Merge branch 'development' into dev-logfile

.gitignore

 /unity-environment/[Bb]uild/
 /unity-environment/[Bb]uilds/
 /unity-environment/[Pp]ackages/
+/unity-environment/[Uu]nity[Pp]ackage[Mm]anager/
 /unity-environment/Assets/AssetStoreTools*
 
 # Tensorflow Model Info

docs/Example-Environments.md

     * Observations: None
 * Reset Parameters: One, corresponding to goal size.
 
-## Spider
+## Crawler
-![Spider](../images/spider.png)
+![Crawler](../images/crawler.png)
-* Set-up: A spider with 4 arms and 4 forearms.
+* Set-up: A creature with 4 arms and 4 forearms.
 * Goal: The agents must move its body along the x axis without falling.
 * Agents: The environment contains 3 agent linked to a single brain.
 * Agent Reward Function (independent): 

python/ppo.py

 
 Options:
   --help                     Show this message.
-  --curriculum=<file>        Curriculum json file for environment [default: None]
+  --batch-size=<n>           How many experiences per gradient descent update step [default: 64].
+  --beta=<n>                 Strength of entropy regularization [default: 2e-3].
+  --buffer-size=<n>          How large the experience buffer should be before gradient descent [default: 2048].
+  --curriculum=<file>        Curriculum json file for environment [default: None].
+  --epsilon=<n>              Acceptable threshold around ratio of old and new policy probabilities [default: 0.2].
+  --gamma=<n>                Reward discount rate [default: 0.995].
+  --hidden-units=<n>         Number of units in hidden layer [default: 64].
+  --keep-checkpoints=<n>     How many model checkpoints to keep [default: 5].
+  --lambd=<n>                Lambda parameter for GAE [default: 0.95].
+  --learning-rate=<rate>     Model learning rate [default: 3e-4].
+  --load                     Whether to load the model or randomly initialize [default: False].
+  --num-epoch=<n>            Number of gradient descent steps per batch of experiences [default: 5].
-  --load                     Whether to load the model or randomly initialize [default: False].
-  --train                    Whether to train model, or only run inference [default: False].
-  --summary-freq=<n>         Frequency at which to save training statistics [default: 10000].
-  --gamma=<n>                Reward discount rate [default: 0.995].
-  --lambd=<n>                Lambda parameter for GAE [default: 0.95].
+  --summary-freq=<n>         Frequency at which to save training statistics [default: 10000].
-  --beta=<n>                 Strength of entropy regularization [default: 1e-3].
-  --num-epoch=<n>            Number of gradient descent steps per batch of experiences [default: 5].
-  --epsilon=<n>              Acceptable threshold around ratio of old and new policy probabilities [default: 0.2].
-  --buffer-size=<n>          How large the experience buffer should be before gradient descent [default: 2048].
-  --learning-rate=<rate>     Model learning rate [default: 3e-4].
-  --hidden-units=<n>         Number of units in hidden layer [default: 64].
-  --batch-size=<n>           How many experiences per gradient descent update step [default: 64].
-  --keep-checkpoints=<n>     How many model checkpoints to keep [default: 5].
-  --worker-id=<n>            Number to add to communication port (5005). Used for asynchronous agent scenarios [default: 0].
+  --train                    Whether to train model, or only run inference [default: False].
+  --worker-id=<n>            Number to add to communication port (5005). Used for multi-environment [default: 0].
 '''
 
 options = docopt(_USAGE)
     if steps != 0 and train_model:
         save_model(sess, model_path=model_path, steps=steps, saver=saver)
 env.close()
-export_graph(model_path, env_name)
+graph_name = (env_name.strip()
+      .replace('.app', '').replace('.exe', '').replace('.x86_64', '').replace('.x86', ''))
+graph_name = os.path.basename(os.path.normpath(graph_name))
+export_graph(model_path, graph_name)

python/ppo/models.py

 
 class PPOModel(object):
     def create_global_steps(self):
+        """Creates TF ops to track and increment global training step."""
+        """Creates TF ops to track and increment recent average cumulative reward."""
         self.last_reward = tf.Variable(0, name="last_reward", trainable=False, dtype=tf.float32)
         self.new_reward = tf.placeholder(shape=[], dtype=tf.float32, name='new_reward')
         self.update_reward = tf.assign(self.last_reward, self.new_reward)

python/ppo/trainer.py

 class Trainer(object):
     def __init__(self, ppo_model, sess, info, is_continuous, use_observations, use_states, training):
         """
-        Responsible for collecting experinces and training PPO model.
+        Responsible for collecting experiences and training PPO model.
         :param ppo_model: Tensorflow graph defining model.
         :param sess: Tensorflow session.
         :param info: Environment BrainInfo object.
         self.use_states = use_states
 
     def running_average(self, data, steps, running_mean, running_variance):
+        """
+        Computes new running mean and variances.
+        :param data: New piece of data.
+        :param steps: Total number of data so far.
+        :param running_mean: TF op corresponding to stored running mean.
+        :param running_variance: TF op corresponding to stored running variance.
+        :return: New mean and variance values.
+        """
         mean, var = self.sess.run([running_mean, running_variance])
         current_x = np.mean(data, axis=0)
         new_mean = mean + (current_x - mean) / (steps + 1)
                     history['episode_steps'] = 0
 
     def reset_buffers(self, brain_info=None, total=False):
+        """
+        Resets either all training buffers or local training buffers
+        :param brain_info: The BrainInfo object containing agent ids.
+        :param total: Whether to completely clear buffer.
+        """
         self.training_buffer = vectorize_history(empty_local_history({}))
         if not total:
             for key in self.history_dict:

python/test_unityagents.py

 def test_initialialization():
     with mock.patch('subprocess.Popen') as mock_subproc_popen:
         with mock.patch('socket.socket') as mock_socket:
-            mock_socket.return_value.accept.return_value = (mock_socket, 0)
-            mock_socket.recv.return_value.decode.return_value = dummy_start
-            env = UnityEnvironment(' ')
-            with pytest.raises(UnityActionException):
-                env.step([0])
-            assert env.brain_names[0] == 'RealFakeBrain'
-            env.close()
+            with mock.patch('glob.glob') as mock_glob:
+                mock_glob.return_value = ['FakeLaunchPath']
+                mock_socket.return_value.accept.return_value = (mock_socket, 0)
+                mock_socket.recv.return_value.decode.return_value = dummy_start
+                env = UnityEnvironment(' ')
+                with pytest.raises(UnityActionException):
+                    env.step([0])
+                assert env.brain_names[0] == 'RealFakeBrain'
+                env.close()
-            mock_socket.return_value.accept.return_value = (mock_socket, 0)
-            mock_socket.recv.return_value.decode.return_value = dummy_start
-            env = UnityEnvironment(' ')
-            brain = env.brains['RealFakeBrain']
-            mock_socket.recv.side_effect = dummy_reset 
-            brain_info = env.reset()
-            env.close()
-            assert not env.global_done
-            assert isinstance(brain_info, dict)
-            assert isinstance(brain_info['RealFakeBrain'], BrainInfo)
-            assert isinstance(brain_info['RealFakeBrain'].observations, list) 
-            assert isinstance(brain_info['RealFakeBrain'].states, np.ndarray)
-            assert len(brain_info['RealFakeBrain'].observations) == brain.number_observations
-            assert brain_info['RealFakeBrain'].states.shape[0] == len(brain_info['RealFakeBrain'].agents)
-            assert brain_info['RealFakeBrain'].states.shape[1] == brain.state_space_size 
+            with mock.patch('glob.glob') as mock_glob:
+                mock_glob.return_value = ['FakeLaunchPath']
+                mock_socket.return_value.accept.return_value = (mock_socket, 0)
+                mock_socket.recv.return_value.decode.return_value = dummy_start
+                env = UnityEnvironment(' ')
+                brain = env.brains['RealFakeBrain']
+                mock_socket.recv.side_effect = dummy_reset 
+                brain_info = env.reset()
+                env.close()
+                assert not env.global_done
+                assert isinstance(brain_info, dict)
+                assert isinstance(brain_info['RealFakeBrain'], BrainInfo)
+                assert isinstance(brain_info['RealFakeBrain'].observations, list) 
+                assert isinstance(brain_info['RealFakeBrain'].states, np.ndarray)
+                assert len(brain_info['RealFakeBrain'].observations) == brain.number_observations
+                assert brain_info['RealFakeBrain'].states.shape[0] == len(brain_info['RealFakeBrain'].agents)
+                assert brain_info['RealFakeBrain'].states.shape[1] == brain.state_space_size 
-            mock_socket.return_value.accept.return_value = (mock_socket, 0)
-            mock_socket.recv.return_value.decode.return_value = dummy_start
-            env = UnityEnvironment(' ')
-            brain = env.brains['RealFakeBrain']
-            mock_socket.recv.side_effect = dummy_reset 
-            brain_info = env.reset()
-            mock_socket.recv.side_effect = dummy_step
-            brain_info = env.step([0] * brain.action_space_size * len(brain_info['RealFakeBrain'].agents))
-            with pytest.raises(UnityActionException):
-                env.step([0])
-            brain_info = env.step([0] * brain.action_space_size * len(brain_info['RealFakeBrain'].agents))
-            with pytest.raises(UnityActionException):
-                env.step([0] * brain.action_space_size * len(brain_info['RealFakeBrain'].agents))
-            env.close()
-            assert env.global_done
-            assert isinstance(brain_info, dict)
-            assert isinstance(brain_info['RealFakeBrain'], BrainInfo)
-            assert isinstance(brain_info['RealFakeBrain'].observations, list) 
-            assert isinstance(brain_info['RealFakeBrain'].states, np.ndarray)
-            assert len(brain_info['RealFakeBrain'].observations) == brain.number_observations
-            assert brain_info['RealFakeBrain'].states.shape[0] == len(brain_info['RealFakeBrain'].agents)
-            assert brain_info['RealFakeBrain'].states.shape[1] == brain.state_space_size
-            assert not brain_info['RealFakeBrain'].local_done[0]
-            assert brain_info['RealFakeBrain'].local_done[2]
+            with mock.patch('glob.glob') as mock_glob:
+                mock_glob.return_value = ['FakeLaunchPath']
+                mock_socket.return_value.accept.return_value = (mock_socket, 0)
+                mock_socket.recv.return_value.decode.return_value = dummy_start
+                env = UnityEnvironment(' ')
+                brain = env.brains['RealFakeBrain']
+                mock_socket.recv.side_effect = dummy_reset 
+                brain_info = env.reset()
+                mock_socket.recv.side_effect = dummy_step
+                brain_info = env.step([0] * brain.action_space_size * len(brain_info['RealFakeBrain'].agents))
+                with pytest.raises(UnityActionException):
+                    env.step([0])
+                brain_info = env.step([0] * brain.action_space_size * len(brain_info['RealFakeBrain'].agents))
+                with pytest.raises(UnityActionException):
+                    env.step([0] * brain.action_space_size * len(brain_info['RealFakeBrain'].agents))
+                env.close()
+                assert env.global_done
+                assert isinstance(brain_info, dict)
+                assert isinstance(brain_info['RealFakeBrain'], BrainInfo)
+                assert isinstance(brain_info['RealFakeBrain'].observations, list) 
+                assert isinstance(brain_info['RealFakeBrain'].states, np.ndarray)
+                assert len(brain_info['RealFakeBrain'].observations) == brain.number_observations
+                assert brain_info['RealFakeBrain'].states.shape[0] == len(brain_info['RealFakeBrain'].agents)
+                assert brain_info['RealFakeBrain'].states.shape[1] == brain.state_space_size
+                assert not brain_info['RealFakeBrain'].local_done[0]
+                assert brain_info['RealFakeBrain'].local_done[2]
 
 
 
         with mock.patch('socket.socket') as mock_socket:
-            mock_socket.return_value.accept.return_value = (mock_socket, 0)
-            mock_socket.recv.return_value.decode.return_value = dummy_start
-            env = UnityEnvironment(' ')
-            assert env._loaded
-            env.close()
-            assert not env._loaded
-            mock_socket.close.assert_called_once()
+            with mock.patch('glob.glob') as mock_glob:
+                mock_glob.return_value = ['FakeLaunchPath']
+                mock_socket.return_value.accept.return_value = (mock_socket, 0)
+                mock_socket.recv.return_value.decode.return_value = dummy_start
+                env = UnityEnvironment(' ')
+                assert env._loaded
+                env.close()
+                assert not env._loaded
+                mock_socket.close.assert_called_once()
 
 
 

python/unityagents/curriculum.py

 
 class Curriculum(object):
     def __init__(self, location, default_reset_parameters):
+        """
+        Initializes a Curriculum object.
+        :param location: Path to JSON defining curriculum.
+        :param default_reset_parameters: Set of reset parameters for environment.
+        """
         self.lesson_number = 0
         self.lesson_length = 0
         self.measure_type = None
         self.lesson_number = max(0, min(value, self.max_lesson_number))
 
     def get_lesson(self, progress):
+        """
+        Returns reset parameters which correspond to current lesson.
+        :param progress: Measure of progress (either reward or percentage steps completed).
+        :return: Dictionary containing reset parameters.
+        """
         if self.data is None or progress is None:
             return {}
         if self.data["signal_smoothing"]:

python/unityagents/environment.py

 
 class UnityEnvironment(object):
     def __init__(self, file_name, worker_id=0,
-                 base_port=5005, curriculum = None):
+                 base_port=5005, curriculum=None):
         """
         Starts a new unity environment and establishes a connection with the environment.
         Notice: Currently communication between Unity and Python takes place over an open socket without authentication.
                                "or use a different worker number.".format(str(worker_id)))
 
         cwd = os.getcwd()
-        try:
-            true_filename = os.path.basename(os.path.normpath(file_name))
-            launch_string = ""
-            if platform == "linux" or platform == "linux2":
-                candidates = glob.glob(os.path.join(cwd, file_name) + '.x86_64')
-                if len(candidates) == 0:
-                    candidates = glob.glob(os.path.join(cwd, file_name) + '.x86')
-                if len(candidates) > 0:
-                    launch_string = candidates[0]
-                else:
-                    raise UnityEnvironmentException("Couldn't launch new environment. Provided filename "
-                                                    "does not match any environments in {}. ".format(cwd))
-            elif platform == 'darwin':
-                launch_string = os.path.join(cwd, file_name + '.app', 'Contents', 'MacOS', true_filename)
-            elif platform == 'win32':
-                launch_string = os.path.join(cwd, file_name + '.exe')
+        file_name = (file_name.strip()
+                     .replace('.app', '').replace('.exe', '').replace('.x86_64', '').replace('.x86', ''))
+        true_filename = os.path.basename(os.path.normpath(file_name))
+        launch_string = None
+        if platform == "linux" or platform == "linux2":
+            candidates = glob.glob(os.path.join(cwd, file_name) + '.x86_64')
+            if len(candidates) == 0:
+                candidates = glob.glob(os.path.join(cwd, file_name) + '.x86')
+            if len(candidates) == 0:
+                candidates = glob.glob(file_name + '.x86_64')
+            if len(candidates) == 0:
+                candidates = glob.glob(file_name + '.x86')
+            if len(candidates) > 0:
+                launch_string = candidates[0]
+        elif platform == 'darwin':
+            candidates = glob.glob(os.path.join(cwd, file_name + '.app', 'Contents', 'MacOS', true_filename))
+            if len(candidates) == 0:
+                candidates = glob.glob(os.path.join(file_name + '.app', 'Contents', 'MacOS', true_filename))
+            if len(candidates) > 0:
+                launch_string = candidates[0]
+        elif platform == 'win32':
+            candidates = glob.glob(os.path.join(cwd, file_name + '.exe'))
+            if len(candidates) == 0:
+                candidates = glob.glob(file_name + '.exe')
+            if len(candidates) > 0:
+                launch_string = candidates[0]
+        if launch_string is None:
+            self.close()
+            raise UnityEnvironmentException("Couldn't launch the {0} environment. "
+                                            "Provided filename does not match any environments."
+                                            .format(true_filename))
+        else:
-        except os.error:
-            self.close()
-            raise UnityEnvironmentException("Couldn't launch new environment. "
-                "Provided filename does not match any \environments in {}."
-                .format(cwd))
-        self._socket.settimeout(30) 
+        self._socket.settimeout(30)
         try:
             try:
                 self._socket.listen(1)
                 p = json.loads(p)
             except socket.timeout as e:
                 raise UnityEnvironmentException(
-                "The Unity environment took too long to respond. Make sure {} does not need user interaction to launch "
-                "and that the Academy and the external Brain(s) are attached to objects in the Scene.".format(
-                    str(file_name)))
-        
+                    "The Unity environment took too long to respond. Make sure {} does not need user interaction to "
+                    "launch and that the Academy and the external Brain(s) are attached to objects in the Scene."
+                    .format(str(file_name)))
+
             if "apiNumber" not in p:
                 self._unity_api = "API-1"
             else:
                     "The API number is not compatible between Unity and python. Python API : {0}, Unity API : "
-                    "{1}.".format(self._python_api, self._unity_api))
+                    "{1}.\nPlease go to https://github.com/Unity-Technologies/ml-agents to download the latest version "
+                    "of ML-Agents.".format(self._python_api, self._unity_api))
 
             self._data = {}
             self._global_done = None
             logger.info("\n'{}' started successfully!".format(self._academy_name))
             if (self._num_external_brains == 0):
                 logger.warning(" No External Brains found in the Unity Environment. "
-                    "You will not be able to pass actions to your agent(s).")
+                               "You will not be able to pass actions to your agent(s).")
         except UnityEnvironmentException:
             proc1.kill()
             self.close()
                                               "\n\t\t".join([str(k) + " -> " + str(self._resetParameters[k])
                                                              for k in self._resetParameters])) + '\n' + \
                '\n'.join([str(self._brains[b]) for b in self._brains])
-
 
     def _recv_bytes(self):
         s = self._conn.recv(self._buffer_size)
         config = self._curriculum.get_lesson(progress) if config is None else config
         if old_lesson != self._curriculum.get_lesson_number():
             logger.info("\nLesson changed. Now in Lesson {0} : \t{1}"
-                .format(self._curriculum.get_lesson_number(),
-                    ', '.join([str(x)+' -> '+str(config[x]) for x in config])))
+                        .format(self._curriculum.get_lesson_number(),
+                                ', '.join([str(x) + ' -> ' + str(config[x]) for x in config])))
-                .format(self._curriculum.get_lesson_number(),
-                    ', '.join([str(x)+' -> '+str(config[x]) for x in config])))
+                        .format(self._curriculum.get_lesson_number(),
+                                ', '.join([str(x) + ' -> ' + str(config[x]) for x in config])))
         if self._loaded:
             self._conn.send(b"RESET")
             self._conn.recv(self._buffer_size)
                 raise UnityActionException("Brain {0} has an invalid state. "
                                            "Expecting {1} {2} state but received {3}."
                                            .format(b, n_agent if self._brains[b].state_space_type == "discrete"
-                                            else str(self._brains[b].state_space_size * n_agent),
-                                            self._brains[b].state_space_type,
-                                            len(state_dict["states"])))
+                else str(self._brains[b].state_space_size * n_agent),
+                                                   self._brains[b].state_space_type,
+                                                   len(state_dict["states"])))
-            if n_agent > 0 :
-                actions =  np.array(state_dict["actions"]).reshape((n_agent, -1))
-            else :
+            if n_agent > 0:
+                actions = np.array(state_dict["actions"]).reshape((n_agent, -1))
+            else:
                 actions = np.array([])
 
             observations = []
         arr = [float(x) for x in arr]
         return arr
 
-    def step(self, action = None, memory=None, value=None):
+    def step(self, action=None, memory=None, value=None):
         """
         Provides the environment with an action, moves the environment dynamics forward accordingly, and returns
         observation, state, and reward information to the agent.
                         "and actions as values".format(self._num_brains))
                 else:
                     raise UnityActionException(
-                        "There are no external brains in the environment, " 
+                        "There are no external brains in the environment, "
-                    
+
             if isinstance(memory, (int, np.int_, float, np.float_, list, np.ndarray)):
                 if self._num_external_brains == 1:
                     memory = {self._external_brain_names[0]: memory}
                         "and memories as values".format(self._num_brains))
                 else:
                     raise UnityActionException(
-                        "There are no external brains in the environment, " 
+                        "There are no external brains in the environment, "
-                elif self._num_external_brains > 1:  
+                elif self._num_external_brains > 1:
-                        "There are no external brains in the environment, " 
+                        "There are no external brains in the environment, "
                         "step cannot take a value input")
 
             for brain_name in list(action.keys()) + list(memory.keys()) + list(value.keys()):
-                        "in the environment". format(brain_name))
+                        "in the environment".format(brain_name))
 
             for b in self._external_brain_names:
                 n_agent = len(self._data[b].agents)
                     raise UnityActionException(
                         "There was a mismatch between the provided memory and environment's expectation: "
                         "The brain {0} expected {1} memories but was given {2}"
-                        .format(b, self._brains[b].memory_space_size * n_agent, len(memory[b])))
+                            .format(b, self._brains[b].memory_space_size * n_agent, len(memory[b])))
                 if not ((self._brains[b].action_space_type == "discrete" and len(action[b]) == n_agent) or
                             (self._brains[b].action_space_type == "continuous" and len(
                                 action[b]) == self._brains[b].action_space_size * n_agent)):
-                        .format(b, n_agent if self._brains[b].action_space_type == "discrete" else
+                            .format(b, n_agent if self._brains[b].action_space_type == "discrete" else
-                        str(action[b])))
+                                    str(action[b])))
             self._conn.send(b"STEP")
             self._send_action(action, memory, value)
             return self._get_state()
             self._socket.close()
             self._loaded = False
         else:
-            raise UnityEnvironmentException("No Unity environment is loaded.")
+            raise UnityEnvironmentException("No Unity environment is loaded.")

unity-environment/Assets/ML-Agents/Examples/3DBall/Prefabs/Game.prefab

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+  CumulativeReward: 0
+  area: {fileID: 1718829686919056}
-  area: {fileID: 1718829686919056}
   wall: {fileID: 1506931635139370}
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---- !u!114 &114280768661186092
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unity-environment/Assets/ML-Agents/Examples/Area/Scripts/AreaAgent.cs

 		state.Add(velocity.x);
 		state.Add(velocity.y);
 		state.Add(velocity.z);
+		return state;
+	}
+    public void MoveAgent(int movement) {
+        float directionX = 0;
+        float directionZ = 0;
+        float directionY = 0;
+        if (movement == 1) { directionX = -1; }
+        if (movement == 2) { directionX = 1; }
+        if (movement == 3) { directionZ = -1; }
+        if (movement == 4) { directionZ = 1; }
+        if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
-		return state;
-	}
+        float edge = 0.499f;
+        float rayDepth = 0.51f;
+
+        Vector3 fwd = transform.TransformDirection(Vector3.down);
+        if (!Physics.Raycast(transform.position, fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(edge, 0f, 0f), fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(-edge, 0f, 0f), fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(0.0f, 0f, edge), fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -edge), fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(edge, 0f, edge), fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(-edge, 0f, edge), fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(edge, 0f, -edge), fwd, rayDepth) &&
+            !Physics.Raycast(transform.position + new Vector3(-edge, 0f, -edge), fwd, rayDepth))
+        {
+            directionY = 0f;
+            directionX = directionX / 5f;
+            directionZ = directionZ / 5f;
+        }
+
+        gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
+        if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f)
+        {
+            GetComponent<Rigidbody>().velocity *= 0.95f;
+        }
+    }
-		float movement = act[0];
-		float directionX = 0;
-		float directionZ = 0;
-		float directionY = 0;
-		if (movement == 1) { directionX = -1; }
-		if (movement == 2) { directionX = 1; }
-		if (movement == 3) { directionZ = -1; }
-		if (movement == 4) { directionZ = 1; }
-		if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
+        int movement = Mathf.FloorToInt(act[0]);
+        MoveAgent(movement);
-
-		Vector3 fwd = transform.TransformDirection(Vector3.down);
-		if (!Physics.Raycast(transform.position, fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f))
-		{
-			directionY = 0f;
-			directionX = directionX / 5f;
-			directionZ = directionZ / 5f;
-		}
-
-		gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
-		if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f)
-		{
-			GetComponent<Rigidbody>().velocity *= 0.95f;
-		}
-
-		if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
+		if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || 
+            Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
 		{
 			done = true;
 			reward = -1f;

unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAgent.cs

 	public override void AgentStep(float[] act)
 	{
         reward = -0.01f;
-		float movement = act[0];
-		float directionX = 0;
-		float directionZ = 0;
-		float directionY = 0;
-		if (movement == 1) { directionX = -1; }
-		if (movement == 2) { directionX = 1; }
-		if (movement == 3) { directionZ = -1; }
-		if (movement == 4) { directionZ = 1; }
-		if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
+        int movement = Mathf.FloorToInt(act[0]);
+        MoveAgent(movement);
-
-        Vector3 fwd = transform.TransformDirection(Vector3.down);
-        if (!Physics.Raycast(transform.position, fwd, 0.51f) && 
-            !Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) && 
-            !Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) && 
-            !Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f))
-        { 
-            directionY = 0f;
-            directionX = directionX / 5f;
-            directionZ = directionZ / 5f;
-        }
-
-		gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
-        if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f) 
-        {
-            GetComponent<Rigidbody>().velocity *= 0.95f;
-        }
-
-        if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
+        if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f ||
+            Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
 		{
 			done = true;
 			reward = -1f;

unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushArea.cs

         goalHolder.transform.position = new Vector3(Random.Range(-3.5f, 3.5f), -0.1f, Random.Range(0f, -3f)) + gameObject.transform.position;
 
         float size = academy.GetComponent<PushAcademy>().objectSize;
-
+        size = Random.Range(size * 0.9f, size * 1.1f);
         block.transform.localScale = new Vector3(size, 1f, size);
         goalHolder.transform.localScale = new Vector3(size + 1f, 1f, size + 1f);
 	}

unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallAgent.cs

 	public override void AgentStep(float[] act)
 	{
         reward = -0.01f;
-		float movement = act[0];
-		float directionX = 0;
-		float directionZ = 0;
-		float directionY = 0;
-		if (movement == 1) { directionX = -1; }
-		if (movement == 2) { directionX = 1; }
-		if (movement == 3) { directionZ = -1; }
-		if (movement == 4) { directionZ = 1; }
-		if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
-
-
-        Vector3 fwd = transform.TransformDirection(Vector3.down);
-        if (!Physics.Raycast(transform.position, fwd, 0.51f) && 
-            !Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) && 
-            !Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) && 
-            !Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) &&
-			!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f))
-        { 
-            directionY = 0f;
-            directionX = directionX / 5f;
-            directionZ = directionZ / 5f;
-        }
+        int movement = Mathf.FloorToInt(act[0]);
+        MoveAgent(movement);
-		gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
-        if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f) 
-        {
-            GetComponent<Rigidbody>().velocity *= 0.95f;
-        }
-
-        if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
+        if (gameObject.transform.position.y < 0.0f ||
+            Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f ||
+            Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
 		{
 			done = true;
 			reward = -1f;

unity-environment/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs

     // to be implemented by the developer
     public override void AgentStep(float[] act)
     {
-
         reward = -0.01f;
         int action = Mathf.FloorToInt(act[0]);
 

unity-environment/Assets/ML-Agents/Examples/Reacher/Scripts/FlyCamera.cs

         }
 
         //Keyboard commands
-        float f = 0.0f;
         Vector3 p = GetBaseInput();
         if (Input.GetKey(KeyCode.LeftShift))
         {

unity-environment/Assets/ML-Agents/Scripts/Academy.cs

     private int frameToSkip;
     [SerializeField]
     private float waitTime;
+    [HideInInspector]
     public bool isInference = true;
     /**< \brief Do not modify : If true, the Academy will use inference 
      * settings. */
         currentStep = 0;
         episodeCount++;
         done = false;
+        AcademyReset();
+
 
         foreach (Brain brain in brains)
         {
 
-        AcademyReset();
     }
 
     // Instructs all brains to collect states from their agents.

unity-environment/Assets/ML-Agents/Examples/Crawler/Resources/Crawler.prefab

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   - component: {fileID: 114748406422209060}
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+  m_Name: Crawler
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   value: 0
-  CummulativeReward: 0
+  CumulativeReward: 0
   stepCounter: 0
   agentStoredAction: []
   memory: []

unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerLegContact.cs

 using System.Collections.Generic;
 using UnityEngine;
 
-public class SpiderLegContact : MonoBehaviour {
+public class CrawlerLegContact : MonoBehaviour {
-    public SpiderAgentConfigurable agent;
+    public CrawlerAgentConfigurable agent;
 
     void Start(){
 //        agent = gameObject.transform.parent.gameObject.GetComponent<SpiderAgent>();

unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgentConfigurable.cs

 using System.Collections.Generic;
 using UnityEngine;
 
-public class SpiderAgentConfigurable: Agent
+public class CrawlerAgentConfigurable: Agent
 {
 
     public float strength;
         Transform[] allChildren = GetComponentsInChildren<Transform>();
         foreach (Transform child in allChildren)
         {
-            if ((child.gameObject.name.Contains("Spider"))
+            if ((child.gameObject.name.Contains("Crawler"))
                 || (child.gameObject.name.Contains("parent")))
             {
                 continue;

python/curricula/wall.json

+{
+    "measure" : "reward",
+    "thresholds" : [0.7, 0.7, 0.7, 0.6, 0.6, 0.6, 0.5, 0.5, 0.5],
+    "min_lesson_length" : 3,
+    "signal_smoothing" : true, 
+    "parameters" : 
+    {
+        "min_wall_height" : [0, 0, 1, 1, 2, 2, 3, 3, 4, 4],
+        "max_wall_height" : [0, 1, 1, 2, 2, 3, 3, 4, 4, 5]
+    }
+}

unity-environment/Assets/ML-Agents/Examples/Crawler/Crawler.unity

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unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CameraFollow.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CameraFollow : MonoBehaviour {
+
+	public Transform target;
+	Vector3 offset;
+
+	// Use this for initialization
+	void Start () {
+		offset = gameObject.transform.position - target.position;
+	}
+	
+	// Update is called once per frame
+	void Update () {
+        //gameObject.transform.position = target.position + offset;
+        Vector3 newPosition = new Vector3(target.position.x + offset.x, transform.position.y, target.position.z + offset.z);
+        gameObject.transform.position = newPosition;
+	}
+}

unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAcademy.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CrawlerAcademy : Academy
+{
+    public override void InitializeAcademy()
+    {
+        Monitor.verticalOffset = 1f;
+    }
+
+    public override void AcademyReset()
+    {
+
+
+    }
+
+    public override void AcademyStep()
+    {
+
+
+    }
+}

unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerBodyContact.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CrawlerBodyContact : MonoBehaviour {
+
+    CrawlerAgentConfigurable agent;
+
+    void Start(){
+        agent = gameObject.transform.parent.gameObject.GetComponent<CrawlerAgentConfigurable>();
+    }
+
+    void OnTriggerEnter(Collider other){
+        if (other.gameObject.name == "Ground")
+        {
+            agent.fell = true;
+        }
+    }
+}