Merge pull request #936 from Unity-Technologies/hotfix-visual-imitation

Fix for visual-only imitation learning

python/unitytrainers/bc/trainer.py

         self.training_buffer = Buffer()
         self.is_continuous_action = (env.brains[brain_name].vector_action_space_type == "continuous")
         self.is_continuous_observation = (env.brains[brain_name].vector_observation_space_type == "continuous")
-        self.use_observations = (env.brains[brain_name].number_visual_observations > 0)
-        if self.use_observations:
+        self.use_visual_observations = (env.brains[brain_name].number_visual_observations > 0)
+        if self.use_visual_observations:
-        self.use_states = (env.brains[brain_name].vector_observation_space_size > 0)
+        self.use_vector_observations = (env.brains[brain_name].vector_observation_space_size > 0)
         self.summary_path = trainer_parameters['summary_path']
         if not os.path.exists(self.summary_path):
             os.makedirs(self.summary_path)
         agent_brain = all_brain_info[self.brain_name]
         feed_dict = {self.model.dropout_rate: 1.0, self.model.sequence_length: 1}
 
-        if self.use_observations:
+        if self.use_visual_observations:
-        if self.use_states:
+        if self.use_vector_observations:
-        if self.use_recurrent:
             agent_action, memories = self.sess.run(self.inference_run_list, feed_dict)
             return agent_action, memories, None, None
         else:
                     info_teacher_record, next_info_teacher_record = "true", "true"
                 if info_teacher_record == "true" and next_info_teacher_record == "true":
                     if not stored_info_teacher.local_done[idx]:
-                        if self.use_observations:
+                        if self.use_visual_observations:
-                        if self.use_states:
+                        if self.use_vector_observations:
                             self.training_buffer[agent_id]['vector_observations']\
                                 .append(stored_info_teacher.vector_observations[idx])
                         if self.use_recurrent:
         """
         Uses training_buffer to update model.
         """
-
         self.training_buffer.update_buffer.shuffle()
         batch_losses = []
         for j in range(
             end = (j + 1) * self.n_sequences
-            batch_states = np.array(_buffer['vector_observations'][start:end])
-            batch_actions = np.array(_buffer['actions'][start:end])
-                feed_dict[self.model.true_action] = batch_actions.reshape([-1, self.brain.vector_action_space_size])
-            else:
-                feed_dict[self.model.true_action] = batch_actions.reshape([-1])
-            if not self.is_continuous_observation:
-                feed_dict[self.model.vector_in] = batch_states.reshape([-1, self.brain.num_stacked_vector_observations])
+                feed_dict[self.model.true_action] = np.array(_buffer['actions'][start:end]).\
+                    reshape([-1, self.brain.vector_action_space_size])
-                feed_dict[self.model.vector_in] = batch_states.reshape([-1, self.brain.vector_observation_space_size *
-                                                                       self.brain.num_stacked_vector_observations])
-            if self.use_observations:
+                feed_dict[self.model.true_action] = np.array(_buffer['actions'][start:end]).reshape([-1])
+            if self.use_vector_observations:
+                if not self.is_continuous_observation:
+                    feed_dict[self.model.vector_in] = np.array(_buffer['vector_observations'][start:end])\
+                        .reshape([-1, self.brain.num_stacked_vector_observations])
+                else:
+                    feed_dict[self.model.vector_in] = np.array(_buffer['vector_observations'][start:end])\
+                        .reshape([-1, self.brain.vector_observation_space_size * self.brain.num_stacked_vector_observations])
+            if self.use_visual_observations:
-                    (_batch, _seq, _w, _h, _c) = _obs.shape
-                    feed_dict[self.model.visual_in[i]] = _obs.reshape([-1, _w, _h, _c])
+                    feed_dict[self.model.visual_in[i]] = _obs
-
             loss, _ = self.sess.run([self.model.loss, self.model.update], feed_dict=feed_dict)
             batch_losses.append(loss)
         if len(batch_losses) > 0:
-