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Update v2-staging from main (March 15) (#5123)

/v2-staging-rebase
GitHub 3 年前
当前提交
f16ce486
共有 354 个文件被更改,包括 3026 次插入1897 次删除
  1. 1
      .github/workflows/pre-commit.yml
  2. 23
      .github/workflows/pytest.yml
  3. 7
      .pre-commit-config.yaml
  4. 8
      .yamato/com.unity.ml-agents-pack.yml
  5. 1
      .yamato/com.unity.ml-agents-test.yml
  6. 2
      .yamato/python-ll-api-test.yml
  7. 2
      .yamato/standalone-build-test.yml
  8. 6
      DevProject/Packages/packages-lock.json
  9. 2
      Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo.meta
  10. 13
      Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab
  11. 7
      Project/Assets/ML-Agents/Examples/Crawler/Scenes/Crawler.unity
  12. 84
      Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
  13. 380
      Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
  14. 5
      Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab.meta
  15. 862
      Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity
  16. 5
      Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity.meta
  17. 1001
      Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.onnx
  18. 2
      Project/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.onnx.meta
  19. 2
      Project/Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGridWorld.demo.meta
  20. 14
      Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab
  21. 14
      Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab
  22. 2
      Project/Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPushBlock.demo.meta
  23. 139
      Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
  24. 236
      Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab
  25. 57
      Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
  26. 12
      Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
  27. 5
      Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs
  28. 2
      Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta
  29. 2
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdoll.prefab
  30. 9
      Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWorm.prefab
  31. 13
      Project/Assets/ML-Agents/Examples/Worm/Prefabs/Worm.prefab
  32. 52
      Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs
  33. 5
      Project/Packages/manifest.json
  34. 1
      Project/Project.sln.DotSettings
  35. 16
      README.md
  36. 2
      com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md
  37. 2
      com.unity.ml-agents.extensions/Documentation~/Match3.md
  38. 16
      com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md
  39. 7
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs
  40. 7
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs
  41. 6
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs
  42. 6
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs
  43. 7
      com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs
  44. 4
      com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs
  45. 12
      com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs
  46. 63
      com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs
  47. 4
      com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef
  48. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs
  49. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs
  50. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs
  51. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs
  52. 12
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs
  53. 17
      com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs
  54. 2
      com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs
  55. 2
      com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef
  56. 4
      com.unity.ml-agents.extensions/package.json
  57. 4
      com.unity.ml-agents/.gitignore
  58. 22
      com.unity.ml-agents/CHANGELOG.md
  59. 4
      com.unity.ml-agents/Documentation~/com.unity.ml-agents.md
  60. 8
      com.unity.ml-agents/Runtime/Academy.cs
  61. 2
      com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs
  62. 2
      com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs
  63. 26
      com.unity.ml-agents/Runtime/Agent.cs
  64. 28
      com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs
  65. 38
      com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs
  66. 33
      com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs
  67. 4
      com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs
  68. 5
      com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs
  69. 2
      com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs
  70. 40
      com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs
  71. 48
      com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Observation.cs
  72. 7
      com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs
  73. 3
      com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs
  74. 2
      com.unity.ml-agents/Runtime/SimpleMultiAgentGroup.cs
  75. 9
      com.unity.ml-agents/Runtime/Unity.ML-Agents.asmdef
  76. 3
      com.unity.ml-agents/Tests/Editor/Analytics/InferenceAnalyticsTests.cs
  77. 6
      com.unity.ml-agents/Tests/Editor/Communicator/GrpcExtensionsTests.cs
  78. 7
      com.unity.ml-agents/Tests/Editor/Unity.ML-Agents.Editor.Tests.asmdef
  79. 7
      com.unity.ml-agents/package.json
  80. 6
      config/imitation/Crawler.yaml
  81. 4
      config/ppo/FoodCollector.yaml
  82. 2
      config/ppo/Crawler.yaml
  83. 4
      config/ppo/Walker.yaml
  84. 2
      config/ppo/Worm.yaml
  85. 10
      config/sac/FoodCollector.yaml
  86. 2
      config/sac/Crawler.yaml
  87. 2
      config/sac/Walker.yaml
  88. 2
      config/sac/Worm.yaml
  89. 8
      docs/Getting-Started.md
  90. 8
      docs/Installation-Anaconda-Windows.md
  91. 17
      docs/Installation.md
  92. 119
      docs/Learning-Environment-Design-Agents.md
  93. 160
      docs/Learning-Environment-Examples.md
  94. 33
      docs/ML-Agents-Overview.md
  95. 12
      docs/Training-Configuration-File.md
  96. 2
      docs/Training-ML-Agents.md
  97. 2
      docs/Training-on-Amazon-Web-Service.md
  98. 2
      docs/Training-on-Microsoft-Azure.md
  99. 4
      docs/Unity-Inference-Engine.md
  100. 999
      docs/images/example-envs.png

1
.github/workflows/pre-commit.yml


- uses: actions/setup-dotnet@v1
with:
dotnet-version: '3.1.x'
- run: dotnet tool install -g dotnet-format --version 4.1.131201
- uses: pre-commit/action@v2.0.0
markdown-link-check:

23
.github/workflows/pytest.yml


TEST_ENFORCE_BUFFER_KEY_TYPES: 1
strategy:
matrix:
python-version: [3.6.x, 3.7.x, 3.8.x]
python-version: [3.6.x, 3.7.x, 3.8.x, 3.9.x]
include:
- python-version: 3.6.x
pip_constraints: test_constraints_min_version.txt
- python-version: 3.7.x
pip_constraints: test_constraints_mid_version.txt
- python-version: 3.8.x
pip_constraints: test_constraints_mid_version.txt
- python-version: 3.9.x
pip_constraints: test_constraints_max_version.txt
steps:
- uses: actions/checkout@v2
- name: Set up Python

# This path is specific to Ubuntu
path: ~/.cache/pip
# Look to see if there is a cache hit for the corresponding requirements file
key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'gym-unity/setup.py', 'test_requirements.txt') }}
key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'gym-unity/setup.py', 'test_requirements.txt', matrix.pip_constraints) }}
restore-keys: |
${{ runner.os }}-pip-
${{ runner.os }}-

run: |
python -m pip install --upgrade pip
python -m pip install --upgrade setuptools
python -m pip install --progress-bar=off -e ./ml-agents-envs
python -m pip install --progress-bar=off -e ./ml-agents
python -m pip install --progress-bar=off -r test_requirements.txt
python -m pip install --progress-bar=off -e ./gym-unity
python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples
python -m pip install --progress-bar=off -e ./ml-agents-envs -c ${{ matrix.pip_constraints }}
python -m pip install --progress-bar=off -e ./ml-agents -c ${{ matrix.pip_constraints }}
python -m pip install --progress-bar=off -r test_requirements.txt -c ${{ matrix.pip_constraints }}
python -m pip install --progress-bar=off -e ./gym-unity -c ${{ matrix.pip_constraints }}
python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples -c ${{ matrix.pip_constraints }}
- name: Save python dependencies
run: |
pip freeze > pip_versions-${{ matrix.python-version }}.txt

7
.pre-commit-config.yaml


types: [markdown]
exclude: ".*localized.*"
- repo: https://github.com/dotnet/format
rev: "7e343070a0355c86f72bdee226b5e19ffcbac931" # TODO - update to a tagged version when one that includes the hook is ready.
hooks:
- id: dotnet-format
args: [--folder, --include]
# "Local" hooks, see https://pre-commit.com/#repository-local-hooks
- repo: local
hooks:

name: validate release links
language: script
entry: utils/validate_release_links.py

8
.yamato/com.unity.ml-agents-pack.yml


image: package-ci/ubuntu:stable
flavor: b1.small
commands:
- npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
- upm-ci project pack --project-path Project
- |
python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
unity-downloader-cli -u 2018.4 -c editor --wait --fast
./.Editor/Unity -projectPath Project -batchMode -executeMethod Unity.MLAgents.SampleExporter.ExportCuratedSamples -logFile -
npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
upm-ci project pack --project-path Project
artifacts:
packages:
paths:

1
.yamato/com.unity.ml-agents-test.yml


{% endfor %}
{% endfor %}
{% endfor %}

2
.yamato/python-ll-api-test.yml


python ml-agents/tests/yamato/scripts/run_llapi.py
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Basic
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-WallJump
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Bouncer
python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Match3
dependencies:
- .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
triggers:

2
.yamato/standalone-build-test.yml


- unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Match3/Scenes/Match3.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedGrid/TestGridCompressed.unity
- python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureCompressed.unity

6
DevProject/Packages/packages-lock.json


"url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
},
"com.unity.barracuda": {
"version": "1.3.0-preview",
"version": "1.3.1-preview",
"depth": 1,
"source": "registry",
"dependencies": {

"depth": 0,
"source": "local",
"dependencies": {
"com.unity.barracuda": "1.3.0-preview",
"com.unity.barracuda": "1.3.1-preview",
"com.unity.modules.imageconversion": "1.0.0",
"com.unity.modules.jsonserialize": "1.0.0",
"com.unity.modules.physics": "1.0.0",

"depth": 0,
"source": "local",
"dependencies": {
"com.unity.ml-agents": "1.7.2-preview"
"com.unity.ml-agents": "1.8.0-preview"
}
},
"com.unity.multiplayer-hlapi": {

2
Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo.meta


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13
Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab


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m_Model: {fileID: 11400000, guid: 0d9a992c217a44684b41c7663f3eab3d, type: 3}
m_BehaviorName:
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m_UseChildSensors: 1
m_UseChildActuators: 1

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7
Project/Assets/ML-Agents/Examples/Crawler/Scenes/Crawler.unity


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84
Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs


[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
public class CrawlerAgent : Agent
{
//The type of crawler behavior we want to use.
//This setting will determine how the agent is set up during initialization.
public enum CrawlerAgentBehaviorType
{
CrawlerDynamic,
CrawlerDynamicVariableSpeed,
CrawlerStatic,
CrawlerStaticVariableSpeed
}
[Tooltip(
"VariableSpeed - The agent will sample random speed magnitudes while training.\n" +
"Dynamic - The agent will run towards a target that changes position.\n" +
"Static - The agent will run towards a static target. "
)]
public CrawlerAgentBehaviorType typeOfCrawler;
//Crawler Brains
//A different brain will be used depending on the CrawlerAgentBehaviorType selected
[Header("NN Models")] public NNModel crawlerDyModel;
public NNModel crawlerDyVSModel;
public NNModel crawlerStModel;
public NNModel crawlerStVSModel;
[Header("Walk Speed")]
[Range(0.1f, m_maxWalkingSpeed)]

set { m_TargetWalkingSpeed = Mathf.Clamp(value, .1f, m_maxWalkingSpeed); }
}
//Should the agent sample a new goal velocity each episode?
//If true, TargetWalkingSpeed will be randomly set between 0.1 and m_maxWalkingSpeed in OnEpisodeBegin()
//If false, the goal velocity will be m_maxWalkingSpeed
private bool m_RandomizeWalkSpeedEachEpisode;
[Header("Target To Walk Towards")] public Transform dynamicTargetPrefab; //Target prefab to use in Dynamic envs
public Transform staticTargetPrefab; //Target prefab to use in Static envs
[Header("Target To Walk Towards")]
public Transform TargetPrefab; //Target prefab to use in Dynamic envs
private Transform m_Target; //Target the agent will walk towards during training.
[Header("Body Parts")] [Space(10)] public Transform body;

public override void Initialize()
{
SetAgentType();
SpawnTarget(TargetPrefab, transform.position); //spawn target
m_OrientationCube = GetComponentInChildren<OrientationCubeController>();
m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();

}
/// <summary>
/// Set up the agent based on the typeOfCrawler
/// </summary>
void SetAgentType()
{
var behaviorParams = GetComponent<Unity.MLAgents.Policies.BehaviorParameters>();
switch (typeOfCrawler)
{
case CrawlerAgentBehaviorType.CrawlerDynamic:
{
behaviorParams.BehaviorName = "CrawlerDynamic"; //set behavior name
if (crawlerDyModel)
behaviorParams.Model = crawlerDyModel; //assign the model
m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
break;
}
case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed:
{
behaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed"; //set behavior name
if (crawlerDyVSModel)
behaviorParams.Model = crawlerDyVSModel; //assign the model
m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
break;
}
case CrawlerAgentBehaviorType.CrawlerStatic:
{
behaviorParams.BehaviorName = "CrawlerStatic"; //set behavior name
if (crawlerStModel)
behaviorParams.Model = crawlerStModel; //assign the model
m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
break;
}
case CrawlerAgentBehaviorType.CrawlerStaticVariableSpeed:
{
behaviorParams.BehaviorName = "CrawlerStaticVariableSpeed"; //set behavior name
if (crawlerStVSModel)
behaviorParams.Model = crawlerStVSModel; //assign the model
m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
break;
}
}
}
/// <summary>
/// Loop over body parts and reset them to initial conditions.
/// </summary>
public override void OnEpisodeBegin()

UpdateOrientationObjects();
//Set our goal walking speed
TargetWalkingSpeed =
m_RandomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : TargetWalkingSpeed;
TargetWalkingSpeed = Random.Range(0.1f, m_maxWalkingSpeed);
}
/// <summary>

380
Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab


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m_Name:
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NumStackedVectorObservations: 1
m_ActionSpec:
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m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3}
m_BehaviorName: FoodCollector
m_BehaviorName: GridFoodCollector
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m_UseChildSensors: 1
m_UseChildActuators: 1

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m_SensorName: RayPerceptionSensor
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