add option for Burst inference (#4925)

4 年前 · bc0ba098
--- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab
  m_BrainParameters:
    VectorObservationSize: 8
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 2
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: 3DBall
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab
    VectorActionSpaceType: 1
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: d179c44c147aa4ffbbb725f009eca3b8, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: 3DBallHard
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab
  m_BrainParameters:
    VectorObservationSize: 0
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 2
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: Visual3DBall
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab
+++ b/Project/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab
  m_BrainParameters:
    VectorObservationSize: 0
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: Basic
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab
+++ b/Project/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 6
-    numStackedVectorObservations: 3
-    vectorActionSize: 03000000
-    vectorActionDescriptions: []
-    vectorActionSpaceType: 1
+    VectorObservationSize: 6
+    NumStackedVectorObservations: 3
+    m_ActionSpec:
+      m_NumContinuousActions: 3
+      BranchSizes: 
+    VectorActionSize: 03000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 1
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
+  m_ObservableAttributeHandling: 0
 --- !u!114 &114878620968301562
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  agentParameters:
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  hasUpgradedFromAgentParameters: 1
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  strength: 500
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  m_Name: 
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--- a/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/CrawlerBase.prefab
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/CrawlerBase.prefab
  m_BrainParameters:
    VectorObservationSize: 32
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 20
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: 
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
    VectorActionSpaceType: 1
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: FoodCollector
  TeamId: 0
    VectorActionSpaceType: 1
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: FoodCollector
  TeamId: 0
    VectorActionSpaceType: 1
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: FoodCollector
  TeamId: 0
    VectorActionSpaceType: 1
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: FoodCollector
  TeamId: 0
    VectorActionSpaceType: 1
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: FoodCollector
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: GridFoodCollector
  TeamId: 0
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: GridFoodCollector
  TeamId: 0
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: GridFoodCollector
  TeamId: 0
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: GridFoodCollector
  TeamId: 0
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: GridFoodCollector
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/VisualFoodCollectorArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/VisualFoodCollectorArea.prefab
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: VisualFoodCollector
  TeamId: 0
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: VisualFoodCollector
  TeamId: 0
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: VisualFoodCollector
  TeamId: 0
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: VisualFoodCollector
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 0
-    numStackedVectorObservations: 1
-    vectorActionSize: 05000000
-    vectorActionDescriptions: []
-    vectorActionSpaceType: 0
+    VectorObservationSize: 0
+    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 05000000
+    VectorActionSize: 05000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 0
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
+  m_ObservableAttributeHandling: 0
 --- !u!114 &114650561397225712
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  agentParameters:
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-  maxStep: 100
+  MaxStep: 100
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  timeBetweenDecisionsAtInference: 0.15
  renderCamera: {fileID: 0}
  m_Width: 84
  m_Height: 64
  m_Grayscale: 0
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  m_Compression: 1
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  pitPref: {fileID: 1811317785436014, guid: d13ee2db77b3a4dcc8664d2fe2a0f219, type: 3}
+  numberOfObstacles: 1
 --- !u!1 &1656910849934022
 GameObject:
  m_ObjectHideFlags: 0
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
  m_ReflectionIntensity: 1
  m_CustomReflection: {fileID: 0}
  m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.44971228, g: 0.49977815, b: 0.57563734, a: 1}
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  m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
  m_BrainParameters:
    VectorObservationSize: 0
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 05000000
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: GridWorld
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
  m_BrainParameters:
    VectorObservationSize: 1
    NumStackedVectorObservations: 3
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 05000000
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: Hallway
  TeamId: 0
--- a/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 0
-    numStackedVectorObservations: 1
-    vectorActionSize: 05000000
-    vectorActionDescriptions: []
-    vectorActionSpaceType: 0
+    VectorObservationSize: 0
+    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 05000000
+    VectorActionSize: 05000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 0
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
-  m_TeamID: 0
-  m_useChildSensors: 1
+  TeamId: 0
+  m_UseChildSensors: 1
+  m_UseChildActuators: 1
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+  agentParameters:
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+  hasUpgradedFromAgentParameters: 1
+  MaxStep: 3000
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-  sensorName: CameraSensor
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+  m_Camera: {fileID: 20961984019151212}
+  m_SensorName: CameraSensor
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--- a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3Heuristic.prefab
+++ b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3Heuristic.prefab
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: c34da50737a3c4a50918002b20b2b927, type: 3}
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: Match3SmartHeuristic
  TeamId: 0
  Columns: 8
  NumCellTypes: 6
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 GameObject:
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--- a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab
+++ b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab
    VectorActionSpaceType: 0
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  m_BehaviorName: Match3VectorObs
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  ActuatorName: Match3 Actuator
+  RandomSeed: -1
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--- a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab
+++ b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
  m_Model: {fileID: 11400000, guid: 48d14da88fea74d0693c691c6e3f2e34, type: 3}
-  m_InferenceDevice: 0
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  m_BehaviorName: Match3VisualObs
  TeamId: 0
  Columns: 8
  NumCellTypes: 6
  NumSpecialTypes: 2
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 MonoBehaviour:
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  m_Name: 
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  ActuatorName: Match3 Actuator
+  RandomSeed: -1
-  HeuristicQuality: 0
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab
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  m_BrainParameters:
-    vectorObservationSize: 0
-    numStackedVectorObservations: 2
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-    vectorActionDescriptions: []
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+    NumStackedVectorObservations: 2
+    m_ActionSpec:
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+      BranchSizes: 07000000
+    VectorActionSize: 07000000
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+    hasUpgradedBrainParametersWithActionSpec: 1
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab
  m_BrainParameters:
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 MonoBehaviour:
--- a/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab
+++ b/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab
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--- a/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab
+++ b/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab
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+  m_Compression: 1
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-  RepeatAction: 1
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+  TakeActionsBetweenDecisions: 1
 --- !u!1 &1747856067778386
 GameObject:
  m_ObjectHideFlags: 0
--- a/Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab
+++ b/Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 33
-    numStackedVectorObservations: 1
-    vectorActionSize: 04000000
-    vectorActionDescriptions: []
-    vectorActionSpaceType: 1
+    VectorObservationSize: 33
+    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 4
+      BranchSizes: 
+    VectorActionSize: 04000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 1
+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_UseChildActuators: 1
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 --- !u!114 &114955921823023820
 MonoBehaviour:
  m_ObjectHideFlags: 0
  agentParameters:
    maxStep: 0
  hasUpgradedFromAgentParameters: 1
-  maxStep: 4000
+  MaxStep: 4000
  pendulumA: {fileID: 1644872085946016}
  pendulumB: {fileID: 1053261483945176}
  hand: {fileID: 1654288206095398}
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+  debugCommandLineOverride: 
 --- !u!1 &1644872085946016
 GameObject:
  m_ObjectHideFlags: 0
--- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
  m_BrainParameters:
    VectorObservationSize: 0
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 030000000300000003000000
+    hasUpgradedBrainParametersWithActionSpec: 1
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  m_ObservableAttributeHandling: 0
 --- !u!114 &114492261207303438
 MonoBehaviour:
  m_BrainParameters:
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+    m_ActionSpec:
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+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
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 --- !u!114 &114850431417842684
 MonoBehaviour:
  m_BrainParameters:
    VectorObservationSize: 0
    NumStackedVectorObservations: 1
+    m_ActionSpec:
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+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
 --- !u!114 &5320024511406682322
 MonoBehaviour:
  m_BrainParameters:
    VectorObservationSize: 0
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+    m_ActionSpec:
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+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
 --- !u!114 &5379409612883756837
 MonoBehaviour:
--- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab
  m_BrainParameters:
    VectorObservationSize: 0
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 030000000300000003000000
+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
 --- !u!114 &114492261207303438
 MonoBehaviour:
  m_BrainParameters:
    VectorObservationSize: 0
    NumStackedVectorObservations: 1
+    m_ActionSpec:
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+      BranchSizes: 030000000300000003000000
+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
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 --- !u!114 &114850431417842684
 MonoBehaviour:
  m_BrainParameters:
    VectorObservationSize: 0
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+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
 --- !u!114 &5379409612883756837
 MonoBehaviour:
--- a/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab
  m_BrainParameters:
    VectorObservationSize: 9
    NumStackedVectorObservations: 3
+    m_ActionSpec:
+      m_NumContinuousActions: 3
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
+  m_ObservableAttributeHandling: 0
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  m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3}
  m_Name: 
  m_EditorClassIdentifier: 
+  debugCommandLineOverride: 
 --- !u!1 &1194790474478638
 GameObject:
  m_ObjectHideFlags: 0
  m_BrainParameters:
    VectorObservationSize: 9
    NumStackedVectorObservations: 3
+    m_ActionSpec:
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+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
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+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
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  m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3}
  m_Name: 
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+  debugCommandLineOverride: 
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 GameObject:
  m_ObjectHideFlags: 0
--- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollBase.prefab
+++ b/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollBase.prefab
  m_BrainParameters:
    VectorObservationSize: 243
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 39
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
 --- !u!114 &7408209125961349353
 MonoBehaviour:
    maxStep: 0
  hasUpgradedFromAgentParameters: 1
  MaxStep: 5000
-  targetWalkingSpeed: 10
+  m_TargetWalkingSpeed: 10
-  walkDirectionMethod: 0
-  worldDirToWalk: {x: 1, y: 0, z: 0}
-  worldPosToWalkTo: {x: 0, y: 0, z: 0}
  target: {fileID: 0}
  hips: {fileID: 895268871264836332}
  chest: {fileID: 7933235354845945071}
--- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollDySingleSpeedVariant.prefab
+++ b/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollDySingleSpeedVariant.prefab
      value: 
      objectReference: {fileID: 11400000, guid: 47e7c480450ec4dcd9e4a04124e14ed4,
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+    - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_InferenceDevice
+      value: 2
+      objectReference: {fileID: 0}
    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
        type: 3}
      propertyPath: m_LocalPosition.x
--- a/Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab
  m_BrainParameters:
    VectorObservationSize: 4
    NumStackedVectorObservations: 6
+    m_ActionSpec:
+      m_NumContinuousActions: 0
+      BranchSizes: 03000000030000000300000002000000
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
+  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
 --- !u!114 &114925928594762506
 MonoBehaviour:
--- a/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefab.prefab
+++ b/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefab.prefab
  m_BrainParameters:
    VectorObservationSize: 64
    NumStackedVectorObservations: 1
+    m_ActionSpec:
+      m_NumContinuousActions: 9
+      BranchSizes: 
+    hasUpgradedBrainParametersWithActionSpec: 1
-  m_InferenceDevice: 0
+  m_InferenceDevice: 2
  m_BehaviorType: 0
  m_BehaviorName: WormDynamic
  TeamId: 0
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
 - The Barracuda dependency was upgraded to 1.3.0. (#4898)
 - Added `ActuatorComponent.CreateActuators`, and deprecate `ActuatorComponent.CreateActuator`.  The
  default implementation will wrap `ActuatorComponent.CreateActuator` in an array and return that. (#4899)
+- `InferenceDevice.Burst` was added, indicating that Agent's model will be run using Barracuda's Burst backend.
+  This is the default for new Agents, but existing ones that use `InferenceDevice.CPU` should update to
+  `InferenceDevice.Burst`. (#4925)

 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - Tensorboard now logs the Environment Reward as both a scalar and a histogram. (#4878)
--- a/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs
+++ b/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs
+using System;
 using System.Collections.Generic;
 using Unity.Barracuda;
 using UnityEngine.Profiling;
        public ModelRunner(
            NNModel model,
            ActionSpec actionSpec,
-            InferenceDevice inferenceDevice = InferenceDevice.CPU,
+            InferenceDevice inferenceDevice,
            int seed = 0)
        {
            Model barracudaModel;
                D.logEnabled = m_Verbose;

                barracudaModel = ModelLoader.Load(model);
-                var executionDevice = inferenceDevice == InferenceDevice.GPU
-                    ? WorkerFactory.Type.ComputePrecompiled
-                    : WorkerFactory.Type.CSharp;
+                WorkerFactory.Type executionDevice;
+                switch (inferenceDevice)
+                {
+                    case InferenceDevice.CPU:
+                        executionDevice = WorkerFactory.Type.CSharp;
+                        break;
+                    case InferenceDevice.GPU:
+                        executionDevice = WorkerFactory.Type.ComputePrecompiled;
+                        break;
+                    case InferenceDevice.Burst:
+                        executionDevice = WorkerFactory.Type.CSharpBurst;
+                        break;
+                    default:
+                        executionDevice = WorkerFactory.Type.CSharpBurst;
+                        break;
+                }
                m_Engine = WorkerFactory.CreateWorker(executionDevice, barracudaModel, m_Verbose);
            }
            else
--- a/com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs
+++ b/com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs
    public enum InferenceDevice
    {
        /// <summary>
-        /// CPU inference
+        /// CPU inference. Corresponds to in WorkerFactory.Type.CSharp Barracuda.
+        /// Burst is recommended instead; this is kept for legacy compatibility.
-        /// GPU inference
+        /// GPU inference. Corresponds to WorkerFactory.Type.ComputePrecompiled in Barracuda.
-        GPU = 1
+        GPU = 1,
+
+        /// <summary>
+        /// CPU inference using Burst. Corresponds to WorkerFactory.Type.CSharpBurst in Barracuda.
+        /// </summary>
+        Burst = 2,
    }

    /// <summary>
--- a/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
+++ b/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
        }

        [HideInInspector, SerializeField]
-        InferenceDevice m_InferenceDevice;
+        InferenceDevice m_InferenceDevice = InferenceDevice.Burst;

        /// <summary>
        /// How inference is performed for this Agent's model.
--- a/com.unity.ml-agents/Tests/Editor/ModelRunnerTest.cs
+++ b/com.unity.ml-agents/Tests/Editor/ModelRunnerTest.cs
        [Test]
        public void TestCreation()
        {
-            var modelRunner = new ModelRunner(continuousONNXModel, GetContinuous2vis8vec2actionActionSpec());
+            var inferenceDevice = InferenceDevice.Burst;
+            var modelRunner = new ModelRunner(continuousONNXModel, GetContinuous2vis8vec2actionActionSpec(), inferenceDevice);
-            modelRunner = new ModelRunner(discreteONNXModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec());
+            modelRunner = new ModelRunner(discreteONNXModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec(), inferenceDevice);
-            modelRunner = new ModelRunner(hybridONNXModel, GetHybrid0vis53vec_3c_2dActionSpec());
+            modelRunner = new ModelRunner(hybridONNXModel, GetHybrid0vis53vec_3c_2dActionSpec(), inferenceDevice);
-            modelRunner = new ModelRunner(continuousNNModel, GetContinuous2vis8vec2actionActionSpec());
+            modelRunner = new ModelRunner(continuousNNModel, GetContinuous2vis8vec2actionActionSpec(), inferenceDevice);
-            modelRunner = new ModelRunner(discreteNNModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec());
+            modelRunner = new ModelRunner(discreteNNModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec(), inferenceDevice);
            modelRunner.Dispose();
        }

        public void TestRunModel()
        {
            var actionSpec = GetDiscrete1vis0vec_2_3action_recurrModelActionSpec();
-            var modelRunner = new ModelRunner(discreteONNXModel, actionSpec);
+            var modelRunner = new ModelRunner(discreteONNXModel, actionSpec, InferenceDevice.Burst);
            var info1 = new AgentInfo();
            info1.episodeId = 1;
            modelRunner.PutObservations(info1, new[] { sensor_21_20_3.CreateSensor() }.ToList());