Merge remote-tracking branch 'origin/v2-staging' into MLA-1634-ObservationSpec

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

     [TestFixture]
     public class InferenceAnalyticsTests
     {
-        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action.onnx";
+        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_v1_0.onnx";
         NNModel continuousONNXModel;
         Test3DSensorComponent sensor_21_20_3;
         Test3DSensorComponent sensor_20_22_3;

com.unity.ml-agents/Tests/Editor/BehaviorParameterTests.cs

     [TestFixture]
     public class BehaviorParameterTests : IHeuristicProvider
     {
-        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action.onnx";
+        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_v1_0.onnx";
         public void Heuristic(in ActionBuffers actionsOut)
         {
             // No-op

com.unity.ml-agents/Tests/Editor/Inference/ModelRunnerTest.cs

     [TestFixture]
     public class ModelRunnerTest
     {
-        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action.onnx";
-        const string k_discreteONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr.onnx";
-        const string k_hybridONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/hybrid0vis53vec_3c_2daction.onnx";
-        const string k_continuousNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_deprecated.nn";
-        const string k_discreteNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_deprecated.nn";
+        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_v1_0.onnx";
+        const string k_discreteONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_v1_0.onnx";
+        const string k_hybridONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/hybrid0vis53vec_3c_2daction_v1_0.onnx";
+        const string k_continuousNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_deprecated_v1_0.nn";
+        const string k_discreteNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_deprecated_v1_0.nn";
+
         NNModel continuousONNXModel;
         NNModel discreteONNXModel;
         NNModel hybridONNXModel;
         Test3DSensorComponent sensor_20_22_3;
+
 
         ActionSpec GetContinuous2vis8vec2actionActionSpec()
         {

com.unity.ml-agents/Tests/Editor/Inference.meta

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com.unity.ml-agents/Tests/Editor/TestModels/discrete_rank2_vector_v2_0.onnx.meta

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+    11400002: model data
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+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
+  importMode: 1

com.unity.ml-agents/Tests/Editor/Inference/ParameterLoaderTest.cs

+using System.Linq;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEditor;
+using Unity.Barracuda;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Inference;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Policies;
+
+namespace Unity.MLAgents.Tests
+{
+    public class Test3DSensorComponent : SensorComponent
+    {
+        public ISensor Sensor;
+
+        public override ISensor CreateSensor()
+        {
+            return Sensor;
+        }
+
+        public override int[] GetObservationShape()
+        {
+            var shape = Sensor.GetObservationSpec().Shape;
+            return new int[] { shape[0], shape[1], shape[2] };
+        }
+    }
+    public class Test3DSensor : ISensor, IBuiltInSensor
+    {
+        int m_Width;
+        int m_Height;
+        int m_Channels;
+        string m_Name;
+        // Dummy value for the IBuiltInSensor interface
+        public const int k_BuiltInSensorType = -42;
+
+        public Test3DSensor(string name, int width, int height, int channels)
+        {
+            m_Width = width;
+            m_Height = height;
+            m_Channels = channels;
+            m_Name = name;
+        }
+
+        public ObservationSpec GetObservationSpec()
+        {
+            return ObservationSpec.Visual(m_Height, m_Width, m_Channels);
+        }
+
+        public int Write(ObservationWriter writer)
+        {
+            for (int i = 0; i < m_Width * m_Height * m_Channels; i++)
+            {
+                writer[i] = 0.0f;
+            }
+            return m_Width * m_Height * m_Channels;
+        }
+
+        public byte[] GetCompressedObservation()
+        {
+            return new byte[0];
+        }
+
+        public void Update() { }
+        public void Reset() { }
+
+        public SensorCompressionType GetCompressionType()
+        {
+            return SensorCompressionType.None;
+        }
+
+        public string GetName()
+        {
+            return m_Name;
+        }
+
+        public BuiltInSensorType GetBuiltInSensorType()
+        {
+            return (BuiltInSensorType)k_BuiltInSensorType;
+        }
+    }
+
+    [TestFixture]
+    public class ParameterLoaderTest
+    {
+        const string k_discrete_ONNX_v2 = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete_rank2_vector_v2_0.onnx";
+
+        // ONNX model with continuous/discrete action output (support hybrid action)
+        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_v1_0.onnx";
+        const string k_discreteONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_v1_0.onnx";
+        const string k_hybridONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/hybrid0vis53vec_3c_2daction_v1_0.onnx";
+        // NN model with single action output (deprecated, does not support hybrid action).
+        // Same BrainParameters settings as the corresponding ONNX model.
+        const string k_continuousNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_deprecated_v1_0.nn";
+        const string k_discreteNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_deprecated_v1_0.nn";
+
+        NNModel rank2ONNXModel;
+        NNModel continuousONNXModel;
+        NNModel discreteONNXModel;
+        NNModel hybridONNXModel;
+        NNModel continuousNNModel;
+        NNModel discreteNNModel;
+        Test3DSensorComponent sensor_21_20_3;
+        Test3DSensorComponent sensor_20_22_3;
+        BufferSensor sensor_23_20;
+        VectorSensor sensor_8;
+        VectorSensor sensor_10;
+
+        BrainParameters GetContinuous2vis8vec2actionBrainParameters()
+        {
+            var validBrainParameters = new BrainParameters();
+            validBrainParameters.VectorObservationSize = 8;
+            validBrainParameters.NumStackedVectorObservations = 1;
+            validBrainParameters.ActionSpec = ActionSpec.MakeContinuous(2);
+            return validBrainParameters;
+        }
+
+        BrainParameters GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters()
+        {
+            var validBrainParameters = new BrainParameters();
+            validBrainParameters.VectorObservationSize = 0;
+            validBrainParameters.NumStackedVectorObservations = 1;
+            validBrainParameters.ActionSpec = ActionSpec.MakeDiscrete(2, 3);
+            return validBrainParameters;
+        }
+
+        BrainParameters GetHybridBrainParameters()
+        {
+            var validBrainParameters = new BrainParameters();
+            validBrainParameters.VectorObservationSize = 53;
+            validBrainParameters.NumStackedVectorObservations = 1;
+            validBrainParameters.ActionSpec = new ActionSpec(3, new[] { 2 });
+            return validBrainParameters;
+        }
+
+        BrainParameters GetRank2BrainParameters()
+        {
+            var validBrainParameters = new BrainParameters();
+            validBrainParameters.VectorObservationSize = 4;
+            validBrainParameters.NumStackedVectorObservations = 2;
+            validBrainParameters.ActionSpec = ActionSpec.MakeDiscrete(3, 3, 3);
+            return validBrainParameters;
+        }
+
+        [SetUp]
+        public void SetUp()
+        {
+            continuousONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousONNXPath, typeof(NNModel));
+            discreteONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteONNXPath, typeof(NNModel));
+            hybridONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_hybridONNXPath, typeof(NNModel));
+            continuousNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousNNPath, typeof(NNModel));
+            discreteNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteNNPath, typeof(NNModel));
+            rank2ONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discrete_ONNX_v2, typeof(NNModel));
+            var go = new GameObject("SensorA");
+            sensor_21_20_3 = go.AddComponent<Test3DSensorComponent>();
+            sensor_21_20_3.Sensor = new Test3DSensor("SensorA", 21, 20, 3);
+            sensor_20_22_3 = go.AddComponent<Test3DSensorComponent>();
+            sensor_20_22_3.Sensor = new Test3DSensor("SensorA", 20, 22, 3);
+            sensor_23_20 = new BufferSensor(20, 23, "BufferSensor");
+            sensor_8 = new VectorSensor(8, "VectorSensor8");
+            sensor_10 = new VectorSensor(10, "VectorSensor10");
+        }
+
+        [Test]
+        public void TestModelExist()
+        {
+            Assert.IsNotNull(continuousONNXModel);
+            Assert.IsNotNull(discreteONNXModel);
+            Assert.IsNotNull(hybridONNXModel);
+            Assert.IsNotNull(continuousNNModel);
+            Assert.IsNotNull(discreteNNModel);
+            Assert.IsNotNull(rank2ONNXModel);
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestGetInputTensorsContinuous(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
+            var inputNames = model.GetInputNames();
+            // Model should contain 3 inputs : vector, visual 1 and visual 2
+            Assert.AreEqual(3, inputNames.Count());
+            Assert.Contains(TensorNames.VectorObservationPlaceholder, inputNames);
+            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "0", inputNames);
+            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "1", inputNames);
+
+            Assert.AreEqual(2, model.GetNumVisualInputs());
+
+            // Test if the model is null
+            model = null;
+            Assert.AreEqual(0, model.GetInputTensors().Count);
+            Assert.AreEqual(0, model.GetNumVisualInputs());
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestGetInputTensorsDiscrete(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
+            var inputNames = model.GetInputNames();
+            // Model should contain 2 inputs : recurrent and visual 1
+
+            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "0", inputNames);
+            // TODO :There are some memory tensors as well
+        }
+
+        [Test]
+        public void TestGetInputTensorsHybrid()
+        {
+            var model = ModelLoader.Load(hybridONNXModel);
+            var inputNames = model.GetInputNames();
+            Assert.Contains(TensorNames.VectorObservationPlaceholder, inputNames);
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestGetOutputTensorsContinuous(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
+            var outputNames = model.GetOutputNames();
+            var actionOutputName = useDeprecatedNNModel ? TensorNames.ActionOutputDeprecated : TensorNames.ContinuousActionOutput;
+            Assert.Contains(actionOutputName, outputNames);
+            Assert.AreEqual(1, outputNames.Count());
+
+            model = null;
+            Assert.AreEqual(0, model.GetOutputNames().Count());
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestGetOutputTensorsDiscrete(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
+            var outputNames = model.GetOutputNames();
+            var actionOutputName = useDeprecatedNNModel ? TensorNames.ActionOutputDeprecated : TensorNames.DiscreteActionOutput;
+            Assert.Contains(actionOutputName, outputNames);
+            // TODO : There are some memory tensors as well
+        }
+
+        [Test]
+        public void TestGetOutputTensorsHybrid()
+        {
+            var model = ModelLoader.Load(hybridONNXModel);
+            var outputNames = model.GetOutputNames();
+
+            Assert.AreEqual(2, outputNames.Count());
+            Assert.Contains(TensorNames.ContinuousActionOutput, outputNames);
+            Assert.Contains(TensorNames.DiscreteActionOutput, outputNames);
+
+            model = null;
+            Assert.AreEqual(0, model.GetOutputNames().Count());
+        }
+
+        [Test]
+        public void TestCheckModelRank2()
+        {
+            var model = ModelLoader.Load(rank2ONNXModel);
+            var validBrainParameters = GetRank2BrainParameters();
+
+            var errors = BarracudaModelParamLoader.CheckModel(
+                model, validBrainParameters,
+                new ISensor[] { sensor_23_20, sensor_10, sensor_8 }, new ActuatorComponent[0]
+            );
+            Assert.AreEqual(0, errors.Count()); // There should not be any errors
+
+            errors = BarracudaModelParamLoader.CheckModel(
+                model, validBrainParameters,
+                new ISensor[] { sensor_23_20, sensor_10 }, new ActuatorComponent[0]
+            );
+            Assert.AreNotEqual(0, errors.Count()); // Wrong number of sensors
+
+            errors = BarracudaModelParamLoader.CheckModel(
+                model, validBrainParameters,
+                new ISensor[] { new BufferSensor(20, 40, "BufferSensor"), sensor_10, sensor_8 }, new ActuatorComponent[0]
+            );
+            Assert.AreNotEqual(0, errors.Count()); // Wrong buffer sensor size
+
+            errors = BarracudaModelParamLoader.CheckModel(
+                model, validBrainParameters,
+                new ISensor[] { sensor_23_20, sensor_10, sensor_10 }, new ActuatorComponent[0]
+            );
+            Assert.AreNotEqual(0, errors.Count()); // Wrong vector sensor size
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestCheckModelValidContinuous(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
+            var validBrainParameters = GetContinuous2vis8vec2actionBrainParameters();
+
+            var errors = BarracudaModelParamLoader.CheckModel(
+                model, validBrainParameters,
+                new ISensor[] { new VectorSensor(8), sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
+            );
+            Assert.AreEqual(0, errors.Count()); // There should not be any errors
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestCheckModelValidDiscrete(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
+            var validBrainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
+
+            var errors = BarracudaModelParamLoader.CheckModel(
+                model, validBrainParameters,
+                new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]
+            );
+            Assert.AreEqual(0, errors.Count()); // There should not be any errors
+        }
+
+        [Test]
+        public void TestCheckModelValidHybrid()
+        {
+            var model = ModelLoader.Load(hybridONNXModel);
+            var validBrainParameters = GetHybridBrainParameters();
+
+            var errors = BarracudaModelParamLoader.CheckModel(
+                model, validBrainParameters,
+                new ISensor[] { new VectorSensor(validBrainParameters.VectorObservationSize) }, new ActuatorComponent[0]
+            );
+            Assert.AreEqual(0, errors.Count()); // There should not be any errors
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestCheckModelThrowsVectorObservationContinuous(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
+
+            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            brainParameters.VectorObservationSize = 9; // Invalid observation
+            var errors = BarracudaModelParamLoader.CheckModel(
+                model, brainParameters,
+                new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
+            );
+            Assert.Greater(errors.Count(), 0);
+
+            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            brainParameters.NumStackedVectorObservations = 2;// Invalid stacking
+            errors = BarracudaModelParamLoader.CheckModel(
+                model, brainParameters,
+                new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
+            );
+            Assert.Greater(errors.Count(), 0);
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestCheckModelThrowsVectorObservationDiscrete(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
+
+            var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
+            brainParameters.VectorObservationSize = 1; // Invalid observation
+            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+        }
+
+        [Test]
+        public void TestCheckModelThrowsVectorObservationHybrid()
+        {
+            var model = ModelLoader.Load(hybridONNXModel);
+
+            var brainParameters = GetHybridBrainParameters();
+            brainParameters.VectorObservationSize = 9; // Invalid observation
+            var errors = BarracudaModelParamLoader.CheckModel(
+                model, brainParameters,
+                new ISensor[] { }, new ActuatorComponent[0]
+            );
+            Assert.Greater(errors.Count(), 0);
+
+            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            brainParameters.NumStackedVectorObservations = 2;// Invalid stacking
+            errors = BarracudaModelParamLoader.CheckModel(
+                model, brainParameters,
+                new ISensor[] { }, new ActuatorComponent[0]
+            );
+            Assert.Greater(errors.Count(), 0);
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestCheckModelThrowsActionContinuous(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
+
+            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            brainParameters.ActionSpec = ActionSpec.MakeContinuous(3); // Invalid action
+            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+
+            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3); // Invalid SpaceType
+            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+        }
+
+        [TestCase(true)]
+        [TestCase(false)]
+        public void TestCheckModelThrowsActionDiscrete(bool useDeprecatedNNModel)
+        {
+            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
+
+            var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
+            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3, 3); // Invalid action
+            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+
+            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            brainParameters.ActionSpec = ActionSpec.MakeContinuous(2); // Invalid SpaceType
+            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+        }
+
+        [Test]
+        public void TestCheckModelThrowsActionHybrid()
+        {
+            var model = ModelLoader.Load(hybridONNXModel);
+
+            var brainParameters = GetHybridBrainParameters();
+            brainParameters.ActionSpec = new ActionSpec(3, new[] { 3 }); // Invalid discrete action size
+            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+
+            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(2); // Missing continuous action
+            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+        }
+
+        [Test]
+        public void TestCheckModelThrowsNoModel()
+        {
+            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
+            var errors = BarracudaModelParamLoader.CheckModel(null, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
+            Assert.Greater(errors.Count(), 0);
+        }
+    }
+}

com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs

-using System.Linq;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEditor;
-using Unity.Barracuda;
-using Unity.MLAgents.Actuators;
-using Unity.MLAgents.Inference;
-using Unity.MLAgents.Sensors;
-using Unity.MLAgents.Policies;
-
-namespace Unity.MLAgents.Tests
-{
-    public class Test3DSensorComponent : SensorComponent
-    {
-        public ISensor Sensor;
-
-        public override ISensor CreateSensor()
-        {
-            return Sensor;
-        }
-
-        public override int[] GetObservationShape()
-        {
-            var shape = Sensor.GetObservationSpec().Shape;
-            return new int[] { shape[0], shape[1], shape[2] };
-        }
-    }
-    public class Test3DSensor : ISensor, IBuiltInSensor
-    {
-        int m_Width;
-        int m_Height;
-        int m_Channels;
-        string m_Name;
-        // Dummy value for the IBuiltInSensor interface
-        public const int k_BuiltInSensorType = -42;
-
-        public Test3DSensor(string name, int width, int height, int channels)
-        {
-            m_Width = width;
-            m_Height = height;
-            m_Channels = channels;
-            m_Name = name;
-        }
-
-        public ObservationSpec GetObservationSpec()
-        {
-            return ObservationSpec.Visual(m_Height, m_Width, m_Channels);
-        }
-
-        public int Write(ObservationWriter writer)
-        {
-            for (int i = 0; i < m_Width * m_Height * m_Channels; i++)
-            {
-                writer[i] = 0.0f;
-            }
-            return m_Width * m_Height * m_Channels;
-        }
-
-        public byte[] GetCompressedObservation()
-        {
-            return new byte[0];
-        }
-
-        public void Update() { }
-        public void Reset() { }
-
-        public SensorCompressionType GetCompressionType()
-        {
-            return SensorCompressionType.None;
-        }
-
-        public string GetName()
-        {
-            return m_Name;
-        }
-
-        public BuiltInSensorType GetBuiltInSensorType()
-        {
-            return (BuiltInSensorType)k_BuiltInSensorType;
-        }
-    }
-
-    [TestFixture]
-    public class ParameterLoaderTest
-    {
-        // ONNX model with continuous/discrete action output (support hybrid action)
-        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action.onnx";
-        const string k_discreteONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr.onnx";
-        const string k_hybridONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/hybrid0vis53vec_3c_2daction.onnx";
-        // NN model with single action output (deprecated, does not support hybrid action).
-        // Same BrainParameters settings as the corresponding ONNX model.
-        const string k_continuousNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_deprecated.nn";
-        const string k_discreteNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_deprecated.nn";
-        NNModel continuousONNXModel;
-        NNModel discreteONNXModel;
-        NNModel hybridONNXModel;
-        NNModel continuousNNModel;
-        NNModel discreteNNModel;
-        Test3DSensorComponent sensor_21_20_3;
-        Test3DSensorComponent sensor_20_22_3;
-
-        BrainParameters GetContinuous2vis8vec2actionBrainParameters()
-        {
-            var validBrainParameters = new BrainParameters();
-            validBrainParameters.VectorObservationSize = 8;
-            validBrainParameters.NumStackedVectorObservations = 1;
-            validBrainParameters.ActionSpec = ActionSpec.MakeContinuous(2);
-            return validBrainParameters;
-        }
-
-        BrainParameters GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters()
-        {
-            var validBrainParameters = new BrainParameters();
-            validBrainParameters.VectorObservationSize = 0;
-            validBrainParameters.NumStackedVectorObservations = 1;
-            validBrainParameters.ActionSpec = ActionSpec.MakeDiscrete(2, 3);
-            return validBrainParameters;
-        }
-
-        BrainParameters GetHybridBrainParameters()
-        {
-            var validBrainParameters = new BrainParameters();
-            validBrainParameters.VectorObservationSize = 53;
-            validBrainParameters.NumStackedVectorObservations = 1;
-            validBrainParameters.ActionSpec = new ActionSpec(3, new[] { 2 });
-            return validBrainParameters;
-        }
-
-        [SetUp]
-        public void SetUp()
-        {
-            continuousONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousONNXPath, typeof(NNModel));
-            discreteONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteONNXPath, typeof(NNModel));
-            hybridONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_hybridONNXPath, typeof(NNModel));
-            continuousNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousNNPath, typeof(NNModel));
-            discreteNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteNNPath, typeof(NNModel));
-            var go = new GameObject("SensorA");
-            sensor_21_20_3 = go.AddComponent<Test3DSensorComponent>();
-            sensor_21_20_3.Sensor = new Test3DSensor("SensorA", 21, 20, 3);
-            sensor_20_22_3 = go.AddComponent<Test3DSensorComponent>();
-            sensor_20_22_3.Sensor = new Test3DSensor("SensorA", 20, 22, 3);
-        }
-
-        [Test]
-        public void TestModelExist()
-        {
-            Assert.IsNotNull(continuousONNXModel);
-            Assert.IsNotNull(discreteONNXModel);
-            Assert.IsNotNull(hybridONNXModel);
-            Assert.IsNotNull(continuousNNModel);
-            Assert.IsNotNull(discreteNNModel);
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestGetInputTensorsContinuous(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
-            var inputNames = model.GetInputNames();
-            // Model should contain 3 inputs : vector, visual 1 and visual 2
-            Assert.AreEqual(3, inputNames.Count());
-            Assert.Contains(TensorNames.VectorObservationPlaceholder, inputNames);
-            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "0", inputNames);
-            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "1", inputNames);
-
-            Assert.AreEqual(2, model.GetNumVisualInputs());
-
-            // Test if the model is null
-            model = null;
-            Assert.AreEqual(0, model.GetInputTensors().Count);
-            Assert.AreEqual(0, model.GetNumVisualInputs());
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestGetInputTensorsDiscrete(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
-            var inputNames = model.GetInputNames();
-            // Model should contain 2 inputs : recurrent and visual 1
-
-            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "0", inputNames);
-            // TODO :There are some memory tensors as well
-        }
-
-        [Test]
-        public void TestGetInputTensorsHybrid()
-        {
-            var model = ModelLoader.Load(hybridONNXModel);
-            var inputNames = model.GetInputNames();
-            Assert.Contains(TensorNames.VectorObservationPlaceholder, inputNames);
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestGetOutputTensorsContinuous(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
-            var outputNames = model.GetOutputNames();
-            var actionOutputName = useDeprecatedNNModel ? TensorNames.ActionOutputDeprecated : TensorNames.ContinuousActionOutput;
-            Assert.Contains(actionOutputName, outputNames);
-            Assert.AreEqual(1, outputNames.Count());
-
-            model = null;
-            Assert.AreEqual(0, model.GetOutputNames().Count());
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestGetOutputTensorsDiscrete(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
-            var outputNames = model.GetOutputNames();
-            var actionOutputName = useDeprecatedNNModel ? TensorNames.ActionOutputDeprecated : TensorNames.DiscreteActionOutput;
-            Assert.Contains(actionOutputName, outputNames);
-            // TODO : There are some memory tensors as well
-        }
-
-        [Test]
-        public void TestGetOutputTensorsHybrid()
-        {
-            var model = ModelLoader.Load(hybridONNXModel);
-            var outputNames = model.GetOutputNames();
-
-            Assert.AreEqual(2, outputNames.Count());
-            Assert.Contains(TensorNames.ContinuousActionOutput, outputNames);
-            Assert.Contains(TensorNames.DiscreteActionOutput, outputNames);
-
-            model = null;
-            Assert.AreEqual(0, model.GetOutputNames().Count());
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestCheckModelValidContinuous(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
-            var validBrainParameters = GetContinuous2vis8vec2actionBrainParameters();
-
-            var errors = BarracudaModelParamLoader.CheckModel(
-                model, validBrainParameters,
-                new ISensor[] { new VectorSensor(8), sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
-            );
-            Assert.AreEqual(0, errors.Count()); // There should not be any errors
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestCheckModelValidDiscrete(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
-            var validBrainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
-
-            var errors = BarracudaModelParamLoader.CheckModel(
-                model, validBrainParameters,
-                new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]
-            );
-            Assert.AreEqual(0, errors.Count()); // There should not be any errors
-        }
-
-        [Test]
-        public void TestCheckModelValidHybrid()
-        {
-            var model = ModelLoader.Load(hybridONNXModel);
-            var validBrainParameters = GetHybridBrainParameters();
-
-            var errors = BarracudaModelParamLoader.CheckModel(
-                model, validBrainParameters,
-                new ISensor[] { new VectorSensor(validBrainParameters.VectorObservationSize) }, new ActuatorComponent[0]
-            );
-            Assert.AreEqual(0, errors.Count()); // There should not be any errors
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestCheckModelThrowsVectorObservationContinuous(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
-
-            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            brainParameters.VectorObservationSize = 9; // Invalid observation
-            var errors = BarracudaModelParamLoader.CheckModel(
-                model, brainParameters,
-                new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
-            );
-            Assert.Greater(errors.Count(), 0);
-
-            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            brainParameters.NumStackedVectorObservations = 2;// Invalid stacking
-            errors = BarracudaModelParamLoader.CheckModel(
-                model, brainParameters,
-                new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]
-            );
-            Assert.Greater(errors.Count(), 0);
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestCheckModelThrowsVectorObservationDiscrete(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
-
-            var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
-            brainParameters.VectorObservationSize = 1; // Invalid observation
-            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-        }
-
-        [Test]
-        public void TestCheckModelThrowsVectorObservationHybrid()
-        {
-            var model = ModelLoader.Load(hybridONNXModel);
-
-            var brainParameters = GetHybridBrainParameters();
-            brainParameters.VectorObservationSize = 9; // Invalid observation
-            var errors = BarracudaModelParamLoader.CheckModel(
-                model, brainParameters,
-                new ISensor[] { }, new ActuatorComponent[0]
-            );
-            Assert.Greater(errors.Count(), 0);
-
-            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            brainParameters.NumStackedVectorObservations = 2;// Invalid stacking
-            errors = BarracudaModelParamLoader.CheckModel(
-                model, brainParameters,
-                new ISensor[] { }, new ActuatorComponent[0]
-            );
-            Assert.Greater(errors.Count(), 0);
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestCheckModelThrowsActionContinuous(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
-
-            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            brainParameters.ActionSpec = ActionSpec.MakeContinuous(3); // Invalid action
-            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-
-            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3); // Invalid SpaceType
-            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-        }
-
-        [TestCase(true)]
-        [TestCase(false)]
-        public void TestCheckModelThrowsActionDiscrete(bool useDeprecatedNNModel)
-        {
-            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
-
-            var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
-            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3, 3); // Invalid action
-            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-
-            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            brainParameters.ActionSpec = ActionSpec.MakeContinuous(2); // Invalid SpaceType
-            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-        }
-
-        [Test]
-        public void TestCheckModelThrowsActionHybrid()
-        {
-            var model = ModelLoader.Load(hybridONNXModel);
-
-            var brainParameters = GetHybridBrainParameters();
-            brainParameters.ActionSpec = new ActionSpec(3, new[] { 3 }); // Invalid discrete action size
-            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-
-            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(2); // Missing continuous action
-            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-        }
-
-        [Test]
-        public void TestCheckModelThrowsNoModel()
-        {
-            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
-            var errors = BarracudaModelParamLoader.CheckModel(null, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]);
-            Assert.Greater(errors.Count(), 0);
-        }
-    }
-}