged
   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: Walker
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+  m_UseChildSensors: 1
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+  hasUpgradedFromAgentParameters: 1
   maxStep: 5000
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+  TakeActionsBetweenDecisions: 0
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   m_TagString: agent
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   m_BehaviorName: SmallWallJump
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+  m_UseChildSensors: 1
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   maxStep: 2000
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+  m_SensorName: RayPerceptionSensor
+  m_DetectableTags:
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-  maxRayDegrees: 90
-  sphereCastRadius: 0.5
-  rayLength: 20
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+  m_MaxRayDegrees: 90
+  m_SphereCastRadius: 0.5
+  m_RayLength: 20
+  m_RayLayerMask:
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+  m_ObservationStacks: 6
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+  m_ObservationStacks: 6
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+  m_EndVerticalOffset: 5
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Project/ProjectSettings/UnityConnectSettings.asset

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   m_ObjectHideFlags: 0
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+  m_Enabled: 1
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   m_EventUrl: https://cdp.cloud.unity3d.com/v1/events

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

         /// their own experience.
         int m_StepCount;
 
+        /// Number of times the Agent has completed an episode.
+        int m_CompletedEpisodes;
+
         /// Episode identifier each agent receives. It is used
         /// to separate between different agents in the environment.
         /// This Id will be changed every time the Agent resets.
 
             if (doneReason != DoneReason.Disabled)
             {
-                // We don't want to udpate the reward stats when the Agent is disabled, because this will make
+                // We don't want to update the reward stats when the Agent is disabled, because this will make
+                m_CompletedEpisodes++;
                 UpdateRewardStats();
             }
 
         public int StepCount
         {
             get { return m_StepCount; }
+        }
+
+        /// <summary>
+        /// Returns the number of episodes that the Agent has completed (either <see cref="Agent.EndEpisode()"/>
+        /// was called, or maxSteps was reached).
+        /// </summary>
+        /// <returns>
+        /// Current episode count.
+        /// </returns>
+        public int CompletedEpisodes
+        {
+            get { return m_CompletedEpisodes; }
         }
 
         /// <summary>

com.unity.ml-agents/Tests/Editor/MLAgentsEditModeTest.cs

             var expectedAgentActionForEpisode = 0;
             var expectedCollectObsCalls = 0;
             var expectedCollectObsCallsForEpisode = 0;
+            var expectedCompletedEpisodes = 0;
             var expectedSensorResetCalls = 0;
 
             for (var i = 0; i < 15; i++)
                     expectedAgentActionForEpisode = 0;
                     expectedCollectObsCallsForEpisode = 0;
                     expectedAgentStepCount = 0;
+                    expectedCompletedEpisodes++;
                     expectedSensorResetCalls++;
                     expectedCollectObsCalls += 1;
                 }
                 Assert.AreEqual(expectedAgentActionForEpisode, agent1.agentActionCallsForEpisode);
                 Assert.AreEqual(expectedCollectObsCalls, agent1.collectObservationsCalls);
                 Assert.AreEqual(expectedCollectObsCallsForEpisode, agent1.collectObservationsCallsForEpisode);
+                Assert.AreEqual(expectedCompletedEpisodes, agent1.CompletedEpisodes);
                 Assert.AreEqual(expectedSensorResetCalls, agent1.sensor1.numResetCalls);
             }
         }