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using System.Collections.Generic; |
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using System.Linq; |
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using Unity.Barracuda; |
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using Unity.MLAgents.Actuators; |
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using Unity.MLAgents.Sensors; |
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using Unity.MLAgents.Policies; |
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/// The BrainParameters that are used verify the compatibility with the InferenceEngine
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/// </param>
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/// <param name="sensorComponents">Attached sensor components</param>
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/// <param name="actuatorComponents">Attached actuator components</param>
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SensorComponent[] sensorComponents, int observableAttributeTotalSize = 0, |
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SensorComponent[] sensorComponents, ActuatorComponent[] actuatorComponents, |
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int observableAttributeTotalSize = 0, |
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BehaviorType behaviorType = BehaviorType.Default) |
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{ |
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List<string> failedModelChecks = new List<string>(); |
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return failedModelChecks; |
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} |
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var modelDiscreteActionSize = isContinuous == ModelActionType.Discrete ? actionSize : 0; |
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var modelContinuousActionSize = isContinuous == ModelActionType.Continuous ? actionSize : 0; |
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failedModelChecks.AddRange( |
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CheckIntScalarPresenceHelper(new Dictionary<string, int>() |
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{ |
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CheckInputTensorShape(model, brainParameters, sensorComponents, observableAttributeTotalSize) |
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); |
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failedModelChecks.AddRange( |
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CheckOutputTensorShape(model, brainParameters, isContinuous, actionSize) |
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CheckOutputTensorShape(model, brainParameters, actuatorComponents, isContinuous, modelContinuousActionSize, modelDiscreteActionSize) |
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); |
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return failedModelChecks; |
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} |
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/// <param name="brainParameters">
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/// The BrainParameters that are used verify the compatibility with the InferenceEngine
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/// </param>
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/// <param name="actuatorComponents">Array of attached actuator components.</param>
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/// <param name="modelActionSize">
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/// The size of the action output that is expected by the model.
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/// <param name="modelContinuousActionSize">
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/// The size of the continuous action output that is expected by the model.
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/// </param>
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/// <param name="modelSumDiscreteBranchSizes">
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/// The size of the discrete action output that is expected by the model.
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/// </param>
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/// <returns>
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/// A IEnumerable of string corresponding to the incompatible shapes between model
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Model model, |
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BrainParameters brainParameters, |
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ActuatorComponent[] actuatorComponents, |
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int modelActionSize) |
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int modelContinuousActionSize, int modelSumDiscreteBranchSizes) |
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{ |
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var failedModelChecks = new List<string>(); |
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if (isContinuous == ModelActionType.Unknown) |
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"suggest Continuous Control."); |
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return failedModelChecks; |
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} |
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var tensorTester = new Dictionary<string, Func<BrainParameters, TensorShape?, int, string>>(); |
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if (brainParameters.VectorActionSpaceType == SpaceType.Continuous) |
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var tensorTester = new Dictionary<string, Func<BrainParameters, ActuatorComponent[], TensorShape?, int, int, string>>(); |
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// This will need to change a bit for hybrid action spaces.
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if (isContinuous == ModelActionType.Continuous) |
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{ |
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tensorTester[TensorNames.ActionOutput] = CheckContinuousActionOutputShape; |
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} |
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} |
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Func<BrainParameters, TensorShape?, int, string> tester = tensorTester[name]; |
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var error = tester.Invoke(brainParameters, model.GetShapeByName(name), modelActionSize); |
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var tester = tensorTester[name]; |
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var error = tester.Invoke(brainParameters, actuatorComponents, model.GetShapeByName(name), modelContinuousActionSize, modelSumDiscreteBranchSizes); |
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if (error != null) |
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{ |
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failedModelChecks.Add(error); |
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/// <param name="brainParameters">
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/// The BrainParameters that are used verify the compatibility with the InferenceEngine
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/// </param>
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/// <param name="actuatorComponents">Array of attached actuator components.</param>
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/// <param name="modelActionSize">
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/// The size of the action output that is expected by the model.
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/// <param name="modelContinuousActionSize">
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/// The size of the continuous action output that is expected by the model.
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/// </param>
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/// <param name="modelSumDiscreteBranchSizes">
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/// The size of the discrete action output that is expected by the model.
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/// </param>
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/// <returns>
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/// If the Check failed, returns a string containing information about why the
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BrainParameters brainParameters, TensorShape? shape, int modelActionSize) |
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BrainParameters brainParameters, ActuatorComponent[] actuatorComponents, TensorShape? shape, int modelContinuousActionSize, int modelSumDiscreteBranchSizes) |
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var bpActionSize = brainParameters.VectorActionSize.Sum(); |
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if (modelActionSize != bpActionSize) |
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var sumOfDiscreteBranchSizes = 0; |
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if (brainParameters.VectorActionSpaceType == SpaceType.Discrete) |
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return "Action Size of the model does not match. The BrainParameters expect " + |
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$"{bpActionSize} but the model contains {modelActionSize}."; |
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sumOfDiscreteBranchSizes += brainParameters.VectorActionSize.Sum(); |
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} |
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foreach (var actuatorComponent in actuatorComponents) |
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{ |
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var actionSpec = actuatorComponent.ActionSpec; |
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sumOfDiscreteBranchSizes += actionSpec.SumOfDiscreteBranchSizes; |
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} |
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if (modelSumDiscreteBranchSizes != sumOfDiscreteBranchSizes) |
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{ |
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return "Discrete Action Size of the model does not match. The BrainParameters expect " + |
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$"{sumOfDiscreteBranchSizes} but the model contains {modelSumDiscreteBranchSizes}."; |
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} |
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return null; |
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} |
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/// <param name="brainParameters">
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/// The BrainParameters that are used verify the compatibility with the InferenceEngine
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/// </param>
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/// <param name="actuatorComponents">Array of attached actuator components.</param>
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/// <param name="modelActionSize">
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/// The size of the action output that is expected by the model.
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/// <param name="modelContinuousActionSize">
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/// The size of the continuous action output that is expected by the model.
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/// </param>
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/// <param name="modelSumDiscreteBranchSizes">
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/// The size of the discrete action output that is expected by the model.
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BrainParameters brainParameters, TensorShape? shape, int modelActionSize) |
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BrainParameters brainParameters, ActuatorComponent[] actuatorComponents, TensorShape? shape, int modelContinuousActionSize, int modelSumDiscreteBranchSizes) |
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var bpActionSize = brainParameters.VectorActionSize[0]; |
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if (modelActionSize != bpActionSize) |
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var numContinuousActions = 0; |
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if (brainParameters.VectorActionSpaceType == SpaceType.Continuous) |
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return "Action Size of the model does not match. The BrainParameters expect " + |
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$"{bpActionSize} but the model contains {modelActionSize}."; |
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numContinuousActions += brainParameters.NumActions; |
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} |
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foreach (var actuatorComponent in actuatorComponents) |
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{ |
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var actionSpec = actuatorComponent.ActionSpec; |
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numContinuousActions += actionSpec.NumContinuousActions; |
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} |
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if (modelContinuousActionSize != numContinuousActions) |
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{ |
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return "Continuous Action Size of the model does not match. The BrainParameters and ActuatorComponents expect " + |
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$"{numContinuousActions} but the model contains {modelContinuousActionSize}."; |
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} |
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return null; |
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} |
HH
4 年前