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Refactor of ModelParmLoaderChecks

/bullet-hell-barracuda-test-1.3.1
vincentpierre 4 年前
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7298e889
共有 4 个文件被更改，包括 61 次插入 和 67 次删除
  1. 16
      com.unity.ml-agents/Editor/BehaviorParametersEditor.cs
  2. 4
      com.unity.ml-agents/Runtime/Agent.cs
  3. 78
      com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs
  4. 30
      com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs

16
com.unity.ml-agents/Editor/BehaviorParametersEditor.cs
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// Grab the sensor components, since we need them to determine the observation sizes.
// TODO make these methods of BehaviorParameters
SensorComponent[] sensorComponents;
if (behaviorParameters.UseChildSensors)
{
sensorComponents = behaviorParameters.GetComponentsInChildren<SensorComponent>();
}
else
{
sensorComponents = behaviorParameters.GetComponents<SensorComponent>();
}
var agent = behaviorParameters.gameObject.GetComponent<Agent>();
agent.sensors = new List<ISensor>();
agent.InitializeSensors();
var sensors = agent.sensors.ToArray();
ActuatorComponent[] actuatorComponents;
if (behaviorParameters.UseChildActuators)

// Get the total size of the sensors generated by ObservableAttributes.
// If there are any errors (e.g. unsupported type, write-only properties), display them too.
int observableAttributeSensorTotalSize = 0;
var agent = behaviorParameters.GetComponent<Agent>();
if (agent != null && behaviorParameters.ObservableAttributeHandling != ObservableAttributeOptions.Ignore)
{
List<string> observableErrors = new List<string>();

if (brainParameters != null)
{
var failedChecks = Inference.BarracudaModelParamLoader.CheckModel(
barracudaModel, brainParameters, sensorComponents, actuatorComponents,
barracudaModel, brainParameters, sensors, actuatorComponents,
observableAttributeSensorTotalSize, behaviorParameters.BehaviorType
);
foreach (var check in failedChecks)

4
com.unity.ml-agents/Runtime/Agent.cs
查看文件


/// </summary>
internal void InitializeSensors()
{
if (m_PolicyFactory == null)
{
m_PolicyFactory = GetComponent<BehaviorParameters>();
}
if (m_PolicyFactory.ObservableAttributeHandling != ObservableAttributeOptions.Ignore)
{
var excludeInherited =

78
com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs
查看文件


/// <param name="brainParameters">
/// The BrainParameters that are used verify the compatibility with the InferenceEngine
/// </param>
/// <param name="sensorComponents">Attached sensor components</param>
/// <param name="sensors">Attached sensor components</param>
SensorComponent[] sensorComponents, ActuatorComponent[] actuatorComponents,
ISensor[] sensors, ActuatorComponent[] actuatorComponents,
int observableAttributeTotalSize = 0,
BehaviorType behaviorType = BehaviorType.Default)
{

}
failedModelChecks.AddRange(
CheckInputTensorPresence(model, brainParameters, memorySize, sensorComponents)
CheckInputTensorPresence(model, brainParameters, memorySize, sensors)
CheckInputTensorShape(model, brainParameters, sensorComponents, observableAttributeTotalSize)
CheckInputTensorShape(model, brainParameters, sensors, observableAttributeTotalSize)
);
failedModelChecks.AddRange(
CheckOutputTensorShape(model, brainParameters, actuatorComponents)

/// <param name="memory">
/// The memory size that the model is expecting.
/// </param>
/// <param name="sensorComponents">Array of attached sensor components</param>
/// <param name="sensors">Array of attached sensor components</param>
/// <returns>
/// A IEnumerable of string corresponding to the failed input presence checks.
/// </returns>

int memory,
SensorComponent[] sensorComponents
ISensor[] sensors
)
{
var failedModelChecks = new List<string>();

// If there are not enough Visual Observation Input compared to what the
// sensors expect.
var visObsIndex = 0;
var varLenIndex = 0;
for (var sensorIndex = 0; sensorIndex < sensorComponents.Length; sensorIndex++)
for (var sensorIndex = 0; sensorIndex < sensors.Length; sensorIndex++)
var sensor = sensorComponents[sensorIndex];
var sensor = sensors[sensorIndex];
if (sensor.GetObservationShape().Length == 3)
{
if (!tensorsNames.Contains(

if (sensor.GetObservationShape().Length == 2)
{
if (!tensorsNames.Contains(
TensorNames.ObservationPlaceholderPrefix + varLenIndex))
TensorNames.ObservationPlaceholderPrefix + sensorIndex))
$"for sensor component {varLenIndex} ({sensor.GetType().Name}).");
varLenIndex++;
$"for sensor component {sensorIndex} ({sensor.GetType().Name}).");
}
}

/// Checks that the shape of the visual observation input placeholder is the same as the corresponding sensor.
/// </summary>
/// <param name="tensorProxy">The tensor that is expected by the model</param>
/// <param name="sensorComponent">The sensor that produces the visual observation.</param>
/// <param name="sensor">The sensor that produces the visual observation.</param>
TensorProxy tensorProxy, SensorComponent sensorComponent)
TensorProxy tensorProxy, ISensor sensor)
var shape = sensorComponent.GetObservationShape();
var shape = sensor.GetObservationShape();
var heightBp = shape[0];
var widthBp = shape[1];
var pixelBp = shape[2];

/// Checks that the shape of the rank 2 observation input placeholder is the same as the corresponding sensor.
/// </summary>
/// <param name="tensorProxy">The tensor that is expected by the model</param>
/// <param name="sensorComponent">The sensor that produces the visual observation.</param>
/// <param name="sensor">The sensor that produces the visual observation.</param>
TensorProxy tensorProxy, SensorComponent sensorComponent)
TensorProxy tensorProxy, ISensor sensor)
var shape = sensorComponent.GetObservationShape();
var shape = sensor.GetObservationShape();
var dim1Bp = shape[0];
var dim2Bp = shape[1];
var dim1T = tensorProxy.Channels;

/// <param name="brainParameters">
/// The BrainParameters that are used verify the compatibility with the InferenceEngine
/// </param>
/// <param name="sensorComponents">Attached sensors</param>
/// <param name="sensors">Attached sensors</param>
Model model, BrainParameters brainParameters, SensorComponent[] sensorComponents,
Model model, BrainParameters brainParameters, ISensor[] sensors,
new Dictionary<string, Func<BrainParameters, TensorProxy, SensorComponent[], int, string>>()
new Dictionary<string, Func<BrainParameters, TensorProxy, ISensor[], int, string>>()
{
{TensorNames.VectorObservationPlaceholder, CheckVectorObsShape},
{TensorNames.PreviousActionPlaceholder, CheckPreviousActionShape},

}
var visObsIndex = 0;
var varLenIndex = 0;
for (var sensorIndex = 0; sensorIndex < sensorComponents.Length; sensorIndex++)
for (var sensorIndex = 0; sensorIndex < sensors.Length; sensorIndex++)
var sensorComponent = sensorComponents[sensorIndex];
if (sensorComponent.GetObservationShape().Length == 3)
var sens = sensors[sensorIndex];
if (sens.GetObservationShape().Length == 3)
(bp, tensor, scs, i) => CheckVisualObsShape(tensor, sensorComponent);
(bp, tensor, scs, i) => CheckVisualObsShape(tensor, sens);
if (sensorComponent.GetObservationShape().Length == 2)
if (sens.GetObservationShape().Length == 2)
tensorTester[TensorNames.ObservationPlaceholderPrefix + varLenIndex] =
(bp, tensor, scs, i) => CheckRankTwoObsShape(tensor, sensorComponent);
varLenIndex++;
tensorTester[TensorNames.ObservationPlaceholderPrefix + sensorIndex] =
(bp, tensor, scs, i) => CheckRankTwoObsShape(tensor, sens);
}
}

else
{
var tester = tensorTester[tensor.name];
var error = tester.Invoke(brainParameters, tensor, sensorComponents, observableAttributeTotalSize);
var error = tester.Invoke(brainParameters, tensor, sensors, observableAttributeTotalSize);
if (error != null)
{
failedModelChecks.Add(error);

/// The BrainParameters that are used verify the compatibility with the InferenceEngine
/// </param>
/// <param name="tensorProxy">The tensor that is expected by the model</param>
/// <param name="sensorComponents">Array of attached sensor components</param>
/// <param name="sensors">Array of attached sensor components</param>
/// <param name="observableAttributeTotalSize">Sum of the sizes of all ObservableAttributes.</param>
/// <returns>
/// If the Check failed, returns a string containing information about why the

BrainParameters brainParameters, TensorProxy tensorProxy, SensorComponent[] sensorComponents,
BrainParameters brainParameters, TensorProxy tensorProxy, ISensor[] sensors,
int observableAttributeTotalSize)
{
var vecObsSizeBp = brainParameters.VectorObservationSize;

var totalVectorSensorSize = 0;
foreach (var sensorComp in sensorComponents)
foreach (var sens in sensors)
if (sensorComp.GetObservationShape().Length == 1)
if ((sens.GetObservationShape().Length == 1))
totalVectorSensorSize += sensorComp.GetObservationShape()[0];
totalVectorSensorSize += sens.GetObservationShape()[0];
if (vecObsSizeBp * numStackedVector + totalVectorSensorSize != totalVecObsSizeT)
if (totalVectorSensorSize != totalVecObsSizeT)
foreach (var sensorComp in sensorComponents)
foreach (var sensorComp in sensors)
{
if (sensorComp.GetObservationShape().Length == 1)
{

$"but received: \n" +
$"Vector observations: {vecObsSizeBp} x {numStackedVector}\n" +
$"Total [Observable] attributes: {observableAttributeTotalSize}\n" +
$"SensorComponent sizes: {sensorSizes}.";
$"Sensor sizes: {sensorSizes}.";
}
return null;
}

/// The BrainParameters that are used verify the compatibility with the InferenceEngine
/// </param>
/// <param name="tensorProxy"> The tensor that is expected by the model</param>
/// <param name="sensorComponents">Array of attached sensor components (unused).</param>
/// <param name="sensors">Array of attached sensor components (unused).</param>
SensorComponent[] sensorComponents, int observableAttributeTotalSize)
ISensor[] sensors, int observableAttributeTotalSize)
{
var numberActionsBp = brainParameters.ActionSpec.NumDiscreteActions;
var numberActionsT = tensorProxy.shape[tensorProxy.shape.Length - 1];

30
com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs
查看文件


var errors = BarracudaModelParamLoader.CheckModel(
model, validBrainParameters,
new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]
new ISensor[] { new VectorSensor(8), sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
);
Assert.AreEqual(0, errors.Count()); // There should not be any errors
}

var errors = BarracudaModelParamLoader.CheckModel(
model, validBrainParameters,
new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]
new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]
);
Assert.AreEqual(0, errors.Count()); // There should not be any errors
}

var errors = BarracudaModelParamLoader.CheckModel(
model, validBrainParameters,
new SensorComponent[] { }, new ActuatorComponent[0]
new ISensor[] { new VectorSensor(validBrainParameters.VectorObservationSize) }, new ActuatorComponent[0]
);
Assert.AreEqual(0, errors.Count()); // There should not be any errors
}

brainParameters.VectorObservationSize = 9; // Invalid observation
var errors = BarracudaModelParamLoader.CheckModel(
model, brainParameters,
new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]
new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
);
Assert.Greater(errors.Count(), 0);

model, brainParameters,
new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]
new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
);
Assert.Greater(errors.Count(), 0);
}

var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
brainParameters.VectorObservationSize = 1; // Invalid observation
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]);
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
Assert.Greater(errors.Count(), 0);
}

brainParameters.VectorObservationSize = 9; // Invalid observation
var errors = BarracudaModelParamLoader.CheckModel(
model, brainParameters,
new SensorComponent[] { }, new ActuatorComponent[0]
new ISensor[] { }, new ActuatorComponent[0]
);
Assert.Greater(errors.Count(), 0);

model, brainParameters,
new SensorComponent[] { }, new ActuatorComponent[0]
new ISensor[] { }, new ActuatorComponent[0]
);
Assert.Greater(errors.Count(), 0);
}

var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
brainParameters.ActionSpec = ActionSpec.MakeContinuous(3); // Invalid action
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
Assert.Greater(errors.Count(), 0);
}

var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3, 3); // Invalid action
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]);
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]);
errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
Assert.Greater(errors.Count(), 0);
}

var brainParameters = GetHybridBrainParameters();
brainParameters.ActionSpec = new ActionSpec(3, new[] { 3 }); // Invalid discrete action size
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
Assert.Greater(errors.Count(), 0);
}

var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
var errors = BarracudaModelParamLoader.CheckModel(null, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
var errors = BarracudaModelParamLoader.CheckModel(null, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
Assert.Greater(errors.Count(), 0);
}
}
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