Merge branch 'develop-agentprocessor-teammanager' into develop-coma2-trainer

Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab

     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 48d14da88fea74d0693c691c6e3f2e34, type: 3}
+  m_Model: {fileID: 11400000, guid: 28ccdfd7cb3d941ce8af0ab89e06130a, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: Match3VisualObs

README.md

 
 # Unity ML-Agents Toolkit
 
-[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/)
+[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/)
 
 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)
 
 
 ## Releases & Documentation
 
-**Our latest, stable release is `Release 12`. Click
-[here](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md)
+
+**Our latest, stable release is `Release 13`. Click
+[here](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md)
 to get started with the latest release of ML-Agents.**
 
 The table below lists all our releases, including our `master` branch which is
 | **Version** | **Release Date** | **Source** | **Documentation** | **Download** | **Python Package** | **Unity Package** |
 |:-------:|:------:|:-------------:|:-------:|:------------:|:------------:|:------------:|
 | **master (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/master) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/master/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/master.zip) | -- | -- |
-| **Release 12** | **December 22, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_12)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_12.zip)** | **[0.23.0](https://pypi.org/project/mlagents/0.23.0/)** | **[1.7.2](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html)** |
+| **Release 13** | **February 17, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_13)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_13.zip)** | **[0.24.0](https://pypi.org/project/mlagents/0.24.0/)** | **[1.8.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html)** |
+| **Release 12** | December 22, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_12) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_12.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.2](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) |
 | **Release 11** | December 21, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_11) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_11_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_11.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) |
 | **Release 10** | November 18, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_10) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_10_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_10.zip) | [0.22.0](https://pypi.org/project/mlagents/0.22.0/) | [1.6.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.6/manual/index.html) |
 | **Verified Package 1.0.6** | **November 16, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/com.unity.ml-agents_1.0.6)** | **[docs](https://github.com/Unity-Technologies/ml-agents/blob/release_2_verified_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/com.unity.ml-agents_1.0.6.zip)** | **[0.16.1](https://pypi.org/project/mlagents/0.16.1/)** | **[1.0.6](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.0/manual/index.html)** |
-| **Release 7** | September 16, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_7) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_7_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_7.zip) | [0.20.0](https://pypi.org/project/mlagents/0.20.0/) | [1.4.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.4/manual/index.html) |
 
 If you are a researcher interested in a discussion of Unity as an AI platform,
 see a pre-print of our

com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md

 
 # Contribution
 
+An image can be thought of as a matrix of a predefined width (W) and a height (H) and each pixel can be thought of as simply an array of length 3 (in the case of RGB), `[Red, Green, Blue]` holding the different channel information of the color (channel) intensities at that pixel location. Thus an image is just a 3 dimensional matrix of size WxHx3. A Grid Observation can be thought of as a generalization of this setup where in place of a pixel there is a "cell" which is an array of length N representing different channel intensities at that cell position. From a Convolutional Neural Network point of view, the introduction of multiple channels in an "image" isn't a new concept. One such example is using an RGB-Depth image which is used in several robotics applications. The distinction of Grid Observations is what the data within the channels represents. Instead of limiting the channels to color intensities, the channels within a cell of a Grid Observation generalize to any data that can be represented by a single number (float or int).
+
+Before jumping into the details of the Grid Sensor, an important thing to note is the agent performance and qualitatively different behavior over raycasts. Unity MLAgent's comes with a suite of example environments. One in particular, the [Food Collector](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Examples.md#food-collector), has been the focus of the Grid Sensor development.
+
+The Food Collector environment can be described as:
+* Set-up: A multi-agent environment where agents compete to collect food.
+* Goal: The agents must learn to collect as many green food spheres as possible while avoiding red spheres.
+* Agents: The environment contains 5 agents with same Behavior Parameters.
+
+When applying the Grid Sensor to this environment, in place of the Raycast Vector Sensor or the Camera Sensor, a Mean Reward of 40-50 is observed. This performance is on par with what is seen by agents trained with RayCasts but the side-by-side comparison of trained agents, shows a qualitative difference in behavior. A deeper study and interpretation of the qualitative differences between agents trained with Raycasts and Vector Sensors verses Grid Sensors is left to future studies.
+
+<img src="images/gridobs-vs-vectorobs.gif" align="middle" width="3000"/>
+
 ## Overview
 
 There are three main phases to the observation process of the Grid Sensor:
 
 ### Channel Based
 
-The Channel Based Grid Observations represent obsevations in a normalized form with 0 to 1. To distinguish between categorical and continuous data, one would use the ChannelDepth array to signify the ranges that the values in the `channelValues` array could take. If one sets ChannelDepth[i] to be 1, it is assumed that the value of `channelValues[i]` is already normalized. Else ChannelDepth[i] represents the total number of possible values that `channelValues[i]` can take and will be used for normalization.
+The Channel Based Grid Observations is perhaps the simplest in terms of usability and similarity with other machine learning applications. Each grid is of size WxHxC where C is the number of channels. To distinguish between categorical and continuous data, one would use the ChannelDepth array to signify the ranges that the values in the `channelValues` array could take. If one sets ChannelDepth[i] to be 1, it is assumed that the value of `channelValues[i]` is already normalized. Else ChannelDepth[i] represents the total number of possible values that `channelValues[i]` can take.
+As the "enemy" is in the second position of the observed tags, its value can be normalized by:
 For ObjectType, "weapon", "enemy" will be represented respectively as:
 ```
 weapon = DetectableObjects.IndexOfTag("weapon")/ChannelDepth[0] = 1/2 = 0.5;

com.unity.ml-agents.extensions/Documentation~/Match3.md

 This implementation includes:
 
 * C# implementation catered toward a Match-3 setup including concepts around encoding for moves based on [Human Like Playtesting with Deep Learning](https://www.researchgate.net/publication/328307928_Human-Like_Playtesting_with_Deep_Learning)
-* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/docs/Learning-Environment-Examples.md#match-3).
+* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/docs/Learning-Environment-Examples.md#match-3).
 
 ### Feedback
 If you are a Match-3 developer and are trying to leverage ML-Agents for this scenario, [we want to hear from you](https://forms.gle/TBsB9jc8WshgzViU9). Additionally, we are also looking for interested Match-3 teams to speak with us for 45 minutes. If you are interested, please indicate that in the [form](https://forms.gle/TBsB9jc8WshgzViU9).  If selected, we will provide gift cards as a token of appreciation.

com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md

 recommended ways to install the package:
 
 ### Local Installation
-[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the
-[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Installation.md#advanced-local-installation-for-development-1)
+[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the
+[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Installation.md#advanced-local-installation-for-development-1)
-![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/images/unity_package_manager_git_url.png)
-
+![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/images/unity_package_manager_git_url.png)
 In the dialog that appears, enter
  ```
  git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions
     - No way to customize the action space of the `InputActuatorComponent`
 
 ## Need Help?
-The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/README.md) contains links for contacting the team or getting support.
+The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/README.md) contains links for contacting the team or getting support.

com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs

     /// <see cref="Agent"/>'s <see cref="BehaviorParameters"/> indicate that the Agent is running in Heuristic Mode,
     /// this Actuator will write actions from the <see cref="InputSystem"/> to the <see cref="ActionBuffers"/> object.
     /// </summary>
-    public class InputActionActuator : IActuator, IHeuristicProvider
+    public class InputActionActuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         readonly BehaviorParameters m_BehaviorParameters;
         readonly InputAction m_Action;
         /// <param name="adaptor">The <see cref="IRLActionInputAdaptor"/> that will convert data between ML-Agents
         ///     and the <see cref="InputSystem"/>.</param>
         public InputActionActuator(InputDevice inputDevice, BehaviorParameters behaviorParameters,
-            InputAction action,
-            IRLActionInputAdaptor adaptor)
+                                   InputAction action,
+                                   IRLActionInputAdaptor adaptor)
         {
             m_BehaviorParameters = behaviorParameters;
             Name = $"InputActionActuator-{action.name}";
             Profiler.BeginSample("InputActionActuator.Heuristic");
             m_InputAdaptor.WriteToHeuristic(m_Action, actionBuffersOut);
             Profiler.EndSample();
+        }
+
+        /// <inheritdoc/>
+        public BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.InputActionActuator;
         }
     }
 }

com.unity.ml-agents.extensions/Runtime/Match3/Match3Actuator.cs

     /// Actuator for a Match3 game. It translates valid moves (defined by AbstractBoard.IsMoveValid())
     /// in action masks, and applies the action to the board via AbstractBoard.MakeMove().
     /// </summary>
-    public class Match3Actuator : IActuator, IHeuristicProvider
+    public class Match3Actuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         protected AbstractBoard m_Board;
         protected System.Random m_Random;
         /// <inheritdoc/>
         public void ResetData()
         {
+        }
+
+        /// <inheritdoc/>
+        public BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.Match3Actuator;
         }
 
         IEnumerable<int> InvalidMoveIndices()
         {
             return 1;
         }
-
     }
 }

com.unity.ml-agents.extensions/package.json

 {
   "name": "com.unity.ml-agents.extensions",
   "displayName": "ML Agents Extensions",
-  "version": "0.0.1-preview",
+  "version": "0.1.0-preview",
   "unity": "2018.4",
   "description": "A source-only package for new features based on ML-Agents",
   "dependencies": {

com.unity.ml-agents/Documentation~/com.unity.ml-agents.md

 [unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents
 [unity inference engine]: https://docs.unity3d.com/Packages/com.unity.barracuda@latest/index.html
 [package manager documentation]: https://docs.unity3d.com/Manual/upm-ui-install.html
-[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Installation.md
+[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Installation.md
-[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/com.unity.ml-agents.extensions
+[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/com.unity.ml-agents.extensions

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

  * API. For more information on each of these entities, in addition to how to
  * set-up a learning environment and train the behavior of characters in a
  * Unity scene, please browse our documentation pages on GitHub:
- * https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/
+ * https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/
  */
 
 namespace Unity.MLAgents
     /// fall back to inference or heuristic decisions. (You can also set agents to always use
     /// inference or heuristics.)
     /// </remarks>
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/" +
         "docs/Learning-Environment-Design.md")]
     public class Academy : IDisposable
     {

com.unity.ml-agents/Runtime/Actuators/ActionSpec.cs

         /// <param name="numContinuousActions">The number of continuous actions available.</param>
         /// <param name="discreteBranchSizes">The array of branch sizes for the discrete actions.  Each index
         /// contains the number of actions available for that branch.</param>
-        /// <returns>An ActionSpec initialized with the specified action sizes.</returns>
         public ActionSpec(int numContinuousActions = 0, int[] discreteBranchSizes = null)
         {
             m_NumContinuousActions = numContinuousActions;

com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs

         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
         void WriteDiscreteActionMask(IDiscreteActionMask actionMask);

com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs

         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="branch">The branch for which the actions will be masked.</param>
         /// <param name="actionIndices">The indices of the masked actions.</param>

com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs

     /// <summary>
     /// IActuator implementation that forwards calls to an <see cref="IActionReceiver"/> and an <see cref="IHeuristicProvider"/>.
     /// </summary>
-    internal class VectorActuator : IActuator, IHeuristicProvider
+    internal class VectorActuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         IActionReceiver m_ActionReceiver;
         IHeuristicProvider m_HeuristicProvider;
 
         /// <inheritdoc />
         public string Name { get; }
+
+        /// <inheritdoc />
+        public virtual BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.VectorActuator;
+        }
     }
 }

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

     }
 
     /// <summary>
+    /// Simple wrapper around VectorActuator that overrides GetBuiltInActuatorType
+    /// so that it can be distinguished from a standard VectorActuator.
+    /// </summary>
+    internal class AgentVectorActuator : VectorActuator
+    {
+        public AgentVectorActuator(IActionReceiver actionReceiver,
+            IHeuristicProvider heuristicProvider,
+            ActionSpec actionSpec,
+            string name = "VectorActuator"
+        ) : base(actionReceiver, heuristicProvider, actionSpec, name)
+        { }
+
+        public override BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.AgentVectorActuator;
+        }
+    }
+
+    /// <summary>
     /// An agent is an actor that can observe its environment, decide on the
     /// best course of action using those observations, and execute those actions
     /// within the environment.
     /// [OnDisable()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnDisable.html]
     /// [OnBeforeSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnBeforeSerialize.html
     /// [OnAfterSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnAfterSerialize.html
-    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md
-    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design.md
+    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md
+    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design.md
-    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Readme.md
+    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Readme.md
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/" +
         "docs/Learning-Environment-Design-Agents.md")]
     [Serializable]
     [RequireComponent(typeof(BehaviorParameters))]
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         /// </remarks>
         /// <param name="reward">The new value of the reward.</param>
         public void SetReward(float reward)
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         ///</remarks>
         /// <param name="increment">Incremental reward value.</param>
         public void AddReward(float increment)
         /// implementing a simple heuristic function can aid in debugging agent actions and interactions
         /// with its environment.
         ///
-        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
-        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
+        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
         /// </remarks>
         /// <example>
             // Support legacy OnActionReceived
             // TODO don't set this up if the sizes are 0?
             var param = m_PolicyFactory.BrainParameters;
-            m_VectorActuator = new VectorActuator(this, this, param.ActionSpec);
+            m_VectorActuator = new AgentVectorActuator(this, this, param.ActionSpec);
             m_ActuatorManager = new ActuatorManager(attachedActuators.Length + 1);
             m_LegacyActionCache = new float[m_VectorActuator.TotalNumberOfActions()];
             m_LegacyHeuristicCache = new float[m_VectorActuator.TotalNumberOfActions()];
         /// For more information about observations, see [Observations and Sensors].
         ///
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
+        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
         /// </remarks>
         public virtual void CollectObservations(VectorSensor sensor)
         {
         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
         public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
         ///
         /// For more information about implementing agent actions see [Agents - Actions].
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="actions">
         /// Struct containing the buffers of actions to be executed at this step.

com.unity.ml-agents/Runtime/Analytics/Events.cs

         public int InferenceDevice;
         public List<EventObservationSpec> ObservationSpecs;
         public EventActionSpec ActionSpec;
+        public List<EventActuatorInfo> ActuatorInfos;
         public int MemorySize;
         public long TotalWeightSizeBytes;
         public string ModelHash;
                 NumContinuousActions = actionSpec.NumContinuousActions,
                 NumDiscreteActions = actionSpec.NumDiscreteActions,
                 BranchSizes = branchSizes,
+            };
+        }
+    }
+
+    /// <summary>
+    /// Information about an actuator.
+    /// </summary>
+    [Serializable]
+    internal struct EventActuatorInfo
+    {
+        public int BuiltInActuatorType;
+        public int NumContinuousActions;
+        public int NumDiscreteActions;
+
+        public static EventActuatorInfo FromActuator(IActuator actuator)
+        {
+            BuiltInActuatorType builtInActuatorType = Actuators.BuiltInActuatorType.Unknown;
+            if (actuator is IBuiltInActuator builtInActuator)
+            {
+                builtInActuatorType = builtInActuator.GetBuiltInActuatorType();
+            }
+
+            var actionSpec = actuator.ActionSpec;
+
+            return new EventActuatorInfo
+            {
+                BuiltInActuatorType = (int)builtInActuatorType,
+                NumContinuousActions = actionSpec.NumContinuousActions,
+                NumDiscreteActions = actionSpec.NumDiscreteActions
             };
         }
     }
         public string BehaviorName;
         public List<EventObservationSpec> ObservationSpecs;
         public EventActionSpec ActionSpec;
+        public List<EventActuatorInfo> ActuatorInfos;
 
         /// <summary>
         /// This will be the same as TrainingEnvironmentInitializedEvent if available, but

com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs

         /// <param name="inferenceDevice">Whether inference is being performed on the CPU or GPU</param>
         /// <param name="sensors">List of ISensors for the Agent. Used to generate information about the observation space.</param>
         /// <param name="actionSpec">ActionSpec for the Agent. Used to generate information about the action space.</param>
+        /// <param name="actuators">List of IActuators for the Agent. Used to generate information about the action space.</param>
         /// <returns></returns>
         public static void InferenceModelSet(
             NNModel nnModel,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             // The event shouldn't be able to report if this is disabled but if we know we're not going to report
                 return;
             }
 
-            var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec);
+            var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec, actuators);
-            //Debug.Log(JsonUtility.ToJson(data, true));
+            // Debug.Log(JsonUtility.ToJson(data, true));
 #if UNITY_EDITOR
             if (AnalyticsUtils.s_SendEditorAnalytics)
             {
         /// <param name="inferenceDevice"></param>
         /// <param name="sensors"></param>
         /// <param name="actionSpec"></param>
+        /// <param name="actuators"></param>
         /// <returns></returns>
         internal static InferenceEvent GetEventForModel(
             NNModel nnModel,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             var barracudaModel = ModelLoader.Load(nnModel);
             foreach (var sensor in sensors)
             {
                 inferenceEvent.ObservationSpecs.Add(EventObservationSpec.FromSensor(sensor));
+            }
+
+            inferenceEvent.ActuatorInfos = new List<EventActuatorInfo>(actuators.Count);
+            foreach (var actuator in actuators)
+            {
+                inferenceEvent.ActuatorInfos.Add(EventActuatorInfo.FromActuator(actuator));
             }
 
             inferenceEvent.TotalWeightSizeBytes = GetModelWeightSize(barracudaModel);

com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs

         public static void RemotePolicyInitialized(
             string fullyQualifiedBehaviorName,
             IList<ISensor> sensors,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             if (!IsAnalyticsEnabled())
                 return;
             }
 
-            var data = GetEventForRemotePolicy(behaviorName, sensors, actionSpec);
+            var data = GetEventForRemotePolicy(behaviorName, sensors, actionSpec, actuators);
             // Note - to debug, use JsonUtility.ToJson on the event.
             // Debug.Log(
             //     $"Would send event {k_RemotePolicyInitializedEventName} with body {JsonUtility.ToJson(data, true)}"
 #endif
         }
 
-        static RemotePolicyInitializedEvent GetEventForRemotePolicy(
+        internal static RemotePolicyInitializedEvent GetEventForRemotePolicy(
-            ActionSpec actionSpec)
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
+        )
         {
             var remotePolicyEvent = new RemotePolicyInitializedEvent();
 
             foreach (var sensor in sensors)
             {
                 remotePolicyEvent.ObservationSpecs.Add(EventObservationSpec.FromSensor(sensor));
+            }
+
+            remotePolicyEvent.ActuatorInfos = new List<EventActuatorInfo>(actuators.Count);
+            foreach (var actuator in actuators)
+            {
+                remotePolicyEvent.ActuatorInfos.Add(EventActuatorInfo.FromActuator(actuator));
             }
 
             remotePolicyEvent.MLAgentsEnvsVersion = s_TrainerPackageVersion;

com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs

 #if UNITY_EDITOR || UNITY_STANDALONE_WIN || UNITY_STANDALONE_OSX || UNITY_STANDALONE_LINUX
+#define MLA_SUPPORTED_TRAINING_PLATFORM
+#endif
+
+# if MLA_SUPPORTED_TRAINING_PLATFORM
 using Grpc.Core;
 #if UNITY_EDITOR
 using UnityEditor;
         /// <param name="initParametersOut">The External Initialization Parameters received.</param>
         public bool Initialize(CommunicatorInitParameters initParameters, out UnityRLInitParameters initParametersOut)
         {
+#if MLA_SUPPORTED_TRAINING_PLATFORM
             var academyParameters = new UnityRLInitializationOutputProto
             {
                 Name = initParameters.name,
             UpdateEnvironmentWithInput(input.RlInput);
             initParametersOut = initializationInput.RlInitializationInput.ToUnityRLInitParameters();
             return true;
+#else
+            initParametersOut = new UnityRLInitParameters();
+            return false;
+#endif
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs

     /// See [Imitation Learning - Recording Demonstrations] for more information.
     ///
     /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
+    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
     /// </remarks>
     [RequireComponent(typeof(Agent))]
     [AddComponentMenu("ML Agents/Demonstration Recorder", (int)MenuGroup.Default)]

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

         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="branch">The branch for which the actions will be masked.</param>
         /// <param name="actionIndices">The indices of the masked actions.</param>

com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs

         private string m_BehaviorName;
 
         /// <summary>
+        /// List of actuators, only used for analytics
+        /// </summary>
+        private IList<IActuator> m_Actuators;
+
+        /// <summary>
         /// Whether or not we've tried to send analytics for this model. We only ever try to send once per policy,
         /// and do additional deduplication in the analytics code.
         /// </summary>
         public BarracudaPolicy(
             ActionSpec actionSpec,
+            IList<IActuator> actuators,
             NNModel model,
             InferenceDevice inferenceDevice,
             string behaviorName
             m_ModelRunner = modelRunner;
             m_BehaviorName = behaviorName;
             m_ActionSpec = actionSpec;
+            m_Actuators = actuators;
         }
 
         /// <inheritdoc />
                     m_BehaviorName,
                     m_ModelRunner.InferenceDevice,
                     sensors,
-                    m_ActionSpec
+                    m_ActionSpec,
+                    m_Actuators
                 );
             }
             m_AgentId = info.episodeId;

com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs

                                 "Either assign a model, or change to a different Behavior Type."
                             );
                         }
-                        return new BarracudaPolicy(actionSpec, m_Model, m_InferenceDevice, m_BehaviorName);
+                        return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
-                        return new RemotePolicy(actionSpec, FullyQualifiedBehaviorName);
+                        return new RemotePolicy(actionSpec, actuatorManager, FullyQualifiedBehaviorName);
-                        return new BarracudaPolicy(actionSpec, m_Model, m_InferenceDevice, m_BehaviorName);
+                        return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
                     }
                     else
                     {

com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs

 
         internal ICommunicator m_Communicator;
 
+        /// <summary>
+        /// List of actuators, only used for analytics
+        /// </summary>
+        private IList<IActuator> m_Actuators;
+
+            IList<IActuator> actuators,
             string fullyQualifiedBehaviorName)
         {
             m_FullyQualifiedBehaviorName = fullyQualifiedBehaviorName;
+            m_Actuators = actuators;
         }
 
         /// <inheritdoc />
                 TrainingAnalytics.RemotePolicyInitialized(
                     m_FullyQualifiedBehaviorName,
                     sensors,
-                    m_ActionSpec
+                    m_ActionSpec,
+                    m_Actuators
                 );
             }
             m_AgentId = info.episodeId;

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

     /// </summary>
     public enum BuiltInSensorType
     {
+        /// <summary>
+        /// Default Sensor type if it cannot be determined.
+        /// </summary>
+        /// <summary>
+        /// The Vector sensor used by the agent.
+        /// </summary>
-        // Note that StackingSensor actually returns the wrapped sensor's type
+        /// <summary>
+        /// The Stacking Sensor type. NOTE: StackingSensor actually returns the wrapped sensor's type.
+        /// </summary>
+        /// <summary>
+        /// The RayPerception Sensor types, both 3D and 2D.
+        /// </summary>
+        /// <summary>
+        /// The observable attribute sensor type.
+        /// </summary>
+        /// <summary>
+        /// Sensors that use the Camera for observations.
+        /// </summary>
+        /// <summary>
+        /// Sensors that use RenderTextures for observations.
+        /// </summary>
+        /// <summary>
+        /// Sensors that use buffers or tensors for observations.
+        /// </summary>
+        /// <summary>
+        /// The sensors that observe properties of rigid bodies.
+        /// </summary>
+        /// <summary>
+        /// The sensors that observe Match 3 boards.
+        /// </summary>
+        /// <summary>
+        /// Sensors that break down the world into a grid of colliders to observe an area at a pre-defined granularity.
+        /// </summary>
         GridSensor = 10
     }
 
     /// </summary>
-    public interface IBuiltInSensor
+    internal interface IBuiltInSensor
     {
         /// <summary>
         /// Return the corresponding BuiltInSensorType for the sensor.
     }
-
-
 }

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

             }
         }
 
+        /// <summary>
+        /// Write the list of floats.
+        /// </summary>
+        /// <param name="data">The actual list of floats to write.</param>
+        /// <param name="writeOffset">Optional write offset to start writing from.</param>
         public void AddList(IList<float> data, int writeOffset = 0)
         {
             if (m_Data != null)
                     var val = data[index];
                     m_Data[index + m_Offset + writeOffset] = val;
-
                 }
             }
             else

com.unity.ml-agents/Runtime/SideChannels/TrainingAnalyticsSideChannel.cs

 
 namespace Unity.MLAgents.SideChannels
 {
-    public class TrainingAnalyticsSideChannel : SideChannel
+    /// <summary>
+    /// Side Channel implementation for recording which training features are being used.
+    /// </summary>
+    internal class TrainingAnalyticsSideChannel : SideChannel
     {
         const string k_TrainingAnalyticsConfigId = "b664a4a9-d86f-5a5f-95cb-e8353a7e8356";
 

com.unity.ml-agents/Tests/Editor/Analytics/InferenceAnalyticsTests.cs

+using System;
 using System.Collections.Generic;
 using NUnit.Framework;
 using Unity.MLAgents.Sensors;
         {
             var sensors = new List<ISensor> { sensor_21_20_3.Sensor, sensor_20_22_3.Sensor };
             var behaviorName = "continuousModel";
+            var actionSpec = GetContinuous2vis8vec2actionActionSpec();
+
+            var vectorActuator = new VectorActuator(null, actionSpec, "test'");
+            var actuators = new IActuator[] { vectorActuator };
-                InferenceDevice.CPU, sensors, GetContinuous2vis8vec2actionActionSpec()
+                InferenceDevice.CPU, sensors, actionSpec,
+                actuators
             );
 
             // The behavior name should be hashed, not pass-through.
             Assert.AreEqual((int)DimensionProperty.None, continuousEvent.ObservationSpecs[0].DimensionInfos[2].Flags);
             Assert.AreEqual("None", continuousEvent.ObservationSpecs[0].CompressionType);
             Assert.AreEqual(Test3DSensor.k_BuiltInSensorType, continuousEvent.ObservationSpecs[0].BuiltInSensorType);
+            Assert.AreEqual((int)BuiltInActuatorType.VectorActuator, continuousEvent.ActuatorInfos[0].BuiltInActuatorType);
             Assert.AreNotEqual(null, continuousEvent.ModelHash);
 
             // Make sure nested fields get serialized
             Assert.IsTrue(jsonString.Contains("NumDiscreteActions"));
             Assert.IsTrue(jsonString.Contains("SensorName"));
             Assert.IsTrue(jsonString.Contains("Flags"));
+            Assert.IsTrue(jsonString.Contains("ActuatorInfos"));
         }
 
         [Test]
             using (new AnalyticsUtils.DisableAnalyticsSending())
             {
                 var sensors = new List<ISensor> { sensor_21_20_3.Sensor, sensor_20_22_3.Sensor };
-                var policy = new BarracudaPolicy(GetContinuous2vis8vec2actionActionSpec(), continuousONNXModel, InferenceDevice.CPU, "testBehavior");
+                var policy = new BarracudaPolicy(
+                    GetContinuous2vis8vec2actionActionSpec(),
+                    Array.Empty<IActuator>(),
+                    continuousONNXModel,
+                    InferenceDevice.CPU,
+                    "testBehavior"
+                );
                 policy.RequestDecision(new AgentInfo(), sensors);
             }
             Academy.Instance.Dispose();

com.unity.ml-agents/Tests/Editor/Analytics/TrainingAnalyticsTest.cs

+using System;
-using UnityEngine;
-using Unity.Barracuda;
-using UnityEditor;
 
 namespace Unity.MLAgents.Tests.Analytics
 {
         }
 
         [Test]
+        public void TestRemotePolicyEvent()
+        {
+            var behaviorName = "testBehavior";
+            var sensor1 = new Test3DSensor("SensorA", 21, 20, 3);
+            var sensor2 = new Test3DSensor("SensorB", 20, 22, 3);
+            var sensors = new List<ISensor> { sensor1, sensor2 };
+
+            var actionSpec = ActionSpec.MakeContinuous(2);
+
+            var vectorActuator = new VectorActuator(null, actionSpec, "test'");
+            var actuators = new IActuator[] { vectorActuator };
+
+            var remotePolicyEvent = TrainingAnalytics.GetEventForRemotePolicy(behaviorName, sensors, actionSpec, actuators);
+
+            // The behavior name should be hashed, not pass-through.
+            Assert.AreNotEqual(behaviorName, remotePolicyEvent.BehaviorName);
+
+            Assert.AreEqual(2, remotePolicyEvent.ObservationSpecs.Count);
+            Assert.AreEqual(3, remotePolicyEvent.ObservationSpecs[0].DimensionInfos.Length);
+            Assert.AreEqual(20, remotePolicyEvent.ObservationSpecs[0].DimensionInfos[0].Size);
+            Assert.AreEqual("None", remotePolicyEvent.ObservationSpecs[0].CompressionType);
+            Assert.AreEqual(Test3DSensor.k_BuiltInSensorType, remotePolicyEvent.ObservationSpecs[0].BuiltInSensorType);
+
+            Assert.AreEqual(2, remotePolicyEvent.ActionSpec.NumContinuousActions);
+            Assert.AreEqual(0, remotePolicyEvent.ActionSpec.NumDiscreteActions);
+
+            Assert.AreEqual(2, remotePolicyEvent.ActuatorInfos[0].NumContinuousActions);
+            Assert.AreEqual(0, remotePolicyEvent.ActuatorInfos[0].NumDiscreteActions);
+
+        }
+
+        [Test]
         public void TestRemotePolicy()
         {
             if (Academy.IsInitialized)
             using (new AnalyticsUtils.DisableAnalyticsSending())
             {
                 var actionSpec = ActionSpec.MakeContinuous(3);
-                var policy = new RemotePolicy(actionSpec, "TestBehavior?team=42");
+                var policy = new RemotePolicy(actionSpec, Array.Empty<IActuator>(), "TestBehavior?team=42");
                 policy.RequestDecision(new AgentInfo(), new List<ISensor>());
             }
 

config/ppo/Match3.yaml

+default_settings:
+  trainer_type: ppo
+  hyperparameters:
+    batch_size: 16
+    buffer_size: 120
+    learning_rate: 0.0003
+    beta: 0.005
+    epsilon: 0.2
+    lambd: 0.99
+    num_epoch: 3
+    learning_rate_schedule: constant
+  network_settings:
+    normalize: true
+    hidden_units: 256
+    num_layers: 4
+    vis_encode_type: match3
+  reward_signals:
+    extrinsic:
+      gamma: 0.99
+      strength: 1.0
+  keep_checkpoints: 5
+  max_steps: 5000000
+  time_horizon: 128
+  summary_freq: 10000
+  threaded: true
+
-  Match3VectorObs:
-    trainer_type: ppo
-    hyperparameters:
-      batch_size: 64
-      buffer_size: 12000
-      learning_rate: 0.0003
-      beta: 0.001
-      epsilon: 0.2
-      lambd: 0.99
-      num_epoch: 3
-      learning_rate_schedule: constant
-    network_settings:
-      normalize: true
-      hidden_units: 128
-      num_layers: 2
-      vis_encode_type: match3
-    reward_signals:
-      extrinsic:
-        gamma: 0.99
-        strength: 1.0
-    keep_checkpoints: 5
-    max_steps: 5000000
-    time_horizon: 1000
-    summary_freq: 10000
-    threaded: true
-  Match3VisualObs:
-    trainer_type: ppo
-    hyperparameters:
-      batch_size: 64
-      buffer_size: 12000
-      learning_rate: 0.0003
-      beta: 0.001
-      epsilon: 0.2
-      lambd: 0.99
-      num_epoch: 3
-      learning_rate_schedule: constant
-    network_settings:
-      normalize: true
-      hidden_units: 128
-      num_layers: 2
-      vis_encode_type: match3
-    reward_signals:
-      extrinsic:
-        gamma: 0.99
-        strength: 1.0
-    keep_checkpoints: 5
-    max_steps: 5000000
-    time_horizon: 1000
-    summary_freq: 10000
-    threaded: true
-      batch_size: 64
-      buffer_size: 128
+      batch_size: 16
+      buffer_size: 120
     network_settings:
       hidden_units: 4
       num_layers: 1
-  Match3GreedyHeuristic:
+  Match3SmartHeuristic:
-      batch_size: 64
-      buffer_size: 128
+      batch_size: 16
+      buffer_size: 120
     network_settings:
       hidden_units: 4
       num_layers: 1

config/ppo/PyramidsRND.yaml

         strength: 0.01
         network_settings:
           hidden_units: 64
+          num_layers: 3
         learning_rate: 0.0001
     keep_checkpoints: 5
     max_steps: 3000000

docs/Installation-Anaconda-Windows.md

 the ml-agents Conda environment by typing `activate ml-agents`)_:
 
 ```sh
-git clone --branch release_12 https://github.com/Unity-Technologies/ml-agents.git
+git clone --branch release_13 https://github.com/Unity-Technologies/ml-agents.git
-The `--branch release_12` option will switch to the tag of the latest stable
+The `--branch release_13` option will switch to the tag of the latest stable
 release. Omitting that will get the `master` branch which is potentially
 unstable.
 

docs/Installation.md

 of our tutorials / guides assume you have access to our example environments).
 
 ```sh
-git clone --branch release_12 https://github.com/Unity-Technologies/ml-agents.git
+git clone --branch release_13 https://github.com/Unity-Technologies/ml-agents.git
-The `--branch release_12` option will switch to the tag of the latest stable
+The `--branch release_13` option will switch to the tag of the latest stable
 release. Omitting that will get the `master` branch which is potentially
 unstable.
 
 ML-Agents Toolkit for your purposes. If you plan to contribute those changes
-back, make sure to clone the `master` branch (by omitting `--branch release_12`
+back, make sure to clone the `master` branch (by omitting `--branch release_13`
 from the command above). See our
 [Contributions Guidelines](../com.unity.ml-agents/CONTRIBUTING.md) for more
 information on contributing to the ML-Agents Toolkit.

docs/Learning-Environment-Examples.md

   - Observations and actions are defined with a sensor and actuator respectively.
 - Float Properties: None
 - Benchmark Mean Reward:
-  - 37.2 for visual observations
-  - 37.6 for vector observations
+  - 39.5 for visual observations
+  - 38.5 for vector observations
   - 34.2 for simple heuristic (pick a random valid move)
   - 37.0 for greedy heuristic (pick the highest-scoring valid move)
 

docs/Training-on-Amazon-Web-Service.md

 2. Clone the ML-Agents repo and install the required Python packages
 
    ```sh
-   git clone --branch release_12 https://github.com/Unity-Technologies/ml-agents.git
+   git clone --branch release_13 https://github.com/Unity-Technologies/ml-agents.git
    cd ml-agents/ml-agents/
    pip3 install -e .
    ```

docs/Unity-Inference-Engine.md

 loading expects certain conventions for constants and tensor names. While it is
 possible to construct a model that follows these conventions, we don't provide
 any additional help for this. More details can be found in
-[TensorNames.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/com.unity.ml-agents/Runtime/Inference/TensorNames.cs)
+[TensorNames.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/com.unity.ml-agents/Runtime/Inference/TensorNames.cs)
-[BarracudaModelParamLoader.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_12_docs/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs).
+[BarracudaModelParamLoader.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs).
 
 If you wish to run inference on an externally trained model, you should use
 Barracuda directly, instead of trying to run it through ML-Agents.

ml-agents/mlagents/trainers/action_info.py

 
 
 class ActionInfo(NamedTuple):
+    """
+    A NamedTuple containing actions and related quantities to the policy forward
+    pass. Additionally contains the agent ids in the corresponding DecisionStep
+    :param action: The action output of the policy
+    :param env_action: The possibly clipped action to be executed in the environment
+    :param outputs: Dict of all quantities associated with the policy forward pass
+    :param agent_ids: List of int agent ids in DecisionStep
+    """
+
     action: Any
     env_action: Any
     outputs: ActionInfoOutputs

ml-agents/mlagents/trainers/agent_processor.py

         """
         self.experience_buffers: Dict[str, List[AgentExperience]] = defaultdict(list)
         self.last_step_result: Dict[str, Tuple[DecisionStep, int]] = {}
-        # current_group_obs is used to collect the last seen obs of all the agents in the same group,
-        # and assemble the group obs.
+        # current_group_obs is used to collect the current, most recently seen
+        # obs of all the agents in the same group, and assemble the group obs.
-        # last_group_obs is used to collect the last seen obs of all the agents in the same group,
-        # and assemble the group obs.
+        # group_status is used to collect the current, most recently seen
+        # group status of all the agents in the same group, and assemble the group obs.
         self.group_status: Dict[str, Dict[str, GroupmateStatus]] = defaultdict(
             lambda: defaultdict(None)
         )
             if global_id in self.last_step_result:  # Don't store if agent just reset
                 self.last_take_action_outputs[global_id] = take_action_outputs
 
-        # Iterate over all the terminal steps, first gather all the teammate obs
-        # and then create the AgentExperiences/Trajectories
+        # Iterate over all the terminal steps, first gather all the group obs
+        # and then create the AgentExperiences/Trajectories. _add_to_group_status
+        # stores Group statuses in a common data structure self.group_status
-            self._gather_group_obs(terminal_step, worker_id)
+            self._add_to_group_status(terminal_step, worker_id)
         for terminal_step in terminal_steps.values():
             local_id = terminal_step.agent_id
             global_id = get_global_agent_id(worker_id, local_id)
             # Clear the last seen group obs when agents die.
             self._clear_group_obs(global_id)
 
-        # Clean the last experience dictionary for terminal steps
-        for terminal_step in terminal_steps.values():
-            local_id = terminal_step.agent_id
-            global_id = get_global_agent_id(worker_id, local_id)
-
-        # Iterate over all the decision steps, first gather all the teammate obs
-        # and then create the trajectories
+        # Iterate over all the decision steps, first gather all the group obs
+        # and then create the trajectories. _add_to_group_status
+        # stores Group statuses in a common data structure self.group_status
-            self._gather_group_obs(ongoing_step, worker_id)
+            self._add_to_group_status(ongoing_step, worker_id)
         for ongoing_step in decision_steps.values():
             local_id = ongoing_step.agent_id
             self._process_step(
                         [_gid], take_action_outputs["action"]
                     )
 
-    def _gather_group_obs(
+    def _add_to_group_status(
+        """
+        Takes a TerminalStep or DecisionStep and adds the information in it
+        to self.group_status. This information can then be retrieved
+        when constructing trajectories to get the status of group mates.
+        :param step: TerminalStep or DecisionStep
+        :param worker_id: Worker ID of this particular environment. Used to generate a
+            global group id.
+        """
         global_agent_id = get_global_agent_id(worker_id, step.agent_id)
         stored_decision_step, idx = self.last_step_result.get(
             global_agent_id, (None, None)
         )
         if stored_decision_step is not None and stored_take_action_outputs is not None:
+            # 0, the default group_id, means that the agent doesn't belong to an agent group.
+            # If 0, don't add any groupmate information.
             if step.group_id > 0:
                 global_group_id = get_global_group_id(worker_id, step.group_id)
                 stored_actions = stored_take_action_outputs["action"]
         if stored_decision_step is not None and stored_take_action_outputs is not None:
             obs = stored_decision_step.obs
             if self.policy.use_recurrent:
-                memory = self.policy.retrieve_memories([global_agent_id])[0, :]
+                memory = self.policy.retrieve_previous_memories([global_agent_id])[0, :]
             else:
                 memory = None
             done = terminated  # Since this is an ongoing step
 
             # Assemble teammate_obs. If none saved, then it will be an empty list.
             group_statuses = []
-            for _id, _obs in self.group_status[global_group_id].items():
+            for _id, _mate_status in self.group_status[global_group_id].items():
-                    group_statuses.append(_obs)
+                    group_statuses.append(_mate_status)
 
             experience = AgentExperience(
                 obs=obs,
             ):
                 next_obs = step.obs
                 next_group_obs = []
-                for _id, _exp in self.current_group_obs[global_group_id].items():
+                for _id, _obs in self.current_group_obs[global_group_id].items():
-                        next_group_obs.append(_exp)
+                        next_group_obs.append(_obs)
 
                 trajectory = Trajectory(
                     steps=self.experience_buffers[global_agent_id],

ml-agents/mlagents/trainers/buffer.py

     ENVIRONMENT_REWARDS = "environment_rewards"
     MASKS = "masks"
     MEMORY = "memory"
+    CRITIC_MEMORY = "critic_memory"
     PREV_ACTION = "prev_action"
 
     ADVANTAGES = "advantages"
 
 class AgentBufferField(list):
     """
-    AgentBufferField is a list of numpy arrays. When an agent collects a field, you can add it to its
-    AgentBufferField with the append method.
+    AgentBufferField is a list of numpy arrays, or List[np.ndarray] for group entries.
+    When an agent collects a field, you can add it to its AgentBufferField with the append method.
     """
 
     def __init__(self):
-    def __str__(self):
+    def __str__(self) -> str:
         return str(np.array(self).shape)
 
     def append(self, element: np.ndarray, padding_value: float = 0.0) -> None:
         super().append(element)
         self.padding_value = padding_value
 
-    def set(self, data):
+    def set(self, data: List[BufferEntry]) -> None:
-        Sets the list of np.array to the input data
-        :param data: The np.array list to be set.
+        Sets the list of BufferEntry to the input data
+        :param data: The BufferEntry list to be set.
         """
         self[:] = []
         self[:] = data
         batch_size: int = None,
         training_length: Optional[int] = 1,
         sequential: bool = True,
-    ) -> np.ndarray:
+    ) -> List[BufferEntry]:
         """
         Retrieve the last batch_size elements of length training_length
         from the list of np.array
         Resets the AgentBufferField
         """
         self[:] = []
+
+    def padded_to_batch(
+        self, pad_value: np.float = 0, dtype: np.dtype = np.float32
+    ) -> Union[np.ndarray, List[np.ndarray]]:
+        """
+        Converts this AgentBufferField (which is a List[BufferEntry]) into a numpy array
+        with first dimension equal to the length of this AgentBufferField. If this AgentBufferField
+        contains a List[List[BufferEntry]] (i.e., in the case of group observations), return a List
+        containing numpy arrays or tensors, of length equal to the maximum length of an entry. Missing
+        For entries with less than that length, the array will be padded with pad_value.
+        :param pad_value: Value to pad List AgentBufferFields, when there are less than the maximum
+            number of agents present.
+        :param dtype: Dtype of output numpy array.
+        :return: Numpy array or List of numpy arrays representing this AgentBufferField, where the first
+            dimension is equal to the length of the AgentBufferField.
+        """
+        if len(self) > 0 and not isinstance(self[0], list):
+            return np.asanyarray(self, dytpe=dtype)
+
+        shape = None
+        for _entry in self:
+            # _entry could be an empty list if there are no group agents in this
+            # step. Find the first non-empty list and use that shape.
+            if _entry:
+                shape = _entry[0].shape
+                break
+        # If there were no groupmate agents in the entire batch, return an empty List.
+        if shape is None:
+            return []
+
+        # Convert to numpy array while padding with 0's
+        new_list = list(
+            map(
+                lambda x: np.asanyarray(x, dtype=dtype),
+                itertools.zip_longest(*self, fillvalue=np.full(shape, pad_value)),
+            )
+        )
+        return new_list
 
 
 class AgentBuffer(MutableMapping):

ml-agents/mlagents/trainers/policy/policy.py

         self.network_settings: NetworkSettings = trainer_settings.network_settings
         self.seed = seed
         self.previous_action_dict: Dict[str, np.ndarray] = {}
+        self.previous_memory_dict: Dict[str, np.ndarray] = {}
         self.memory_dict: Dict[str, np.ndarray] = {}
         self.normalize = trainer_settings.network_settings.normalize
         self.use_recurrent = self.network_settings.memory is not None
         if memory_matrix is None:
             return
 
+        # Pass old memories into previous_memory_dict
+        for agent_id in agent_ids:
+            if agent_id in self.memory_dict:
+                self.previous_memory_dict[agent_id] = self.memory_dict[agent_id]
+
         for index, agent_id in enumerate(agent_ids):
             self.memory_dict[agent_id] = memory_matrix[index, :]
 
                 memory_matrix[index, :] = self.memory_dict[agent_id]
         return memory_matrix
 
+    def retrieve_previous_memories(self, agent_ids: List[str]) -> np.ndarray:
+        memory_matrix = np.zeros((len(agent_ids), self.m_size), dtype=np.float32)
+        for index, agent_id in enumerate(agent_ids):
+            if agent_id in self.previous_memory_dict:
+                memory_matrix[index, :] = self.previous_memory_dict[agent_id]
+        return memory_matrix
+
+            if agent_id in self.previous_memory_dict: