adding zombie to coma2 brnch

config/ppo/PushBlock.yaml

     trainer_type: ppo
     hyperparameters:
       batch_size: 128
-      buffer_size: 10240
+      buffer_size: 2048
       learning_rate: 0.0003
       beta: 0.01
       epsilon: 0.2

ml-agents/mlagents/trainers/optimizer/torch_optimizer.py

         for name, estimate in value_estimates.items():
             value_estimates[name] = ModelUtils.to_numpy(estimate)
 
+        # the base line and V shpuld  not be on the same done flag
+        boot_value_baseline = {}
+            boot_value_baseline[name] = ModelUtils.to_numpy(estimate)
-                    boot_value_estimates[k][-1] = 0.0
+                    boot_value_baseline[k][-1] = 0.0
+                    if len(next_critic_obs) == 0:
+                        boot_value_estimates[k][-1] = 0.0
 
         return (
             q_estimates,
+            boot_value_baseline,
         )

ml-agents/mlagents/trainers/ppo/optimizer_torch.py

         old_log_probs = ActionLogProbs.from_dict(batch).flatten()
         log_probs = log_probs.flatten()
         loss_masks = ModelUtils.list_to_tensor(batch["masks"], dtype=torch.bool)
-        q_loss = self.ppo_value_loss(qs, old_values, returns_q, decay_eps, loss_masks)
+        #q_loss = self.ppo_value_loss(qs, old_values, returns_q, decay_eps, loss_masks)
         baseline_loss = self.ppo_value_loss(
             baseline_vals, old_marg_values, returns_b, decay_eps, loss_masks
         )
         )
         loss = (
             policy_loss
-            + 0.5 * (q_loss + value_loss + baseline_loss)
+            + 0.5 * (value_loss + baseline_loss)
             - decay_bet * ModelUtils.masked_mean(entropy, loss_masks)
         )
 
         self.optimizer.step()
 
         ModelUtils.soft_update(
-            self.policy.actor_critic.critic, self.policy.actor_critic.target, 0.005
+            self.policy.actor_critic.critic, self.policy.actor_critic.target, 1.0
         )
         update_stats = {
             # NOTE: abs() is not technically correct, but matches the behavior in TensorFlow.
-            "Losses/Q Loss": q_loss.item(),
+            #"Losses/Q Loss": q_loss.item(),
             "Losses/Baseline Value Loss": baseline_loss.item(),
             "Policy/Learning Rate": decay_lr,
             "Policy/Epsilon": decay_eps,

ml-agents/mlagents/trainers/ppo/trainer.py

             baseline_estimates,
             value_estimates,
             value_next,
+            baseline_next,
         ) = self.optimizer.get_trajectory_value_estimates(
             agent_buffer_trajectory,
             trajectory.next_obs,
             )
             self._stats_reporter.add_stat(
                 f"Policy/{self.optimizer.reward_signals[name].name.capitalize()} Value Estimate",
-                np.mean(baseline_estimates[name]),
-            )
-            self._stats_reporter.add_stat(
-                f"Policy/{self.optimizer.reward_signals[name].name.capitalize()} Advantage Estimate",
-                np.mean(v - baseline_estimates[name]),
+                np.mean(value_estimates[name]),
             )
 
 
         tmp_advantages = []
         tmp_returns = []
         for name in self.optimizer.reward_signals:
-            bootstrap_value = value_next[name]
 
             local_rewards = agent_buffer_trajectory[f"{name}_rewards"].get_batch()
             q_estimates = agent_buffer_trajectory[
                 q_estimates=q_estimates,
                 baseline_estimates=baseline_estimates,
                 v_estimates=v_estimates,
-                value_next=bootstrap_value,
+                value_next=value_next[name],
+                baseline_next=baseline_next[name],
-
+            #gae_advantage = get_team_gae(
+            #    rewards=local_rewards,
+            #    value_estimates=v_estimates,
+            #    baseline=baseline_estimates,
+            #    value_next=bootstrap_value,
+            #    gamma=self.optimizer.reward_signals[name].gamma,
+            #    lambd=self.hyperparameters.lambd,
+            #)
+            
-            local_advantage = np.array(q_estimates) - np.array(
+
+            #local_advantage = np.array(q_estimates) - np.array(
+            local_advantage = np.array(returns_v) - np.array(
-            local_return = local_advantage + q_estimates
+            #self._stats_reporter.add_stat(
+            #    f"Policy/{self.optimizer.reward_signals[name].name.capitalize()} GAE Advantage Estimate",
+            #    np.mean(gae_advantage),
+            #)
+
+            self._stats_reporter.add_stat(
+                f"Policy/{self.optimizer.reward_signals[name].name.capitalize()} TD Advantage Estimate",
+                np.mean(local_advantage),
+            )
+            #local_return = local_advantage + q_estimates
+            local_return = local_advantage + baseline_estimates
-            agent_buffer_trajectory[f"{name}_returns_b"].set(returns_v)
+            agent_buffer_trajectory[f"{name}_returns_b"].set(returns_b)
             agent_buffer_trajectory[f"{name}_returns_v"].set(returns_v)
             agent_buffer_trajectory[f"{name}_advantage"].set(local_advantage)
             tmp_advantages.append(local_advantage)
     return discounted_r
 
 
-def lambd_return(r, value_estimates, gamma=0.99, lambd=0.8, value_next=0.0):
+def lambd_return(r, value_estimates, gamma=0.99, lambd=0.8, value_next=0.0, baseline=False):
-    returns[-1] = r[-1] + gamma * value_next
+    if baseline:
+        # this is incorrect
+        if value_next == 0.0:
+            returns[-1] = r[-1]
+        else:
+            returns[-1] = value_estimates[-1]
+    else:
+        returns[-1] = r[-1] + gamma * value_next
     for t in reversed(range(0, r.size - 1)):
         returns[t] = gamma * lambd * returns[t + 1]  + r[t] + (1 - lambd) * gamma * value_estimates[t + 1]
         
+def get_team_gae(rewards, value_estimates, baseline, value_next=0.0, gamma=0.99, lambd=0.95):
+    """
+    Computes generalized advantage estimate for use in updating policy.
+    :param rewards: list of rewards for time-steps t to T.
+    :param value_next: Value estimate for time-step T+1.
+    :param value_estimates: list of value estimates for time-steps t to T.
+    :param gamma: Discount factor.
+    :param lambd: GAE weighing factor.
+    :return: list of advantage estimates for time-steps t to T.
+    """
+    value_estimates = np.append(value_estimates, value_next)
+    delta_t = rewards + gamma * value_estimates[1:] - baseline
+    advantage = discount_rewards(r=delta_t, gamma=gamma * lambd)
+    return advantage
+
+
 def get_gae(rewards, value_estimates, value_next=0.0, gamma=0.99, lambd=0.95):
     """
     Computes generalized advantage estimate for use in updating policy.
     baseline_estimates,
     v_estimates,
     value_next=0.0,
+    baseline_next=0.0,
     gamma=0.99,
     lambd=0.8,
 ):
     rewards = np.array(rewards)
     returns_q = lambd_return(rewards, q_estimates, gamma=gamma, lambd=lambd, value_next=value_next)
     returns_b = lambd_return(
-        rewards, baseline_estimates, gamma=gamma, lambd=lambd, value_next=value_next
+        rewards, baseline_estimates, gamma=gamma, lambd=lambd, value_next=baseline_next, baseline=True
     )
     returns_v = lambd_return(
         rewards, v_estimates, gamma=gamma, lambd=lambd, value_next=value_next

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