# Using an Environment Executable This section will help you create and use built environments rather than the Editor to interact with an environment. Using an executable has some advantages over using the Editor: - You can exchange executable with other people without having to share your entire repository. - You can put your executable on a remote machine for faster training. - You can use `Server Build` (`Headless`) mode for faster training (as long as the executable does not need rendering). - You can keep using the Unity Editor for other tasks while the agents are training. ## Building the 3DBall environment The first step is to open the Unity scene containing the 3D Balance Ball environment: 1. Launch Unity. 1. On the Projects dialog, choose the **Open** option at the top of the window. 1. Using the file dialog that opens, locate the `Project` folder within the ML-Agents project and click **Open**. 1. In the **Project** window, navigate to the folder `Assets/ML-Agents/Examples/3DBall/Scenes/`. 1. Double-click the `3DBall` file to load the scene containing the Balance Ball environment. ![3DBall Scene](images/mlagents-Open3DBall.png) Next, we want the set up scene to play correctly when the training process launches our environment executable. This means: - The environment application runs in the background. - No dialogs require interaction. - The correct scene loads automatically. 1. Open Player Settings (menu: **Edit** > **Project Settings** > **Player**). 1. Under **Resolution and Presentation**: - Ensure that **Run in Background** is Checked. - Ensure that **Display Resolution Dialog** is set to Disabled. (Note: this setting may not be available in newer versions of the editor.) 1. Open the Build Settings window (menu:**File** > **Build Settings**). 1. Choose your target platform. - (optional) Select “Development Build” to [log debug messages](https://docs.unity3d.com/Manual/LogFiles.html). 1. If any scenes are shown in the **Scenes in Build** list, make sure that the 3DBall Scene is the only one checked. (If the list is empty, then only the current scene is included in the build). 1. Click **Build**: - In the File dialog, navigate to your ML-Agents directory. - Assign a file name and click **Save**. - (For Windows）With Unity 2018.1, it will ask you to select a folder instead of a file name. Create a subfolder within the root directory and select that folder to build. In the following steps you will refer to this subfolder's name as `env_name`. You cannot create builds in the Assets folder ![Build Window](images/mlagents-BuildWindow.png) Now that we have a Unity executable containing the simulation environment, we can interact with it. ## Interacting with the Environment If you want to use the [Python API](Python-API.md) to interact with your executable, you can pass the name of the executable with the argument 'file_name' of the `UnityEnvironment`. For instance: ```python from mlagents_envs.environment import UnityEnvironment env = UnityEnvironment(file_name=) ``` ## Training the Environment 1. Open a command or terminal window. 1. Navigate to the folder where you installed the ML-Agents Toolkit. If you followed the default [installation](Installation.md), then navigate to the `ml-agents/` folder. 1. Run `mlagents-learn --env= --run-id=` Where: - `` is the file path of the trainer configuration yaml - `` is the name and path to the executable you exported from Unity (without extension) - `` is a string used to separate the results of different training runs For example, if you are training with a 3DBall executable, and you saved it to the directory where you installed the ML-Agents Toolkit, run: ```sh mlagents-learn config/ppo/3DBall.yaml --env=3DBall --run-id=firstRun ``` And you should see something like ```console ml-agents$ mlagents-learn config/ppo/3DBall.yaml --env=3DBall --run-id=first-run ▄▄▄▓▓▓▓ ╓▓▓▓▓▓▓█▓▓▓▓▓ ,▄▄▄m▀▀▀' ,▓▓▓▀▓▓▄ ▓▓▓ ▓▓▌ ▄▓▓▓▀' ▄▓▓▀ ▓▓▓ ▄▄ ▄▄ ,▄▄ ▄▄▄▄ ,▄▄ ▄▓▓▌▄ ▄▄▄ ,▄▄ ▄▓▓▓▀ ▄▓▓▀ ▐▓▓▌ ▓▓▌ ▐▓▓ ▐▓▓▓▀▀▀▓▓▌ ▓▓▓ ▀▓▓▌▀ ^▓▓▌ ╒▓▓▌ ▄▓▓▓▓▓▄▄▄▄▄▄▄▄▓▓▓ ▓▀ ▓▓▌ ▐▓▓ ▐▓▓ ▓▓▓ ▓▓▓ ▓▓▌ ▐▓▓▄ ▓▓▌ ▀▓▓▓▓▀▀▀▀▀▀▀▀▀▀▓▓▄ ▓▓ ▓▓▌ ▐▓▓ ▐▓▓ ▓▓▓ ▓▓▓ ▓▓▌ ▐▓▓▐▓▓ ^█▓▓▓ ▀▓▓▄ ▐▓▓▌ ▓▓▓▓▄▓▓▓▓ ▐▓▓ ▓▓▓ ▓▓▓ ▓▓▓▄ ▓▓▓▓` '▀▓▓▓▄ ^▓▓▓ ▓▓▓ └▀▀▀▀ ▀▀ ^▀▀ `▀▀ `▀▀ '▀▀ ▐▓▓▌ ▀▀▀▀▓▄▄▄ ▓▓▓▓▓▓, ▓▓▓▓▀ `▀█▓▓▓▓▓▓▓▓▓▌ ¬`▀▀▀█▓ ``` **Note**: If you're using Anaconda, don't forget to activate the ml-agents environment first. If `mlagents-learn` runs correctly and starts training, you should see something like this: ```console CrashReporter: initialized Mono path[0] = '/Users/dericp/workspace/ml-agents/3DBall.app/Contents/Resources/Data/Managed' Mono config path = '/Users/dericp/workspace/ml-agents/3DBall.app/Contents/MonoBleedingEdge/etc' INFO:mlagents_envs: 'Ball3DAcademy' started successfully! Unity Academy name: Ball3DAcademy INFO:mlagents_envs:Connected new brain: Unity brain name: Ball3DLearning Number of Visual Observations (per agent): 0 Vector Observation space size (per agent): 8 Number of stacked Vector Observation: 1 INFO:mlagents_envs:Hyperparameters for the PPO Trainer of brain Ball3DLearning: batch_size: 64 beta: 0.001 buffer_size: 12000 epsilon: 0.2 gamma: 0.995 hidden_units: 128 lambd: 0.99 learning_rate: 0.0003 max_steps: 5.0e4 normalize: True num_epoch: 3 num_layers: 2 time_horizon: 1000 sequence_length: 64 summary_freq: 1000 use_recurrent: False memory_size: 256 use_curiosity: False curiosity_strength: 0.01 curiosity_enc_size: 128 output_path: ./results/first-run-0/Ball3DLearning INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 1000. Mean Reward: 1.242. Std of Reward: 0.746. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 2000. Mean Reward: 1.319. Std of Reward: 0.693. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 3000. Mean Reward: 1.804. Std of Reward: 1.056. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 4000. Mean Reward: 2.151. Std of Reward: 1.432. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 5000. Mean Reward: 3.175. Std of Reward: 2.250. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 6000. Mean Reward: 4.898. Std of Reward: 4.019. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 7000. Mean Reward: 6.716. Std of Reward: 5.125. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 8000. Mean Reward: 12.124. Std of Reward: 11.929. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 9000. Mean Reward: 18.151. Std of Reward: 16.871. Training. INFO:mlagents.trainers: first-run-0: Ball3DLearning: Step: 10000. Mean Reward: 27.284. Std of Reward: 28.667. Training. ``` You can press Ctrl+C to stop the training, and your trained model will be at `results//.onnx`, which corresponds to your model's latest checkpoint. (**Note:** There is a known bug on Windows that causes the saving of the model to fail when you early terminate the training, it's recommended to wait until Step has reached the max_steps parameter you set in your config YAML.) You can now embed this trained model into your Agent by following the steps below: 1. Move your model file into `Project/Assets/ML-Agents/Examples/3DBall/TFModels/`. 1. Open the Unity Editor, and select the **3DBall** scene as described above. 1. Select the **3DBall** prefab from the Project window and select **Agent**. 1. Drag the `.onnx` file from the Project window of the Editor to the **Model** placeholder in the **Ball3DAgent** inspector window. 1. Press the **Play** button at the top of the Editor.