Merge branch 'develop-unified-obs' into develop-centralizedcritic

ml-agents/mlagents/trainers/buffer.py

             return len(next(iter(self.values())))
         else:
             return 0
+
+    @staticmethod
+    def obs_list_to_obs_batch(obs_list: List[List[np.ndarray]]) -> List[np.ndarray]:
+        """
+        Converts a List of obs (an obs itself consinsting of a List of np.ndarray) to
+        a List of np.ndarray, with the observations batchwise.
+        """
+        # Transpose and convert List of Lists
+        new_list = list(map(lambda x: np.asanyarray(list(x)), zip(*obs_list)))
+        return new_list

ml-agents/mlagents/trainers/demo_loader.py

 from mlagents_envs.communicator_objects.agent_info_action_pair_pb2 import (
     AgentInfoActionPairProto,
 )
-from mlagents.trainers.trajectory import SplitObservations
 from mlagents_envs.rpc_utils import behavior_spec_from_proto, steps_from_proto
 from mlagents_envs.base_env import BehaviorSpec
 from mlagents_envs.communicator_objects.brain_parameters_pb2 import BrainParametersProto
 
         demo_raw_buffer["done"].append(next_done)
         demo_raw_buffer["rewards"].append(next_reward)
-        split_obs = SplitObservations.from_observations(current_obs)
-        for i, obs in enumerate(split_obs.visual_observations):
-            demo_raw_buffer["visual_obs%d" % i].append(obs)
-        demo_raw_buffer["vector_obs"].append(split_obs.vector_observations)
+        demo_raw_buffer["obs"].append(current_obs)
         demo_raw_buffer["actions"].append(current_pair_info.action_info.vector_actions)
         demo_raw_buffer["prev_action"].append(previous_action)
         if next_done:

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

 import numpy as np
 
 from mlagents.trainers.buffer import AgentBuffer
-from mlagents.trainers.trajectory import SplitObservations
 from mlagents.trainers.torch.components.bc.module import BCModule
 from mlagents.trainers.torch.components.reward_providers import create_reward_provider
 
     def get_trajectory_value_estimates(
         self, batch: AgentBuffer, next_obs: List[np.ndarray], done: bool
     ) -> Tuple[Dict[str, np.ndarray], Dict[str, float]]:
-        vector_obs = [ModelUtils.list_to_tensor(batch["vector_obs"])]
-        if self.policy.use_vis_obs:
-            visual_obs = []
-            for idx, _ in enumerate(
-                self.policy.actor_critic.network_body.visual_processors
-            ):
-                visual_ob = ModelUtils.list_to_tensor(batch["visual_obs%d" % idx])
-                visual_obs.append(visual_ob)
-        else:
-            visual_obs = []
+        obs = ModelUtils.list_to_tensor_list(
+            AgentBuffer.obs_list_to_obs_batch(batch["obs"])
+        )
+        next_obs = ModelUtils.list_to_tensor_list(next_obs)
-        vec_vis_obs = SplitObservations.from_observations(next_obs)
-        next_vec_obs = [
-            ModelUtils.list_to_tensor(vec_vis_obs.vector_observations).unsqueeze(0)
-        ]
-        next_vis_obs = [
-            ModelUtils.list_to_tensor(_vis_ob).unsqueeze(0)
-            for _vis_ob in vec_vis_obs.visual_observations
-        ]
-
-            vector_obs, visual_obs, memory, sequence_length=batch.num_experiences
+            obs, memory, sequence_length=batch.num_experiences
-            next_vec_obs, next_vis_obs, next_memory, sequence_length=1
+            next_obs, next_memory, sequence_length=1
         )
 
         for name, estimate in value_estimates.items():

ml-agents/mlagents/trainers/policy/torch_policy.py

     def _split_decision_step(
         self, decision_requests: DecisionSteps
     ) -> Tuple[SplitObservations, np.ndarray]:
-        vec_vis_obs = SplitObservations.from_observations(decision_requests.obs)
+        obs = ModelUtils.list_to_tensor_list(decision_requests.obs)
         mask = None
         if not self.use_continuous_act:
             mask = torch.ones([len(decision_requests), np.sum(self.act_size)])
                 )
-        return vec_vis_obs, mask
+        return obs, mask
-    def update_normalization(self, vector_obs: np.ndarray) -> None:
+    def update_normalization(self, vector_obs: List[np.ndarray]) -> None:
-        vector_obs = [torch.as_tensor(vector_obs)]
+        all_obs = ModelUtils.list_to_tensor_list(vector_obs)
-            self.actor_critic.update_normalization(vector_obs)
+            self.actor_critic.update_normalization(all_obs)
-        vec_obs: List[torch.Tensor],
-        vis_obs: List[torch.Tensor],
+        obs: List[torch.Tensor],
         masks: Optional[torch.Tensor] = None,
         memories: Optional[torch.Tensor] = None,
         seq_len: int = 1,
             entropies, and output memories, all as Torch Tensors.
         """
         if memories is None:
-            dists, memories = self.actor_critic.get_dists(
-                vec_obs, vis_obs, masks, memories, seq_len
-            )
+            dists, memories = self.actor_critic.get_dists(obs, masks, memories, seq_len)
-                vec_obs, vis_obs, masks, memories, seq_len
+                obs, masks, memories, seq_len
             )
         action_list = self.actor_critic.sample_action(dists)
         log_probs, entropies, all_logs = ModelUtils.get_probs_and_entropy(
 
     def evaluate_actions(
         self,
-        vec_obs: torch.Tensor,
-        vis_obs: torch.Tensor,
+        obs: List[torch.Tensor],
         actions: torch.Tensor,
         masks: Optional[torch.Tensor] = None,
         memories: Optional[torch.Tensor] = None,
-            vec_obs, vis_obs, masks, memories, seq_len
+            obs, masks, memories, seq_len
         )
         action_list = [actions[..., i] for i in range(actions.shape[-1])]
         log_probs, entropies, _ = ModelUtils.get_probs_and_entropy(action_list, dists)
         :param decision_requests: DecisionStep object containing inputs.
         :return: Outputs from network as defined by self.inference_dict.
         """
-        vec_vis_obs, masks = self._split_decision_step(decision_requests)
-        vec_obs = [torch.as_tensor(vec_vis_obs.vector_observations)]
-        vis_obs = [
-            torch.as_tensor(vis_ob) for vis_ob in vec_vis_obs.visual_observations
-        ]
+        obs, masks = self._split_decision_step(decision_requests)
-
-                vec_obs, vis_obs, masks=masks, memories=memories
+                obs, masks=masks, memories=memories
             )
 
         run_out["pre_action"] = ModelUtils.to_numpy(action)

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

             )
             returns[name] = ModelUtils.list_to_tensor(batch[f"{name}_returns"])
 
-        vec_obs = [ModelUtils.list_to_tensor(batch["vector_obs"])]
+        obs = ModelUtils.list_to_tensor_list(
+            AgentBuffer.obs_list_to_obs_batch(batch["obs"])
+        )
         act_masks = ModelUtils.list_to_tensor(batch["action_mask"])
         if self.policy.use_continuous_act:
             actions = ModelUtils.list_to_tensor(batch["actions_pre"]).unsqueeze(-1)
         if len(memories) > 0:
             memories = torch.stack(memories).unsqueeze(0)
 
-        if self.policy.use_vis_obs:
-            vis_obs = []
-            for idx, _ in enumerate(
-                self.policy.actor_critic.network_body.visual_processors
-            ):
-                vis_ob = ModelUtils.list_to_tensor(batch["visual_obs%d" % idx])
-                vis_obs.append(vis_ob)
-        else:
-            vis_obs = []
-            vec_obs,
-            vis_obs,
+            obs,
             masks=act_masks,
             actions=actions,
             memories=memories,

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

 from mlagents.trainers.policy.torch_policy import TorchPolicy
 from mlagents.trainers.ppo.optimizer_torch import TorchPPOOptimizer
 from mlagents.trainers.trajectory import Trajectory
+from mlagents.trainers.buffer import AgentBuffer
 from mlagents.trainers.behavior_id_utils import BehaviorIdentifiers
 from mlagents.trainers.settings import TrainerSettings, PPOSettings, FrameworkType
 from mlagents.trainers.torch.components.reward_providers.base_reward_provider import (
         agent_buffer_trajectory = trajectory.to_agentbuffer()
         # Update the normalization
         if self.is_training:
-            self.policy.update_normalization(agent_buffer_trajectory["vector_obs"])
+            obs_to_normalize = AgentBuffer.obs_list_to_obs_batch(
+                agent_buffer_trajectory["obs"]
+            )
+            self.policy.update_normalization(obs_to_normalize)
 
         # Get all value estimates
         value_estimates, value_next = self.optimizer.get_trajectory_value_estimates(

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

 
         def forward(
             self,
-            vec_inputs: List[torch.Tensor],
-            vis_inputs: List[torch.Tensor],
+            net_inputs: List[torch.Tensor],
             actions: Optional[torch.Tensor] = None,
             memories: Optional[torch.Tensor] = None,
             sequence_length: int = 1,
             """
             Performs a forward pass on the value network, which consists of a Q1 and Q2
             network. Optionally does not evaluate gradients for either the Q1, Q2, or both.
-            :param vec_inputs: List of vector observation tensors.
-            :param vis_input: List of visual observation tensors.
+            :param net_inputs: List of observation tensors.
             :param actions: For a continuous Q function (has actions), tensor of actions.
                 Otherwise, None.
             :param memories: Initial memories if using memory. Otherwise, None.
                 if not q1_grad:
                     stack.enter_context(torch.no_grad())
                 q1_out, _ = self.q1_network(
-                    vec_inputs,
-                    vis_inputs,
+                    net_inputs,
                     actions=actions,
                     memories=memories,
                     sequence_length=sequence_length,
                     stack.enter_context(torch.no_grad())
                 q2_out, _ = self.q2_network(
-                    vec_inputs,
-                    vis_inputs,
+                    net_inputs,
                     actions=actions,
                     memories=memories,
                     sequence_length=sequence_length,
         for name in self.reward_signals:
             rewards[name] = ModelUtils.list_to_tensor(batch[f"{name}_rewards"])
 
-        vec_obs = [ModelUtils.list_to_tensor(batch["vector_obs"])]
-        next_vec_obs = [ModelUtils.list_to_tensor(batch["next_vector_in"])]
+        obs = ModelUtils.list_to_tensor_list(
+            AgentBuffer.obs_list_to_obs_batch(batch["obs"])
+        )
+        next_obs = ModelUtils.list_to_tensor_list(
+            AgentBuffer.obs_list_to_obs_batch(batch["next_obs"])
+        )
         act_masks = ModelUtils.list_to_tensor(batch["action_mask"])
         if self.policy.use_continuous_act:
             actions = ModelUtils.list_to_tensor(batch["actions"]).unsqueeze(-1)
             torch.zeros_like(next_memories) if next_memories is not None else None
         )
 
-        vis_obs: List[torch.Tensor] = []
-        next_vis_obs: List[torch.Tensor] = []
-        if self.policy.use_vis_obs:
-            vis_obs = []
-            for idx, _ in enumerate(
-                self.policy.actor_critic.network_body.visual_processors
-            ):
-                vis_ob = ModelUtils.list_to_tensor(batch["visual_obs%d" % idx])
-                vis_obs.append(vis_ob)
-                next_vis_ob = ModelUtils.list_to_tensor(
-                    batch["next_visual_obs%d" % idx]
-                )
-                next_vis_obs.append(next_vis_ob)
-
         # Copy normalizers from policy
         self.value_network.q1_network.network_body.copy_normalization(
             self.policy.actor_critic.network_body
             self.policy.actor_critic.network_body
         )
         (sampled_actions, _, log_probs, _, _) = self.policy.sample_actions(
-            vec_obs,
-            vis_obs,
+            obs,
             masks=act_masks,
             memories=memories,
             seq_len=self.policy.sequence_length,
-            vec_obs, vis_obs, memories, sequence_length=self.policy.sequence_length
+            obs, memories, sequence_length=self.policy.sequence_length
-                vec_obs,
-                vis_obs,
+                obs,
                 sampled_actions,
                 memories=q_memories,
                 sequence_length=self.policy.sequence_length,
-                vec_obs,
-                vis_obs,
+                obs,
                 squeezed_actions,
                 memories=q_memories,
                 sequence_length=self.policy.sequence_length,
             # For discrete, you don't need to backprop through the Q for the policy
             q1p_out, q2p_out = self.value_network(
-                vec_obs,
-                vis_obs,
+                obs,
                 memories=q_memories,
                 sequence_length=self.policy.sequence_length,
                 q1_grad=False,
-                vec_obs,
-                vis_obs,
+                obs,
                 memories=q_memories,
                 sequence_length=self.policy.sequence_length,
             )
         with torch.no_grad():
             target_values, _ = self.target_network(
-                next_vec_obs,
-                next_vis_obs,
+                next_obs,
                 memories=next_memories,
                 sequence_length=self.policy.sequence_length,
             )

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

 from mlagents.trainers.trainer.rl_trainer import RLTrainer
 from mlagents.trainers.policy.torch_policy import TorchPolicy
 from mlagents.trainers.sac.optimizer_torch import TorchSACOptimizer
-from mlagents.trainers.trajectory import Trajectory, SplitObservations
+from mlagents.trainers.trajectory import Trajectory
+from mlagents.trainers.buffer import AgentBuffer
 from mlagents import tf_utils
 
 if tf_utils.is_available():
 
         # Update the normalization
         if self.is_training:
-            self.policy.update_normalization(agent_buffer_trajectory["vector_obs"])
+            obs_to_normalize = AgentBuffer.obs_list_to_obs_batch(
+                agent_buffer_trajectory["obs"]
+            )
+            self.policy.update_normalization(obs_to_normalize)
 
         # Evaluate all reward functions for reporting purposes
         self.collected_rewards["environment"][agent_id] += np.sum(
         # Bootstrap using the last step rather than the bootstrap step if max step is reached.
         # Set last element to duplicate obs and remove dones.
         if last_step.interrupted:
-            vec_vis_obs = SplitObservations.from_observations(last_step.obs)
-            for i, obs in enumerate(vec_vis_obs.visual_observations):
-                agent_buffer_trajectory["next_visual_obs%d" % i][-1] = obs
-            if vec_vis_obs.vector_observations.size > 1:
-                agent_buffer_trajectory["next_vector_in"][
-                    -1
-                ] = vec_vis_obs.vector_observations
+            agent_buffer_trajectory["next_obs"][-1] = last_step.obs
             agent_buffer_trajectory["done"][-1] = False
 
         # Append to update buffer

ml-agents/mlagents/trainers/torch/components/bc/module.py

 
 from mlagents.trainers.policy.torch_policy import TorchPolicy
 from mlagents.trainers.demo_loader import demo_to_buffer
+from mlagents.trainers.buffer import AgentBuffer
 from mlagents.trainers.settings import BehavioralCloningSettings, ScheduleType
 from mlagents.trainers.torch.utils import ModelUtils
 
         """
         Helper function for update_batch.
         """
-        vec_obs = [ModelUtils.list_to_tensor(mini_batch_demo["vector_obs"])]
+        obs = ModelUtils.list_to_tensor_list(
+            AgentBuffer.obs_list_to_obs_batch(mini_batch_demo["obs"]), dtype=torch.float
+        )
         act_masks = None
         if self.policy.use_continuous_act:
             expert_actions = ModelUtils.list_to_tensor(mini_batch_demo["actions"])
         if self.policy.use_recurrent:
             memories = torch.zeros(1, self.n_sequences, self.policy.m_size)
 
-        if self.policy.use_vis_obs:
-            vis_obs = []
-            for idx, _ in enumerate(
-                self.policy.actor_critic.network_body.visual_processors
-            ):
-                vis_ob = ModelUtils.list_to_tensor(
-                    mini_batch_demo["visual_obs%d" % idx]
-                )
-                vis_obs.append(vis_ob)
-        else:
-            vis_obs = []
-
         (
             selected_actions,
             clipped_actions,
         ) = self.policy.sample_actions(
-            vec_obs,
-            vis_obs,
+            obs,
             masks=act_masks,
             memories=memories,
             seq_len=self.policy.sequence_length,

ml-agents/mlagents/trainers/torch/components/reward_providers/curiosity_reward_provider.py

         """
         Extracts the current state embedding from a mini_batch.
         """
-        n_vis = len(self._state_encoder.visual_processors)
-            vec_inputs=[
-                ModelUtils.list_to_tensor(mini_batch["vector_obs"], dtype=torch.float)
-            ],
-            vis_inputs=[
-                ModelUtils.list_to_tensor(
-                    mini_batch["visual_obs%d" % i], dtype=torch.float
-                )
-                for i in range(n_vis)
-            ],
+            net_inputs=ModelUtils.list_to_tensor_list(
+                AgentBuffer.obs_list_to_obs_batch(mini_batch["obs"]), dtype=torch.float
+            )
         )
         return hidden
 
         """
-        n_vis = len(self._state_encoder.visual_processors)
-            vec_inputs=[
-                ModelUtils.list_to_tensor(
-                    mini_batch["next_vector_in"], dtype=torch.float
-                )
-            ],
-            vis_inputs=[
-                ModelUtils.list_to_tensor(
-                    mini_batch["next_visual_obs%d" % i], dtype=torch.float
-                )
-                for i in range(n_vis)
-            ],
+            net_inputs=ModelUtils.list_to_tensor_list(
+                AgentBuffer.obs_list_to_obs_batch(mini_batch["next_obs"]),
+                dtype=torch.float,
+            )
         )
         return hidden
 

ml-agents/mlagents/trainers/torch/components/reward_providers/gail_reward_provider.py

         """
         Creates the observation input.
         """
-        n_vis = len(self.encoder.visual_processors)
-        n_vec = len(self.encoder.vector_processors)
-        vec_inputs = (
-            [ModelUtils.list_to_tensor(mini_batch["vector_obs"], dtype=torch.float)]
-            if n_vec > 0
-            else []
+        net_inputs = ModelUtils.list_to_tensor_list(
+            AgentBuffer.obs_list_to_obs_batch(mini_batch["obs"]), dtype=torch.float
-        vis_inputs = [
-            ModelUtils.list_to_tensor(mini_batch["visual_obs%d" % i], dtype=torch.float)
-            for i in range(n_vis)
-        ]
-        return vec_inputs, vis_inputs
+        return net_inputs
 
     def compute_estimate(
         self, mini_batch: AgentBuffer, use_vail_noise: bool = False
         :param use_vail_noise: Only when using VAIL : If true, will sample the code, if
         false, will return the mean of the code.
         """
-        vec_inputs, vis_inputs = self.get_state_inputs(mini_batch)
+        net_inputs = self.get_state_inputs(mini_batch)
-            hidden, _ = self.encoder(vec_inputs, vis_inputs, action_inputs)
+            hidden, _ = self.encoder(net_inputs, action_inputs)
-            hidden, _ = self.encoder(vec_inputs, vis_inputs)
+            hidden, _ = self.encoder(net_inputs)
         z_mu: Optional[torch.Tensor] = None
         if self._settings.use_vail:
             z_mu = self._z_mu_layer(hidden)
         Gradient penalty from https://arxiv.org/pdf/1704.00028. Adds stability esp.
         for off-policy. Compute gradients w.r.t randomly interpolated input.
         """
-        policy_vec_inputs, policy_vis_inputs = self.get_state_inputs(policy_batch)
-        expert_vec_inputs, expert_vis_inputs = self.get_state_inputs(expert_batch)
-        interp_vec_inputs = []
-        for policy_vec_input, expert_vec_input in zip(
-            policy_vec_inputs, expert_vec_inputs
-        ):
-            obs_epsilon = torch.rand(policy_vec_input.shape)
-            interp_vec_input = (
-                obs_epsilon * policy_vec_input + (1 - obs_epsilon) * expert_vec_input
-            )
-            interp_vec_input.requires_grad = True  # For gradient calculation
-            interp_vec_inputs.append(interp_vec_input)
-        interp_vis_inputs = []
-        for policy_vis_input, expert_vis_input in zip(
-            policy_vis_inputs, expert_vis_inputs
-        ):
-            obs_epsilon = torch.rand(policy_vis_input.shape)
-            interp_vis_input = (
-                obs_epsilon * policy_vis_input + (1 - obs_epsilon) * expert_vis_input
-            )
-            interp_vis_input.requires_grad = True  # For gradient calculation
-            interp_vis_inputs.append(interp_vis_input)
+        policy_inputs = self.get_state_inputs(policy_batch)
+        expert_inputs = self.get_state_inputs(expert_batch)
+        interp_inputs = []
+        for policy_input, expert_input in zip(policy_inputs, expert_inputs):
+            obs_epsilon = torch.rand(policy_input.shape)
+            interp_input = obs_epsilon * policy_input + (1 - obs_epsilon) * expert_input
+            interp_input.requires_grad = True  # For gradient calculation
+            interp_inputs.append(interp_input)
         if self._settings.use_actions:
             policy_action = self.get_action_input(policy_batch)
             expert_action = self.get_action_input(expert_batch)
                 dim=1,
             )
             action_inputs.requires_grad = True
-            hidden, _ = self.encoder(
-                interp_vec_inputs, interp_vis_inputs, action_inputs
-            )
-            encoder_input = tuple(
-                interp_vec_inputs + interp_vis_inputs + [action_inputs]
-            )
+            hidden, _ = self.encoder(interp_inputs, action_inputs)
+            encoder_input = tuple(interp_inputs + [action_inputs])
-            hidden, _ = self.encoder(interp_vec_inputs, interp_vis_inputs)
-            encoder_input = tuple(interp_vec_inputs + interp_vis_inputs)
+            hidden, _ = self.encoder(interp_inputs)
+            encoder_input = tuple(interp_inputs)
         if self._settings.use_vail:
             use_vail_noise = True
             z_mu = self._z_mu_layer(hidden)

ml-agents/mlagents/trainers/torch/encoders.py

     return height, width
 
 
-class VectorInput(nn.Module):
+class InputProcessor:
+    def copy_normalization(self, other_input: "InputProcessor") -> None:
+        pass
+
+    def update_normalization(self, inputs: torch.Tensor) -> None:
+        pass
+
+
+class VectorInput(nn.Module, InputProcessor):
     def __init__(self, input_size: int, normalize: bool = False):
         super().__init__()
         self.normalizer: Optional[Normalizer] = None
             inputs = self.normalizer(inputs)
         return inputs
 
-    def copy_normalization(self, other_input: "VectorInput") -> None:
-        if self.normalizer is not None and other_input.normalizer is not None:
-            self.normalizer.copy_from(other_input.normalizer)
+    def copy_normalization(self, other_input: "InputProcessor") -> None:
+        if isinstance(other_input, VectorInput):
+            if self.normalizer is not None and other_input.normalizer is not None:
+                self.normalizer.copy_from(other_input.normalizer)
 
     def update_normalization(self, inputs: torch.Tensor) -> None:
         if self.normalizer is not None:
-class SmallVisualEncoder(nn.Module):
+class SmallVisualEncoder(nn.Module, InputProcessor):
     """
     CNN architecture used by King in their Candy Crush predictor
     https://www.researchgate.net/publication/328307928_Human-Like_Playtesting_with_Deep_Learning
         return self.dense(hidden)
 
 
-class SimpleVisualEncoder(nn.Module):
+class SimpleVisualEncoder(nn.Module, InputProcessor):
     def __init__(
         self, height: int, width: int, initial_channels: int, output_size: int
     ):
         return self.dense(hidden)
 
 
-class NatureVisualEncoder(nn.Module):
+class NatureVisualEncoder(nn.Module, InputProcessor):
     def __init__(
         self, height: int, width: int, initial_channels: int, output_size: int
     ):
         return input_tensor + self.layers(input_tensor)
 
 
-class ResNetVisualEncoder(nn.Module):
+class ResNetVisualEncoder(nn.Module, InputProcessor):
     def __init__(
         self, height: int, width: int, initial_channels: int, output_size: int
     ):

ml-agents/mlagents/trainers/torch/networks.py

             else 0
         )
 
-        self.visual_processors, self.vector_processors, encoder_input_size = ModelUtils.create_input_processors(
+        self.processors, encoder_input_size = ModelUtils.create_input_processors(
             observation_shapes,
             self.h_size,
             network_settings.vis_encode_type,
         else:
             self.lstm = None  # type: ignore
 
-    def update_normalization(self, vec_inputs: List[torch.Tensor]) -> None:
-        for vec_input, vec_enc in zip(vec_inputs, self.vector_processors):
-            vec_enc.update_normalization(vec_input)
+    def update_normalization(self, net_inputs: List[torch.Tensor]) -> None:
+        for _in, enc in zip(net_inputs, self.processors):
+            enc.update_normalization(_in)
-            for n1, n2 in zip(self.vector_processors, other_network.vector_processors):
+            for n1, n2 in zip(self.processors, other_network.processors):
                 n1.copy_normalization(n2)
 
     @property
     def forward(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
-        for idx, processor in enumerate(self.vector_processors):
-            vec_input = vec_inputs[idx]
-            processed_vec = processor(vec_input)
+        for idx, processor in enumerate(self.processors):
+            net_input = net_inputs[idx]
+            if not exporting_to_onnx.is_exporting() and len(net_input.shape) > 3:
+                net_input = net_input.permute([0, 3, 1, 2])
+            processed_vec = processor(net_input)
-        for idx, processor in enumerate(self.visual_processors):
-            vis_input = vis_inputs[idx]
-            if not exporting_to_onnx.is_exporting():
-                vis_input = vis_input.permute([0, 3, 1, 2])
-            processed_vis = processor(vis_input)
-            encodes.append(processed_vis)
-
         if len(encodes) == 0:
             raise Exception("No valid inputs to network.")
 
 
     def forward(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
-            vec_inputs, vis_inputs, actions, memories, sequence_length
+            net_inputs, actions, memories, sequence_length
         )
         output = self.value_heads(encoding)
         return output, memories
     @abc.abstractmethod
-    def update_normalization(self, vector_obs: List[torch.Tensor]) -> None:
+    def update_normalization(self, net_inputs: List[torch.Tensor]) -> None:
         """
         Updates normalization of Actor based on the provided List of vector obs.
         :param vector_obs: A List of vector obs as tensors.
     @abc.abstractmethod
     def get_dists(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
         masks: Optional[torch.Tensor] = None,
         memories: Optional[torch.Tensor] = None,
         sequence_length: int = 1,
     @abc.abstractmethod
     def forward(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
         masks: Optional[torch.Tensor] = None,
         memories: Optional[torch.Tensor] = None,
     ) -> Tuple[torch.Tensor, int, int, int, int]:
     @abc.abstractmethod
     def critic_pass(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
         memories: Optional[torch.Tensor] = None,
         sequence_length: int = 1,
     ) -> Tuple[Dict[str, torch.Tensor], torch.Tensor]:
     @abc.abstractmethod
     def get_dist_and_value(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
         masks: Optional[torch.Tensor] = None,
         memories: Optional[torch.Tensor] = None,
         sequence_length: int = 1,
     def memory_size(self) -> int:
         return self.network_body.memory_size
 
-    def update_normalization(self, vector_obs: List[torch.Tensor]) -> None:
-        self.network_body.update_normalization(vector_obs)
+    def update_normalization(self, net_inputs: List[torch.Tensor]) -> None:
+        self.network_body.update_normalization(net_inputs)
 
     def sample_action(self, dists: List[DistInstance]) -> List[torch.Tensor]:
         actions = []
 
     def get_dists(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
-            vec_inputs, vis_inputs, memories=memories, sequence_length=sequence_length
+            net_inputs, memories=memories, sequence_length=sequence_length
         )
         if self.action_spec.is_continuous():
             dists = self.distribution(encoding)
 
     def forward(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
         masks: Optional[torch.Tensor] = None,
         memories: Optional[torch.Tensor] = None,
     ) -> Tuple[torch.Tensor, int, int, int, int]:
-        dists, _ = self.get_dists(vec_inputs, vis_inputs, masks, memories, 1)
+        dists, _ = self.get_dists(net_inputs, masks, memories, 1)
         if self.action_spec.is_continuous():
             action_list = self.sample_action(dists)
             action_out = torch.stack(action_list, dim=-1)
 
     def critic_pass(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
-            vec_inputs, vis_inputs, memories=memories, sequence_length=sequence_length
+            net_inputs, memories=memories, sequence_length=sequence_length
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
-            vec_inputs, vis_inputs, memories=memories, sequence_length=sequence_length
+            net_inputs, memories=memories, sequence_length=sequence_length
         )
         if self.action_spec.is_continuous():
             dists = self.distribution(encoding)
 
     def critic_pass(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
         memories: Optional[torch.Tensor] = None,
         sequence_length: int = 1,
     ) -> Tuple[Dict[str, torch.Tensor], torch.Tensor]:
             actor_mem, critic_mem = torch.split(memories, self.memory_size // 2, -1)
         value_outputs, critic_mem_out = self.critic(
-            vec_inputs, vis_inputs, memories=critic_mem, sequence_length=sequence_length
+            net_inputs, memories=critic_mem, sequence_length=sequence_length
         )
         if actor_mem is not None:
             # Make memories with the actor mem unchanged
 
     def get_dist_and_value(
         self,
-        vec_inputs: List[torch.Tensor],
-        vis_inputs: List[torch.Tensor],
+        net_inputs: List[torch.Tensor],
         masks: Optional[torch.Tensor] = None,
         memories: Optional[torch.Tensor] = None,
         sequence_length: int = 1,
             critic_mem = None
             actor_mem = None
         dists, actor_mem_outs = self.get_dists(
-            vec_inputs,
-            vis_inputs,
-            memories=actor_mem,
-            sequence_length=sequence_length,
-            masks=masks,
+            net_inputs, memories=actor_mem, sequence_length=sequence_length, masks=masks
-            vec_inputs, vis_inputs, memories=critic_mem, sequence_length=sequence_length
+            net_inputs, memories=critic_mem, sequence_length=sequence_length
         )
         if self.use_lstm:
             mem_out = torch.cat([actor_mem_outs, critic_mem_outs], dim=-1)
 
-    def update_normalization(self, vector_obs: List[torch.Tensor]) -> None:
-        super().update_normalization(vector_obs)
-        self.critic.network_body.update_normalization(vector_obs)
+    def update_normalization(self, net_inputs: List[torch.Tensor]) -> None:
+        super().update_normalization(net_inputs)
+        self.critic.network_body.update_normalization(net_inputs)
 
 
 class GlobalSteps(nn.Module):

ml-agents/mlagents/trainers/torch/utils.py

         h_size: int,
         vis_encode_type: EncoderType,
         normalize: bool = False,
-    ) -> Tuple[nn.ModuleList, nn.ModuleList, int]:
+    ) -> Tuple[nn.ModuleList, int]:
         """
         Creates visual and vector encoders, along with their normalizers.
         :param observation_shapes: List of Tuples that represent the action dimensions.
         :param normalize: Normalize all vector inputs.
         :return: Tuple of visual encoders and vector encoders each as a list.
         """
-        visual_encoders: List[nn.Module] = []
-        vector_encoders: List[nn.Module] = []
+        encoders: List[nn.Module] = []
-        vector_size = 0
-        visual_output_size = 0
+        total_encoded_size = 0
-                visual_encoders.append(
+                encoders.append(
-                visual_output_size += h_size
+                total_encoded_size += h_size
-                vector_size += dimension[0]
+                vector_size = dimension[0]
+                encoders.append(VectorInput(vector_size, normalize))
+                total_encoded_size += vector_size
-        if vector_size > 0:
-            vector_encoders.append(VectorInput(vector_size, normalize))
+
-        total_processed_size = vector_size + visual_output_size
-        return (
-            nn.ModuleList(visual_encoders),
-            nn.ModuleList(vector_encoders),
-            total_processed_size,
-        )
+        return (nn.ModuleList(encoders), total_encoded_size)
 
     @staticmethod
     def list_to_tensor(
         calling as_tensor on the list directly.
         """
         return torch.as_tensor(np.asanyarray(ndarray_list), dtype=dtype)
+
+    @staticmethod
+    def list_to_tensor_list(
+        ndarray_list: List[np.ndarray], dtype: Optional[torch.dtype] = torch.float32
+    ) -> torch.Tensor:
+        """
+        Converts a list of numpy arrays into a list of tensors. MUCH faster than
+        calling as_tensor on the list directly.
+        """
+        return [
+            torch.as_tensor(np.asanyarray(_arr), dtype=dtype) for _arr in ndarray_list
+        ]
 
     @staticmethod
     def to_numpy(tensor: torch.Tensor) -> np.ndarray:

ml-agents/mlagents/trainers/trajectory.py

         step of the trajectory.
         """
         agent_buffer_trajectory = AgentBuffer()
-        vec_vis_obs = SplitObservations.from_observations(self.steps[0].obs)
+        curr_obs = self.steps[0].obs
-                next_vec_vis_obs = SplitObservations.from_observations(
-                    self.steps[step + 1].obs
-                )
+                next_obs = self.steps[step + 1].obs
-                next_vec_vis_obs = SplitObservations.from_observations(self.next_obs)
-
-            for i, _ in enumerate(vec_vis_obs.visual_observations):
-                agent_buffer_trajectory["visual_obs%d" % i].append(
-                    vec_vis_obs.visual_observations[i]
-                )
-                agent_buffer_trajectory["next_visual_obs%d" % i].append(
-                    next_vec_vis_obs.visual_observations[i]
-                )
+                next_obs = self.next_obs
+            agent_buffer_trajectory["obs"].append(curr_obs)
+            agent_buffer_trajectory["next_obs"].append(next_obs)
-
-            agent_buffer_trajectory["vector_obs"].append(
-                vec_vis_obs.vector_observations
-            )
-            agent_buffer_trajectory["next_vector_in"].append(
-                next_vec_vis_obs.vector_observations
-            )
             if exp.memory is not None:
                 agent_buffer_trajectory["memory"].append(exp.memory)
 
             agent_buffer_trajectory["prev_action"].append(exp.prev_action)
             agent_buffer_trajectory["environment_rewards"].append(exp.reward)
 
-            # Store the next visual obs as the current
-            vec_vis_obs = next_vec_vis_obs
+            # Store the next obs as the current
+            curr_obs = next_obs
         return agent_buffer_trajectory
 
     @property