Merge branch 'master' into global-variables

ml-agents/mlagents/trainers/optimizer/tf_optimizer.py

                 self.reward_signals[reward_signal.value].update_dict
             )
 
+    @classmethod
-        self, learning_rate: tf.Tensor, name: str = "Adam"
+        cls, learning_rate: tf.Tensor, name: str = "Adam"
     ) -> tf.train.Optimizer:
         return tf.train.AdamOptimizer(learning_rate=learning_rate, name=name)
 

ml-agents/mlagents/trainers/ppo/optimizer.py

 
                 self.stream_names = list(self.reward_signals.keys())
 
-                self.tf_optimizer: Optional[tf.train.AdamOptimizer] = None
+                self.tf_optimizer_op: Optional[tf.train.Optimizer] = None
                 self.grads = None
                 self.update_batch: Optional[tf.Operation] = None
 
         )
 
     def _create_ppo_optimizer_ops(self):
-        self.tf_optimizer = self.create_optimizer_op(self.learning_rate)
-        self.grads = self.tf_optimizer.compute_gradients(self.loss)
-        self.update_batch = self.tf_optimizer.minimize(self.loss)
+        self.tf_optimizer_op = self.create_optimizer_op(self.learning_rate)
+        self.grads = self.tf_optimizer_op.compute_gradients(self.loss)
+        self.update_batch = self.tf_optimizer_op.minimize(self.loss)
 
     @timed
     def update(self, batch: AgentBuffer, num_sequences: int) -> Dict[str, float]:

ml-agents/mlagents/trainers/ppo/trainer.py

 
         return policy
 
+    def create_ppo_optimizer(self) -> PPOOptimizer:
+        return PPOOptimizer(cast(TFPolicy, self.policy), self.trainer_settings)
+
     def add_policy(
         self, parsed_behavior_id: BehaviorIdentifiers, policy: Policy
     ) -> None:
             )
         self.policy = policy
         self.policies[parsed_behavior_id.behavior_id] = policy
-        self.optimizer = PPOOptimizer(
-            cast(TFPolicy, self.policy), self.trainer_settings
-        )
+        self.optimizer = self.create_ppo_optimizer()
         for _reward_signal in self.optimizer.reward_signals.keys():
             self.collected_rewards[_reward_signal] = defaultdict(lambda: 0)
         # Needed to resume loads properly

ml-agents/mlagents/trainers/sac/trainer.py

             for stat, stat_list in batch_update_stats.items():
                 self._stats_reporter.add_stat(stat, np.mean(stat_list))
 
+    def create_sac_optimizer(self) -> SACOptimizer:
+        return SACOptimizer(cast(TFPolicy, self.policy), self.trainer_settings)
+
     def add_policy(
         self, parsed_behavior_id: BehaviorIdentifiers, policy: Policy
     ) -> None:
             )
         self.policy = policy
         self.policies[parsed_behavior_id.behavior_id] = policy
-        self.optimizer = SACOptimizer(
-            cast(TFPolicy, self.policy), self.trainer_settings
-        )
+        self.optimizer = self.create_sac_optimizer()
         for _reward_signal in self.optimizer.reward_signals.keys():
             self.collected_rewards[_reward_signal] = defaultdict(lambda: 0)
         # Needed to resume loads properly

ml-agents/mlagents/trainers/stats.py

             if stats_summary.mean > 0.0:
                 is_training = "Training."
 
+        elapsed_time = time.time() - self.training_start_time
+        log_info: List[str] = [category]
+        log_info.append(f"Step: {step}")
+        log_info.append(f"Time Elapsed: {elapsed_time:0.3f} s")
-                logger.info(
-                    "Rank: {}."
-                    "{}: Step: {}. "
-                    "Time Elapsed: {:0.3f} s "
-                    "Mean "
-                    "Reward: {:0.3f}"
-                    ". Std of Reward: {:0.3f}. {}".format(
-                        self.rank(),
-                        category,
-                        step,
-                        time.time() - self.training_start_time,
-                        stats_summary.mean,
-                        stats_summary.std,
-                        is_training,
-                    )
-                )
-            else:
-                logger.info(
-                    "{}: Step: {}. "
-                    "Time Elapsed: {:0.3f} s "
-                    "Mean "
-                    "Reward: {:0.3f}"
-                    ". Std of Reward: {:0.3f}. {}".format(
-                        category,
-                        step,
-                        time.time() - self.training_start_time,
-                        stats_summary.mean,
-                        stats_summary.std,
-                        is_training,
-                    )
-                )
+                log_info.append(f"Rank: {self.rank}")
+
+            log_info.append(f"Mean Reward: {stats_summary.mean:0.3f}")
+            log_info.append(f"Std of Reward: {stats_summary.std:0.3f}")
+            log_info.append(is_training)
+
-                logger.info(f"{category} ELO: {elo_stats.mean:0.3f}. ")
+                log_info.append(f"ELO: {elo_stats.mean:0.3f}")
-            logger.info(
-                "{}: Step: {}. No episode was completed since last summary. {}".format(
-                    category, step, is_training
-                )
-            )
+            log_info.append("No episode was completed since last summary")
+            log_info.append(is_training)
+        logger.info(". ".join(log_info))
 
     def add_property(
         self, category: str, property_type: StatsPropertyType, value: Any