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Merge pull request #3010 from Unity-Technologies/release-0.12.0-to-master

Merge Release 0.12.0 to master
/develop
GitHub 5 年前
当前提交
d4780a55
共有 287 个文件被更改,包括 7423 次插入7636 次删除
  1. 27
      .circleci/config.yml
  2. 1
      .gitignore
  3. 37
      .pre-commit-config.yaml
  4. 9
      .yamato/csharp-tests.yml
  5. 11
      .yamato/standalone-build-test.yml
  6. 1
      UnitySDK/Assets/ML-Agents/Editor/AgentEditor.cs
  7. 31
      UnitySDK/Assets/ML-Agents/Editor/BehaviorParametersEditor.cs
  8. 26
      UnitySDK/Assets/ML-Agents/Editor/BrainParametersDrawer.cs
  9. 2
      UnitySDK/Assets/ML-Agents/Editor/DemonstrationImporter.cs
  10. 16
      UnitySDK/Assets/ML-Agents/Editor/ResetParameterDrawer.cs
  11. 93
      UnitySDK/Assets/ML-Agents/Editor/Tests/DemonstrationTests.cs
  12. 55
      UnitySDK/Assets/ML-Agents/Editor/Tests/EditModeTestInternalBrainTensorApplier.cs
  13. 73
      UnitySDK/Assets/ML-Agents/Editor/Tests/EditModeTestInternalBrainTensorGenerator.cs
  14. 25
      UnitySDK/Assets/ML-Agents/Editor/Tests/MLAgentsEditModeTest.cs
  15. 6
      UnitySDK/Assets/ML-Agents/Editor/Tests/RandomNormalTest.cs
  16. 4
      UnitySDK/Assets/ML-Agents/Editor/Tests/RayPerceptionTests.cs
  17. 6
      UnitySDK/Assets/ML-Agents/Editor/Tests/StandaloneBuildTest.cs
  18. 6
      UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
  19. 6
      UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs
  20. 493
      UnitySDK/Assets/ML-Agents/Examples/3DBall/TFModels/3DBall.nn
  21. 649
      UnitySDK/Assets/ML-Agents/Examples/3DBall/TFModels/3DBallHard.nn
  22. 7
      UnitySDK/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab
  23. 8
      UnitySDK/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs
  24. 20
      UnitySDK/Assets/ML-Agents/Examples/Basic/TFModels/Basic.nn
  25. 7
      UnitySDK/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab
  26. 6
      UnitySDK/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs
  27. 2
      UnitySDK/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerTarget.cs
  28. 126
      UnitySDK/Assets/ML-Agents/Examples/Bouncer/TFModels/Bouncer.nn
  29. 7
      UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/DynamicPlatform.prefab
  30. 7
      UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/FixedPlatform.prefab
  31. 2
      UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
  32. 1001
      UnitySDK/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn
  33. 1001
      UnitySDK/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn
  34. 161
      UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
  35. 18
      UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
  36. 655
      UnitySDK/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.nn
  37. 2
      UnitySDK/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
  38. 2
      UnitySDK/Assets/ML-Agents/Examples/GridWorld/Prefabs/agentRenderTexture.renderTexture
  39. 8
      UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
  40. 20
      UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
  41. 4
      UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs
  42. 1001
      UnitySDK/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn
  43. 25
      UnitySDK/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
  44. 8
      UnitySDK/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
  45. 1001
      UnitySDK/Assets/ML-Agents/Examples/Hallway/TFModels/Hallway.nn
  46. 52
      UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab
  47. 18
      UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
  48. 1001
      UnitySDK/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock.nn
  49. 14
      UnitySDK/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidAgent.cs
  50. 2
      UnitySDK/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidArea.cs
  51. 12
      UnitySDK/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidSwitch.cs
  52. 1001
      UnitySDK/Assets/ML-Agents/Examples/Pyramids/TFModels/Pyramids.nn
  53. 16
      UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs
  54. 6
      UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherGoal.cs
  55. 581
      UnitySDK/Assets/ML-Agents/Examples/Reacher/TFModels/Reacher.nn
  56. 6
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/FlyCamera.cs
  57. 2
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/GroundContact.cs
  58. 16
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception.cs
  59. 59
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception2D.cs
  60. 68
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception3D.cs
  61. 2
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetContact.cs
  62. 264
      UnitySDK/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
  63. 33
      UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
  64. 2
      UnitySDK/Assets/ML-Agents/Examples/Template/Scripts/TemplateAgent.cs
  65. 10
      UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs
  66. 18
      UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
  67. 2
      UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs
  68. 531
      UnitySDK/Assets/ML-Agents/Examples/Tennis/TFModels/Tennis.nn
  69. 10
      UnitySDK/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
  70. 1001
      UnitySDK/Assets/ML-Agents/Examples/Walker/TFModels/Walker.nn
  71. 52
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab
  72. 2
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
  73. 15
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
  74. 1001
      UnitySDK/Assets/ML-Agents/Examples/WallJump/TFModels/BigWallJump.nn
  75. 1001
      UnitySDK/Assets/ML-Agents/Examples/WallJump/TFModels/SmallWallJump.nn
  76. 34
      UnitySDK/Assets/ML-Agents/Scripts/Academy.cs
  77. 10
      UnitySDK/Assets/ML-Agents/Scripts/ActionMasker.cs
  78. 309
      UnitySDK/Assets/ML-Agents/Scripts/Agent.cs
  79. 37
      UnitySDK/Assets/ML-Agents/Scripts/DemonstrationRecorder.cs
  80. 43
      UnitySDK/Assets/ML-Agents/Scripts/DemonstrationStore.cs
  81. 98
      UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/AgentAction.cs
  82. 207
      UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/AgentInfo.cs
  83. 72
      UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/BrainParameters.cs
  84. 2
      UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/Observation.cs.meta
  85. 80
      UnitySDK/Assets/ML-Agents/Scripts/Grpc/GrpcExtensions.cs
  86. 43
      UnitySDK/Assets/ML-Agents/Scripts/Grpc/RpcCommunicator.cs
  87. 22
      UnitySDK/Assets/ML-Agents/Scripts/ICommunicator.cs
  88. 81
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/ApplierImpl.cs
  89. 189
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/BarracudaModelParamLoader.cs
  90. 128
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/GeneratorImpl.cs
  91. 45
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/ModelRunner.cs
  92. 17
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/TensorApplier.cs
  93. 58
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/TensorGenerator.cs
  94. 2
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/TensorProxy.cs
  95. 2
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/Utils/Multinomial.cs
  96. 10
      UnitySDK/Assets/ML-Agents/Scripts/InferenceBrain/Utils/RandomNormal.cs
  97. 27
      UnitySDK/Assets/ML-Agents/Scripts/Policy/BarracudaPolicy.cs
  98. 62
      UnitySDK/Assets/ML-Agents/Scripts/Policy/BehaviorParameters.cs
  99. 6
      UnitySDK/Assets/ML-Agents/Scripts/Policy/HeuristicPolicy.cs
  100. 1
      UnitySDK/Assets/ML-Agents/Scripts/Policy/IPolicy.cs

27
.circleci/config.yml


markdown_link_check:
parameters:
precommit_command:
type: string
description: precommit hook to run
default: markdown-link-check
docker:
- image: circleci/node:12.6.0
working_directory: ~/repo

name: Run markdown-link-check via precommit
command: |
. venv/bin/activate
pre-commit run --hook-stage manual markdown-link-check --all-files
pre-commit run --hook-stage manual << parameters.precommit_command >> --all-files
protobuf_generation_check:
docker:

executor: python373
pyversion: 3.7.3
# Test python 3.7 with the newest supported versions
pip_constraints: test_constraints_max_version.txt
pip_constraints: test_constraints_max_tf1_version.txt
- build_python:
name: python_3.7.3+tf2
executor: python373
pyversion: 3.7.3
# Test python 3.7 with the newest supported versions
pip_constraints: test_constraints_max_tf2_version.txt
- markdown_link_check
- protobuf_generation_check
- deploy:

only: /[0-9]+(\.[0-9]+)*(\.dev[0-9]+)*/
branches:
ignore: /.*/
nightly:
triggers:
- schedule:
cron: "0 0 * * *"
filters:
branches:
only:
- develop
jobs:
- markdown_link_check:
name: markdown-link-check full
precommit_command: markdown-link-check-full

1
.gitignore


/UnitySDK/[Bb]uild/
/UnitySDK/[Bb]uilds/
/UnitySDK/[Pp]ackages/
/UnitySDK/[Uu]nity[Pp]ackage[Mm]anager/
/UnitySDK/Assets/AssetStoreTools*
/UnitySDK/Assets/Plugins*
/UnitySDK/Assets/Demonstrations*

37
.pre-commit-config.yaml


)$
- repo: https://github.com/pre-commit/mirrors-mypy
rev: v0.720
rev: v0.740
hooks:
- id: mypy
name: mypy-ml-agents

args: [--ignore-missing-imports, --disallow-incomplete-defs]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v2.2.3
rev: v2.4.0
hooks:
- id: mixed-line-ending
exclude: >

.*_pb2.py|
.*_pb2_grpc.py
)$
# temporarily pin flake8-comprehensions
additional_dependencies: [flake8-comprehensions==3.0.1]
# flake8-tidy-imports is used for banned-modules, not actually tidying
additional_dependencies: [flake8-comprehensions, flake8-tidy-imports]
- id: check-merge-conflict
args: [--assume-in-merge]
rev: v1.4.1 # Use the ref you want to point at
rev: v1.4.2
- repo: https://github.com/pre-commit/mirrors-pylint
rev: v2.4.4
hooks:
- id: pylint
exclude: >
(?x)^(
.*_pb2.py|
.*_pb2_grpc.py|
.*/tests/.*
)$
args: [--score=n]
# "Local" hooks, see https://pre-commit.com/#repository-local-hooks
- repo: local
hooks:

# Note that you must install the package separately via npm. For example:
# brew install npm; npm install -g markdown-link-check
entry: bash -xc 'echo "$@" | xargs -n1 -t markdown-link-check -c markdown-link-check.config.json' --
entry: bash -xc 'echo "$@" | xargs -n1 -t markdown-link-check -c markdown-link-check.fast.json' --
language: system
types: [markdown]
# Don't check localized files since their target might not be localized.

- id: markdown-link-check-full
name: markdown-link-check-full
entry: bash -xc 'echo "$@" | xargs -n1 -t markdown-link-check -c markdown-link-check.full.json' --
language: system
types: [markdown]
exclude: ".*localized.*"
stages: [manual]
files: ".*/setup.py"
files: ".*/__init__.py"

9
.yamato/csharp-tests.yml


name: Test Mac EditMode {{ editor.version }}
agent:
type: Unity::VM::osx
image: ml-agents/ml-agents-bokken-mac:release
image: ml-agents/ml-agents-bokken-mac:v0.1.2-440635
flavor: i1.small
variables:
UNITY_VERSION: {{ editor.version }}

branches:
only:
- "/develop-.*/"
targets:
only:
- "develop"
- "develop"
- "master"
- "/release-.*/"
- "/hotfix-.*/"

11
.yamato/standalone-build-test.yml


name: Test Mac Standalone {{ editor.version }}
agent:
type: Unity::VM::osx
image: ml-agents/ml-agents-bokken-mac:release
image: ml-agents/ml-agents-bokken-mac:v0.1.2-440635
flavor: i1.small
variables:
UNITY_VERSION: {{ editor.version }}

branches:
only:
- "/develop-.*/"
targets:
only:
- "develop"
- "develop"
{% endfor %}
{% endfor %}

1
UnitySDK/Assets/ML-Agents/Editor/AgentEditor.cs


using UnityEngine;
using UnityEditor;
using Barracuda;
namespace MLAgents
{

31
UnitySDK/Assets/ML-Agents/Editor/BehaviorParametersEditor.cs


using UnityEngine;
using UnityEditor;
using Barracuda;
using MLAgents.Sensor;
namespace MLAgents
{

[CanEditMultipleObjects]
public class BehaviorParametersEditor : Editor
{
private const float k_TimeBetweenModelReloads = 2f;
const float k_TimeBetweenModelReloads = 2f;
private float m_TimeSinceModelReload;
float m_TimeSinceModelReload;
private bool m_RequireReload;
bool m_RequireReload;
var serializedObject = base.serializedObject;
serializedObject.Update();
var so = serializedObject;
so.Update();
EditorGUILayout.PropertyField(serializedObject.FindProperty("m_BehaviorName"));
EditorGUILayout.PropertyField(serializedObject.FindProperty("m_BrainParameters"), true);
EditorGUILayout.PropertyField(serializedObject.FindProperty("m_Model"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorName"));
EditorGUILayout.PropertyField(so.FindProperty("m_BrainParameters"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_Model"), true);
EditorGUILayout.PropertyField(serializedObject.FindProperty("m_InferenceDevice"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_InferenceDevice"), true);
EditorGUILayout.PropertyField(serializedObject.FindProperty("m_UseHeuristic"));
EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorType"));
// EditorGUILayout.PropertyField(serializedObject.FindProperty("m_Heuristic"), true);
EditorGUI.indentLevel--;
if (EditorGUI.EndChangeCheck())

DisplayFailedModelChecks();
serializedObject.ApplyModifiedProperties();
so.ApplyModifiedProperties();
private void DisplayFailedModelChecks()
void DisplayFailedModelChecks()
{
if (m_RequireReload && m_TimeSinceModelReload > k_TimeBetweenModelReloads)
{

D.logEnabled = false;
Model barracudaModel = null;
var model = (NNModel)serializedObject.FindProperty("m_Model").objectReferenceValue;
var brainParameters = ((BehaviorParameters)target).brainParameters;
var behaviorParameters = (BehaviorParameters)target;
var sensorComponents = behaviorParameters.GetComponents<SensorComponent>();
var brainParameters = behaviorParameters.brainParameters;
if (model != null)
{
barracudaModel = ModelLoader.Load(model.Value);

var failedChecks = InferenceBrain.BarracudaModelParamLoader.CheckModel(
barracudaModel, brainParameters);
barracudaModel, brainParameters, sensorComponents);
foreach (var check in failedChecks)
{
if (check != null)

26
UnitySDK/Assets/ML-Agents/Editor/BrainParametersDrawer.cs


public class BrainParametersDrawer : PropertyDrawer
{
// The height of a line in the Unity Inspectors
private const float k_LineHeight = 17f;
private const int k_VecObsNumLine = 3;
private const string k_ActionSizePropName = "vectorActionSize";
private const string k_ActionTypePropName = "vectorActionSpaceType";
private const string k_ActionDescriptionPropName = "vectorActionDescriptions";
private const string k_VecObsPropName = "vectorObservationSize";
private const string k_NumVecObsPropName = "numStackedVectorObservations";
const float k_LineHeight = 17f;
const int k_VecObsNumLine = 3;
const string k_ActionSizePropName = "vectorActionSize";
const string k_ActionTypePropName = "vectorActionSpaceType";
const string k_ActionDescriptionPropName = "vectorActionDescriptions";
const string k_VecObsPropName = "vectorObservationSize";
const string k_NumVecObsPropName = "numStackedVectorObservations";
/// <inheritdoc />
public override float GetPropertyHeight(SerializedProperty property, GUIContent label)

/// <param name="position">Rectangle on the screen to use for the property GUI.</param>
/// <param name="property">The SerializedProperty of the BrainParameters
/// to make the custom GUI for.</param>
private static void DrawVectorObservation(Rect position, SerializedProperty property)
static void DrawVectorObservation(Rect position, SerializedProperty property)
{
EditorGUI.LabelField(position, "Vector Observation");
position.y += k_LineHeight;

/// The Height required to draw the Vector Observations paramaters
/// </summary>
/// <returns>The height of the drawer of the Vector Observations </returns>
private static float GetHeightDrawVectorObservation()
static float GetHeightDrawVectorObservation()
{
return k_VecObsNumLine * k_LineHeight;
}

/// <param name="position">Rectangle on the screen to use for the property GUI.</param>
/// <param name="property">The SerializedProperty of the BrainParameters
/// to make the custom GUI for.</param>
private static void DrawVectorAction(Rect position, SerializedProperty property)
static void DrawVectorAction(Rect position, SerializedProperty property)
{
EditorGUI.LabelField(position, "Vector Action");
position.y += k_LineHeight;

/// <param name="position">Rectangle on the screen to use for the property GUI.</param>
/// <param name="property">The SerializedProperty of the BrainParameters
/// to make the custom GUI for.</param>
private static void DrawContinuousVectorAction(Rect position, SerializedProperty property)
static void DrawContinuousVectorAction(Rect position, SerializedProperty property)
{
var vecActionSize = property.FindPropertyRelative(k_ActionSizePropName);
vecActionSize.arraySize = 1;

/// <param name="position">Rectangle on the screen to use for the property GUI.</param>
/// <param name="property">The SerializedProperty of the BrainParameters
/// to make the custom GUI for.</param>
private static void DrawDiscreteVectorAction(Rect position, SerializedProperty property)
static void DrawDiscreteVectorAction(Rect position, SerializedProperty property)
{
var vecActionSize = property.FindPropertyRelative(k_ActionSizePropName);
vecActionSize.arraySize = EditorGUI.IntField(

/// The Height required to draw the Vector Action parameters
/// </summary>
/// <returns>The height of the drawer of the Vector Action </returns>
private static float GetHeightDrawVectorAction(SerializedProperty property)
static float GetHeightDrawVectorAction(SerializedProperty property)
{
var actionSize = 2 + property.FindPropertyRelative(k_ActionSizePropName).arraySize;
if (property.FindPropertyRelative(k_ActionTypePropName).enumValueIndex == 0)

2
UnitySDK/Assets/ML-Agents/Editor/DemonstrationImporter.cs


[ScriptedImporter(1, new[] {"demo"})]
public class DemonstrationImporter : ScriptedImporter
{
private const string k_IconPath = "Assets/ML-Agents/Resources/DemoIcon.png";
const string k_IconPath = "Assets/ML-Agents/Resources/DemoIcon.png";
public override void OnImportAsset(AssetImportContext ctx)
{

16
UnitySDK/Assets/ML-Agents/Editor/ResetParameterDrawer.cs


[CustomPropertyDrawer(typeof(ResetParameters))]
public class ResetParameterDrawer : PropertyDrawer
{
private ResetParameters m_Parameters;
ResetParameters m_Parameters;
private const float k_LineHeight = 17f;
const float k_LineHeight = 17f;
private const string k_NewKeyPrefix = "Param-";
const string k_NewKeyPrefix = "Param-";
/// <summary>
/// Computes the height of the Drawer depending on the property it is showing

/// </summary>
/// <param name="addRect">The rectangle for the Add New button.</param>
/// <param name="removeRect">The rectangle for the Remove Last button.</param>
private void DrawAddRemoveButtons(Rect addRect, Rect removeRect)
void DrawAddRemoveButtons(Rect addRect, Rect removeRect)
{
// This is the Add button
if (m_Parameters.Count == 0)

/// Signals that the property has been modified and requires the scene to be saved for
/// the changes to persist. Only works when the Editor is not playing.
/// </summary>
private static void MarkSceneAsDirty()
static void MarkSceneAsDirty()
{
if (!EditorApplication.isPlaying)
{

/// </summary>
/// <param name="property">The SerializedProperty of the ResetParameters
/// to make the custom GUI for.</param>
private void LazyInitializeParameters(SerializedProperty property)
void LazyInitializeParameters(SerializedProperty property)
{
if (m_Parameters != null)
{

/// <summary>
/// Removes the last ResetParameter from the ResetParameters
/// </summary>
private void RemoveLastParameter()
void RemoveLastParameter()
{
if (m_Parameters.Count > 0)
{

/// <summary>
/// Adds a new ResetParameter to the ResetParameters with a default name.
/// </summary>
private void AddParameter()
void AddParameter()
{
var key = k_NewKeyPrefix + m_Parameters.Count;
var value = default(float);

93
UnitySDK/Assets/ML-Agents/Editor/Tests/DemonstrationTests.cs


using System.Collections.Generic;
using System.Reflection;
using MLAgents.CommunicatorObjects;
private const string k_DemoDirecory = "Assets/Demonstrations/";
private const string k_ExtensionType = ".demo";
private const string k_DemoName = "Test";
const string k_DemoDirecory = "Assets/Demonstrations/";
const string k_ExtensionType = ".demo";
const string k_DemoName = "Test";
[Test]
public void TestSanitization()

{
vectorObservationSize = 3,
numStackedVectorObservations = 2,
vectorActionDescriptions = new[] {"TestActionA", "TestActionB"},
vectorActionSize = new[] {2, 2},
vectorActionDescriptions = new[] { "TestActionA", "TestActionB" },
vectorActionSize = new[] { 2, 2 },
vectorActionSpaceType = SpaceType.Discrete
};

var agentInfo = new AgentInfo
{
reward = 1f,
actionMasks = new[] {false, true},
actionMasks = new[] { false, true },
memories = new List<float>(),
stackedVectorObservation = new List<float>() {1f, 1f, 1f},
storedTextActions = "TestAction",
storedVectorActions = new[] {0f, 1f},
textObservation = "TestAction",
storedVectorActions = new[] { 0f, 1f },
}
public class ObservationAgent : TestAgent
{
public override void CollectObservations()
{
collectObservationsCalls += 1;
AddVectorObs(1f);
AddVectorObs(2f);
AddVectorObs(3f);
}
}
[Test]
public void TestAgentWrite()
{
var agentGo1 = new GameObject("TestAgent");
var bpA = agentGo1.AddComponent<BehaviorParameters>();
bpA.brainParameters.vectorObservationSize = 3;
bpA.brainParameters.numStackedVectorObservations = 1;
bpA.brainParameters.vectorActionDescriptions = new[] { "TestActionA", "TestActionB" };
bpA.brainParameters.vectorActionSize = new[] { 2, 2 };
bpA.brainParameters.vectorActionSpaceType = SpaceType.Discrete;
agentGo1.AddComponent<ObservationAgent>();
var agent1 = agentGo1.GetComponent<ObservationAgent>();
agentGo1.AddComponent<DemonstrationRecorder>();
var demoRecorder = agentGo1.GetComponent<DemonstrationRecorder>();
var fileSystem = new MockFileSystem();
demoRecorder.demonstrationName = "TestBrain";
demoRecorder.record = true;
demoRecorder.InitializeDemoStore(fileSystem);
var acaGo = new GameObject("TestAcademy");
acaGo.AddComponent<TestAcademy>();
var aca = acaGo.GetComponent<TestAcademy>();
aca.resetParameters = new ResetParameters();
var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
BindingFlags.Instance | BindingFlags.NonPublic);
var agentEnableMethod = typeof(Agent).GetMethod("OnEnable",
BindingFlags.Instance | BindingFlags.NonPublic);
var agentSendInfo = typeof(Agent).GetMethod("SendInfo",
BindingFlags.Instance | BindingFlags.NonPublic);
agentEnableMethod?.Invoke(agent1, new object[] { });
academyInitializeMethod?.Invoke(aca, new object[] { });
// Step the agent
agent1.RequestDecision();
agentSendInfo?.Invoke(agent1, new object[] { });
demoRecorder.Close();
// Read back the demo file and make sure observations were written
var reader = fileSystem.File.OpenRead("Assets/Demonstrations/TestBrain.demo");
reader.Seek(DemonstrationStore.MetaDataBytes + 1, 0);
BrainParametersProto.Parser.ParseDelimitedFrom(reader);
var agentInfoProto = AgentInfoActionPairProto.Parser.ParseDelimitedFrom(reader).AgentInfo;
var obs = agentInfoProto.Observations[2]; // skip dummy sensors
{
var vecObs = obs.FloatData.Data;
Assert.AreEqual(bpA.brainParameters.vectorObservationSize, vecObs.Count);
for (var i = 0; i < vecObs.Count; i++)
{
Assert.AreEqual((float)i + 1, vecObs[i]);
}
}
}
}
}

55
UnitySDK/Assets/ML-Agents/Editor/Tests/EditModeTestInternalBrainTensorApplier.cs


{
public class EditModeTestInternalBrainTensorApplier
{
private class TestAgent : Agent
class TestAgent : Agent
var f = typeof(Agent).GetField(
var f = typeof(Agent).GetField(
private List<Agent> GetFakeAgentInfos()
List<Agent> GetFakeAgentInfos()
{
var goA = new GameObject("goA");
var agentA = goA.AddComponent<TestAgent>();

return new List<Agent> {agentA, agentB};
return new List<Agent> { agentA, agentB };
}
[Test]

var alloc = new TensorCachingAllocator();
var tensorGenerator = new TensorApplier(bp, 0, alloc);
var mem = new Dictionary<int, List<float>>();
var tensorGenerator = new TensorApplier(bp, 0, alloc, mem);
Assert.IsNotNull(tensorGenerator);
alloc.Dispose();
}

{
var inputTensor = new TensorProxy()
{
shape = new long[] {2, 3},
data = new Tensor(2, 3, new float[] {1, 2, 3, 4, 5, 6})
shape = new long[] { 2, 3 },
data = new Tensor(2, 3, new float[] { 1, 2, 3, 4, 5, 6 })
};
var agentInfos = GetFakeAgentInfos();

{
var inputTensor = new TensorProxy()
{
shape = new long[] {2, 5},
shape = new long[] { 2, 5 },
new[] {0.5f, 22.5f, 0.1f, 5f, 1f, 4f, 5f, 6f, 7f, 8f})
new[] { 0.5f, 22.5f, 0.1f, 5f, 1f, 4f, 5f, 6f, 7f, 8f })
var applier = new DiscreteActionOutputApplier(new[] {2, 3}, 0, alloc);
var applier = new DiscreteActionOutputApplier(new[] { 2, 3 }, 0, alloc);
applier.Apply(inputTensor, agentInfos);
var agents = agentInfos;

}
[Test]
public void ApplyMemoryOutput()
{
var inputTensor = new TensorProxy()
{
shape = new long[] {2, 5},
data = new Tensor(
2,
5,
new[] {0.5f, 22.5f, 0.1f, 5f, 1f, 4f, 5f, 6f, 7f, 8f})
};
var agentInfos = GetFakeAgentInfos();
var applier = new MemoryOutputApplier();
applier.Apply(inputTensor, agentInfos);
var agents = agentInfos;
var agent = agents[0] as TestAgent;
Assert.NotNull(agent);
var action = agent.GetAction();
Assert.AreEqual(action.memories[0], 0.5f);
Assert.AreEqual(action.memories[1], 22.5f);
agent = agents[1] as TestAgent;
Assert.NotNull(agent);
action = agent.GetAction();
Assert.AreEqual(action.memories[2], 6);
Assert.AreEqual(action.memories[3], 7);
}
[Test]
shape = new long[] {2, 1},
data = new Tensor(2, 1, new[] {0.5f, 8f})
shape = new long[] { 2, 1 },
data = new Tensor(2, 1, new[] { 0.5f, 8f })
};
var agentInfos = GetFakeAgentInfos();

73
UnitySDK/Assets/ML-Agents/Editor/Tests/EditModeTestInternalBrainTensorGenerator.cs


using System.Collections.Generic;
using System.Linq;
using System.Reflection;
private static IEnumerable<Agent> GetFakeAgentInfos()
static IEnumerable<Agent> GetFakeAgents()
var acaGo = new GameObject("TestAcademy");
acaGo.AddComponent<TestAcademy>();
var aca = acaGo.GetComponent<TestAcademy>();
aca.resetParameters = new ResetParameters();
var bpA = goA.AddComponent<BehaviorParameters>();
bpA.brainParameters.vectorObservationSize = 3;
bpA.brainParameters.numStackedVectorObservations = 1;
var goB = new GameObject("goB");
var bpB = goB.AddComponent<BehaviorParameters>();
bpB.brainParameters.vectorObservationSize = 3;
bpB.brainParameters.numStackedVectorObservations = 1;
var agentB = goB.AddComponent<TestAgent>();
var agents = new List<Agent> { agentA, agentB };
foreach (var agent in agents)
{
var agentEnableMethod = typeof(Agent).GetMethod("OnEnableHelper",
BindingFlags.Instance | BindingFlags.NonPublic);
agentEnableMethod?.Invoke(agent, new object[] { aca });
}
agentA.collectObservationsSensor.AddObservation(new Vector3(1, 2, 3));
agentB.collectObservationsSensor.AddObservation(new Vector3(4, 5, 6));
stackedVectorObservation = new[] { 1f, 2f, 3f }.ToList(),
memories = null,
var goB = new GameObject("goB");
var agentB = goB.AddComponent<TestAgent>();
stackedVectorObservation = new[] { 4f, 5f, 6f }.ToList(),
memories = new[] { 1f, 1f, 1f }.ToList(),
return new List<Agent> { agentA, agentB };
return agents;
var bp = new BrainParameters();
var tensorGenerator = new TensorGenerator(bp, 0, alloc);
var mem = new Dictionary<int, List<float>>();
var tensorGenerator = new TensorGenerator(0, alloc, mem);
Assert.IsNotNull(tensorGenerator);
alloc.Dispose();
}

shape = new long[] { 2, 3 }
};
const int batchSize = 4;
var agentInfos = GetFakeAgentInfos();
var agentInfos = GetFakeAgents();
generator.AddSensorIndex(0);
generator.AddSensorIndex(1);
generator.AddSensorIndex(2);
generator.Generate(inputTensor, batchSize, agentInfos);
Assert.IsNotNull(inputTensor.data);
Assert.AreEqual(inputTensor.data[0, 0], 1);

}
[Test]
public void GenerateRecurrentInput()
{
var inputTensor = new TensorProxy
{
shape = new long[] { 2, 5 }
};
const int batchSize = 4;
var agentInfos = GetFakeAgentInfos();
var alloc = new TensorCachingAllocator();
var generator = new RecurrentInputGenerator(alloc);
generator.Generate(inputTensor, batchSize, agentInfos);
Assert.IsNotNull(inputTensor.data);
Assert.AreEqual(inputTensor.data[0, 0], 0);
Assert.AreEqual(inputTensor.data[0, 4], 0);
Assert.AreEqual(inputTensor.data[1, 0], 1);
Assert.AreEqual(inputTensor.data[1, 4], 0);
alloc.Dispose();
}
[Test]
public void GeneratePreviousActionInput()
{
var inputTensor = new TensorProxy

};
const int batchSize = 4;
var agentInfos = GetFakeAgentInfos();
var agentInfos = GetFakeAgents();
var alloc = new TensorCachingAllocator();
var generator = new PreviousActionInputGenerator(alloc);

valueType = TensorProxy.TensorType.FloatingPoint
};
const int batchSize = 4;
var agentInfos = GetFakeAgentInfos();
var agentInfos = GetFakeAgents();
var alloc = new TensorCachingAllocator();
var generator = new ActionMaskInputGenerator(alloc);
generator.Generate(inputTensor, batchSize, agentInfos);

25
UnitySDK/Assets/ML-Agents/Editor/Tests/MLAgentsEditModeTest.cs


using NUnit.Framework;
using System.Reflection;
using MLAgents.Sensor;
using MLAgents.InferenceBrain;
namespace MLAgents.Tests
{

{
initializeAgentCalls += 1;
// Add in some custom sensors so we can confirm they get sorted as expected.
// Add in some custom Sensors so we can confirm they get sorted as expected.
m_Sensors.Add(sensor2);
m_Sensors.Add(sensor1);
sensors.Add(sensor2);
sensors.Add(sensor1);
}
public override void CollectObservations()

}
public override void AgentAction(float[] vectorAction, string textAction)
public override void AgentAction(float[] vectorAction)
{
agentActionCalls += 1;
AddReward(0.1f);

public int[] GetFloatObservationShape()
{
return new[] { 1 };
return new[] { 0 };
public void WriteToTensor(TensorProxy tensorProxy, int agentIndex) { }
public int Write(WriteAdapter adapter)
{
// No-op
return 0;
}
public byte[] GetCompressedObservation()
{

{
return sensorName;
}
public void Update() { }
}
public class EditModeTestGeneration

Assert.AreEqual(0, agent1.agentActionCalls);
Assert.AreEqual(0, agent2.agentActionCalls);
// Make sure the sensors were sorted
Assert.AreEqual(agent1.m_Sensors[0].GetName(), "testsensor1");
Assert.AreEqual(agent1.m_Sensors[1].GetName(), "testsensor2");
// Make sure the Sensors were sorted
Assert.AreEqual(agent1.sensors[0].GetName(), "testsensor1");
Assert.AreEqual(agent1.sensors[1].GetName(), "testsensor2");
}
}

6
UnitySDK/Assets/ML-Agents/Editor/Tests/RandomNormalTest.cs


{
public class RandomNormalTest
{
private const float k_FirstValue = -1.19580f;
private const float k_SecondValue = -0.97345f;
private const double k_Epsilon = 0.0001;
const float k_FirstValue = -1.19580f;
const float k_SecondValue = -0.97345f;
const double k_Epsilon = 0.0001;
[Test]
public void RandomNormalTestTwoDouble()

4
UnitySDK/Assets/ML-Agents/Editor/Tests/RayPerceptionTests.cs


var go = new GameObject("MyGameObject");
var rayPer3D = go.AddComponent<RayPerception3D>();
var result = rayPer3D.Perceive(1f, angles ,
tags, 0f, 0f);
Debug.Log(result.Count);
var result = rayPer3D.Perceive(1f, angles, tags);
Assert.IsTrue(result.Count == angles.Length * (tags.Length + 2));
}

6
UnitySDK/Assets/ML-Agents/Editor/Tests/StandaloneBuildTest.cs


string[] scenes = { "Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity" };
var buildResult = BuildPipeline.BuildPlayer(scenes, "testPlayer", BuildTarget.StandaloneOSX, BuildOptions.None);
#if UNITY_2018_1_OR_NEWER
var isOK = buildResult.summary.result == BuildResult.Succeeded;
var isOk = buildResult.summary.result == BuildResult.Succeeded;
var error = "";
foreach (var stepInfo in buildResult.steps)
{

}
#else
var error = buildResult;
var isOK = string.IsNullOrEmpty(error);
var isOk = string.IsNullOrEmpty(error);
if (isOK)
if (isOk)
{
EditorApplication.Exit(0);
}

6
UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs


{
[Header("Specific to Ball3D")]
public GameObject ball;
private Rigidbody m_BallRb;
private ResetParameters m_ResetParams;
Rigidbody m_BallRb;
ResetParameters m_ResetParams;
public override void InitializeAgent()
{

AddVectorObs(m_BallRb.velocity);
}
public override void AgentAction(float[] vectorAction, string textAction)
public override void AgentAction(float[] vectorAction)
{
var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);

6
UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs


{
[Header("Specific to Ball3DHard")]
public GameObject ball;
private Rigidbody m_BallRb;
private ResetParameters m_ResetParams;
Rigidbody m_BallRb;
ResetParameters m_ResetParams;
public override void InitializeAgent()
{

AddVectorObs((ball.transform.position - gameObject.transform.position));
}
public override void AgentAction(float[] vectorAction, string textAction)
public override void AgentAction(float[] vectorAction)
{
var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);

493
UnitySDK/Assets/ML-Agents/Examples/3DBall/TFModels/3DBall.nn


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