More experimentation

Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/BadFood.prefab

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Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/Food.prefab

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Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab

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Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollector.unity

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Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollector.unity.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;
         }
         if (collision.gameObject.CompareTag("badFood"))
         {
+            //Debug.Log("Colliding with bad food!");
             Poison();
             collision.gameObject.GetComponent<FoodLogic>().OnEaten();
 

Project/ProjectSettings/DynamicsManager.asset

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   m_AutoSyncTransforms: 1
   m_ReuseCollisionCallbacks: 1

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com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs

     {
         RGB,
         Depth,
-        Segmentation
+        Segmentation,
+        AutoSegmentation
     }
 
     struct CameraSensorPass
         }
     }
 
-    internal enum CameraChannelType
-    {
-        RGB,
-        Grayscale,
-        Depth,
-        OpticalFlow,
-        LayerMask
-    }
-
-    internal struct CameraSensorChannel
-    {
-        public CameraChannelType ChannelType;
-        public int? LayerNumber;
-
-        public CameraSensorChannel(CameraChannelType channelType, int? layerNumber = null)
-        {
-            ChannelType = channelType;
-            LayerNumber = layerNumber;
-        }
-    }
-
     /// <summary>
     /// A sensor that wraps a Camera object to generate visual observations for an agent.
     /// </summary>
         static readonly int _categoryColor = Shader.PropertyToID("_CategoryColor");
         static readonly int _layerNumber = Shader.PropertyToID("_LayerNumber");
         CameraSensorSettings m_Settings;
-        CommandBuffer m_AddedBuffer;
         List<CameraSensorPass> m_Passes;
 
         /// <summary>
             {
                 passes.Add(new CameraSensorPass(CameraSensorPassType.Segmentation, CreateHiddenCamera("segmentationCam")));
             }
+
+            if (m_Settings.EnableAutoSegment)
+            {
+                passes.Add(new CameraSensorPass(CameraSensorPassType.AutoSegmentation, CreateHiddenCamera("autoSegmentationCam")));
+            }
             return passes;
         }
 
         {
             get { return m_CompressionType;  }
             set { m_CompressionType = value; }
-        }
-
-        internal List<CameraSensorChannel> Channels()
-        {
-            var channels = new List<CameraSensorChannel>();
-            if (!m_Settings.DisableCamera)
-            {
-                if (m_Grayscale)
-                {
-                    channels.Add(new CameraSensorChannel(CameraChannelType.Grayscale));
-                }
-                else
-                {
-                    channels.Add(new CameraSensorChannel(CameraChannelType.RGB));
-                }
-            }
-
-            if (m_Settings.EnableDepth)
-            {
-                channels.Add(new CameraSensorChannel(CameraChannelType.Depth));
-            }
-
-            if (m_Settings.LayerMasks.Length > 0)
-            {
-                foreach (var layerToMask in m_Settings.LayerMasks)
-                {
-                    channels.Add(
-                        new CameraSensorChannel(CameraChannelType.LayerMask, layerToMask)
-                    );
-                }
-            }
-
-            return channels;
         }
 
         /// <summary>
         public void OnSceneChange()
         {
             var segPasses = m_Passes.Where(
-                p => p.PassType == CameraSensorPassType.Segmentation
+                p => p.PassType == CameraSensorPassType.Segmentation || p.PassType == CameraSensorPassType.AutoSegmentation
             );
             // NOTE: This avoids the expensive search for all renderers if we don't need segmentation.
             if (!segPasses.Any()) return;
                 var height = texture.height;
 
                 var texturePixels = texture.GetPixels();
-                if (pass.PassType == CameraSensorPassType.RGB)
+                if (pass.PassType == CameraSensorPassType.RGB || pass.PassType == CameraSensorPassType.AutoSegmentation)
                 {
                     var r = new float[texture.width, texture.height];
                     var g = new float[texture.width, texture.height];
                 }
                 else if (pass.PassType == CameraSensorPassType.Segmentation)
                 {
-                    var loggedInThisPass = false;
                     var layerChannels = new List<float[,]>();
                     foreach (var layer in m_Settings.LayerMasks)
                     {
                     }
                     foreach (var layerChannel in layerChannels) channels.Add(layerChannel);
                 }
+                // else if (pass.PassType == CameraSensorPassType.AutoSegmentation)
+                // {
+                //     var r = new float[texture.width, texture.height];
+                //     var g = new float[texture.width, texture.height];
+                //     var b = new float[texture.width, texture.height];
+                //     for (var h = height - 1; h >= 0; h--)
+                //     {
+                //         for (var w = 0; w < width; w++)
+                //         {
+                //             var currentPixel = texturePixels[(height - h - 1) * width + w];
+                //             // For Color32, the r, g and b values are between 0 and 1.
+                //             r[h, w] = currentPixel.r;
+                //             g[h, w] = currentPixel.g;
+                //             b[h, w] = currentPixel.b;
+                //         }
+                //     }
+                //
+                //     channels.Add(r);
+                //     channels.Add(g);
+                //     channels.Add(b);
+                // }
 
                 DestroyTexture(texture);
             }
                         channelVals[i] = texturePixels[i].grayscale;
                     }
                     singleChannels.Add(channelVals);
+                    DestroyTexture(texture);
                 }
                 else if (pass.PassType == CameraSensorPassType.Segmentation)
                 {
                         }
                     }
                     foreach (var layerChannel in layerChannels) singleChannels.Add(layerChannel);
+                    // Since we captured these layers as a float array, we need to destroy the texture
+                    DestroyTexture(texture);
+                }
+                else if (pass.PassType == CameraSensorPassType.AutoSegmentation)
+                {
+                    if (m_Grayscale)
+                    {
+                        // turn to grayscale
+                        for (var i = 0; i < texturePixels.Length; ++i)
+                        {
+                            var grayVal = texturePixels[i].grayscale;
+                            texturePixels[i] = new Color(grayVal, grayVal, grayVal, texturePixels[i].a);
+                        }
+                        texture.SetPixels(texturePixels);
+                        texture.Apply();
+                        textures.Add(texture);
+                    }
+                    else
+                    {
+                        textures.Add(texture);
+                    }
                 }
             }
             // Single channels need to be converted to colors and assigned to new textures.
 
                 // cleanup capturing camera
                 pass.Camera.RemoveAllCommandBuffers();
+                pass.Camera.ResetReplacementShader();
 
                 // copy all "main" camera parameters into capturing camera
                 pass.Camera.CopyFrom(m_Camera);
                 //Debug.Log("Setting shader mode to 3");
                 mode = 3;
             }
+            else if (passType == CameraSensorPassType.AutoSegmentation)
+            {
+                mode = 1;
+            }
 
             if (mode < 0)
             {
         {
             using (TimerStack.Instance.Scoped("CameraSensor.WriteToTensor"))
             {
-                //var texture = ObservationToTexture(m_Camera, m_Width, m_Height);
-                //var numWritten = Utilities.TextureToTensorProxy(texture, writer, m_Grayscale);
-                //DestroyTexture(texture);
                 var numWritten = 0;
                 var channels = GetObservationChannels();
                 for (var channelInd = 0; channelInd < channels.Count; ++channelInd)
                 if (pass.PassType == CameraSensorPassType.Segmentation)
                 {
                     channels += m_Settings.LayerMasks.Length;
+                }
+
+                if (pass.PassType == CameraSensorPassType.AutoSegmentation)
+                {
+                    if (m_Grayscale) channels += 1;
+                    else channels += 3;
                 }
             }
             return new[] { m_Height, m_Width, channels };

com.unity.ml-agents/Runtime/Sensors/ColorEncoding.cs

 
 		    return color;
 	    }
+
+
     }
 }

Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollector-hackweekbackup.unity.meta

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config/ppo/VisualFoodCollector-linuxworking.yaml

+behaviors:
+  VisualFoodCollector:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 500
+      buffer_size: 5000
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: false
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 10000000
+    time_horizon: 100
+    summary_freq: 40000
+    threaded: true