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639 行
25 KiB
639 行
25 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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#if UNITY_EDITOR
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using UnityEditor;
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#endif
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using System.Linq;
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#if ENABLE_TENSORFLOW
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using TensorFlow;
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#endif
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namespace MLAgents
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{
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/// CoreBrain which decides actions using internally embedded TensorFlow model.
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public class CoreBrainInternal : ScriptableObject, CoreBrain
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{
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[SerializeField] [Tooltip("If checked, the brain will broadcast states and actions to Python.")]
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#pragma warning disable
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private bool broadcast = true;
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#pragma warning restore
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[System.Serializable]
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private struct TensorFlowAgentPlaceholder
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{
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public enum TensorType
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{
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Integer,
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FloatingPoint
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};
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public string name;
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public TensorType valueType;
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public float minValue;
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public float maxValue;
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}
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Batcher brainBatcher;
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[Tooltip("This must be the bytes file corresponding to the pretrained TensorFlow graph.")]
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/// Modify only in inspector : Reference to the Graph asset
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public TextAsset graphModel;
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/// Modify only in inspector : If a scope was used when training the model, specify it here
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public string graphScope;
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[SerializeField]
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[Tooltip(
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"If your graph takes additional inputs that are fixed (example: noise level) you can specify them here.")]
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/// Modify only in inspector : If your graph takes additional inputs that are fixed you can specify them here.
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private TensorFlowAgentPlaceholder[] graphPlaceholders;
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/// Modify only in inspector : Name of the placholder of the batch size
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public string BatchSizePlaceholderName = "batch_size";
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/// Modify only in inspector : Name of the state placeholder
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public string VectorObservationPlacholderName = "vector_observation";
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/// Modify only in inspector : Name of the recurrent input
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public string RecurrentInPlaceholderName = "recurrent_in";
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/// Modify only in inspector : Name of the recurrent output
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public string RecurrentOutPlaceholderName = "recurrent_out";
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/// Modify only in inspector : Names of the observations placeholders
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public string[] VisualObservationPlaceholderName;
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/// Modify only in inspector : Name of the action node
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public string ActionPlaceholderName = "action";
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/// Modify only in inspector : Name of the previous action node
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public string PreviousActionPlaceholderName = "prev_action";
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#if ENABLE_TENSORFLOW
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TFGraph graph;
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TFSession session;
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bool hasRecurrent;
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bool hasState;
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bool hasBatchSize;
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bool hasPrevAction;
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bool hasValueEstimate;
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float[,] inputState;
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int[] inputPrevAction;
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List<float[,,,]> observationMatrixList;
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float[,] inputOldMemories;
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List<Texture2D> texturesHolder;
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int memorySize;
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#endif
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/// Reference to the brain that uses this CoreBrainInternal
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public Brain brain;
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/// Create the reference to the brain
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public void SetBrain(Brain b)
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{
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brain = b;
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}
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/// Loads the tensorflow graph model to generate a TFGraph object
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public void InitializeCoreBrain(MLAgents.Batcher brainBatcher)
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{
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#if ENABLE_TENSORFLOW
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#if UNITY_ANDROID
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// This needs to ba called only once and will raise an exception if
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// there are multiple internal brains
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try{
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TensorFlowSharp.Android.NativeBinding.Init();
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}
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catch{
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}
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#endif
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if ((brainBatcher == null)
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|| (!broadcast))
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{
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this.brainBatcher = null;
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}
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else
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{
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this.brainBatcher = brainBatcher;
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this.brainBatcher.SubscribeBrain(brain.gameObject.name);
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}
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if (graphModel != null)
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{
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graph = new TFGraph();
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graph.Import(graphModel.bytes);
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session = new TFSession(graph);
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// TODO: Make this a loop over a dynamic set of graph inputs
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if ((graphScope.Length > 1) && (graphScope[graphScope.Length - 1] != '/'))
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{
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graphScope = graphScope + '/';
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}
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if (graph[graphScope + BatchSizePlaceholderName] != null)
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{
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hasBatchSize = true;
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}
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if ((graph[graphScope + RecurrentInPlaceholderName] != null) &&
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(graph[graphScope + RecurrentOutPlaceholderName] != null))
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{
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hasRecurrent = true;
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var runner = session.GetRunner();
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runner.Fetch(graph[graphScope + "memory_size"][0]);
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var networkOutput = runner.Run()[0].GetValue();
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memorySize = (int) networkOutput;
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}
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if (graph[graphScope + VectorObservationPlacholderName] != null)
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{
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hasState = true;
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}
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if (graph[graphScope + PreviousActionPlaceholderName] != null)
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{
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hasPrevAction = true;
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}
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if (graph[graphScope + "value_estimate"] != null)
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{
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hasValueEstimate = true;
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}
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}
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observationMatrixList = new List<float[,,,]>();
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texturesHolder = new List<Texture2D>();
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#endif
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}
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/// Uses the stored information to run the tensorflow graph and generate
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/// the actions.
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public void DecideAction(Dictionary<Agent, AgentInfo> agentInfo)
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{
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#if ENABLE_TENSORFLOW
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if (brainBatcher != null)
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{
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brainBatcher.SendBrainInfo(brain.gameObject.name, agentInfo);
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}
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int currentBatchSize = agentInfo.Count();
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List<Agent> agentList = agentInfo.Keys.ToList();
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if (currentBatchSize == 0)
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{
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return;
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}
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// Create the state tensor
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if (hasState)
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{
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int stateLength = 1;
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stateLength = brain.brainParameters.vectorObservationSize;
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inputState =
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new float[currentBatchSize, stateLength * brain.brainParameters.numStackedVectorObservations];
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var i = 0;
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foreach (Agent agent in agentList)
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{
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List<float> stateList = agentInfo[agent].stackedVectorObservation;
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for (int j =
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0;
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j < stateLength * brain.brainParameters.numStackedVectorObservations;
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j++)
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{
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inputState[i, j] = stateList[j];
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}
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i++;
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}
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}
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// Create the state tensor
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if (hasPrevAction)
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{
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inputPrevAction = new int[currentBatchSize];
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var i = 0;
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foreach (Agent agent in agentList)
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{
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float[] actionList = agentInfo[agent].storedVectorActions;
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inputPrevAction[i] = Mathf.FloorToInt(actionList[0]);
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i++;
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}
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}
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observationMatrixList.Clear();
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for (int observationIndex =
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0;
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observationIndex < brain.brainParameters.cameraResolutions.Length;
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observationIndex++)
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{
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texturesHolder.Clear();
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foreach (Agent agent in agentList)
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{
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texturesHolder.Add(agentInfo[agent].visualObservations[observationIndex]);
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}
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observationMatrixList.Add(
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BatchVisualObservations(texturesHolder,
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brain.brainParameters.cameraResolutions[observationIndex].blackAndWhite));
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}
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// Create the recurrent tensor
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if (hasRecurrent)
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{
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// Need to have variable memory size
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inputOldMemories = new float[currentBatchSize, memorySize];
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var i = 0;
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foreach (Agent agent in agentList)
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{
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float[] m = agentInfo[agent].memories.ToArray();
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for (int j = 0; j < m.Length; j++)
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{
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inputOldMemories[i, j] = m[j];
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}
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i++;
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}
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}
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var runner = session.GetRunner();
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try
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{
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runner.Fetch(graph[graphScope + ActionPlaceholderName][0]);
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}
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catch
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{
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throw new UnityAgentsException(string.Format(
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@"The node {0} could not be found. Please make sure the graphScope {1} is correct",
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graphScope + ActionPlaceholderName, graphScope));
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}
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if (hasBatchSize)
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{
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runner.AddInput(graph[graphScope + BatchSizePlaceholderName][0], new int[] {currentBatchSize});
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}
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foreach (TensorFlowAgentPlaceholder placeholder in graphPlaceholders)
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{
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try
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{
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if (placeholder.valueType == TensorFlowAgentPlaceholder.TensorType.FloatingPoint)
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{
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runner.AddInput(graph[graphScope + placeholder.name][0],
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new float[] {Random.Range(placeholder.minValue, placeholder.maxValue)});
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}
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else if (placeholder.valueType == TensorFlowAgentPlaceholder.TensorType.Integer)
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{
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runner.AddInput(graph[graphScope + placeholder.name][0],
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new int[] {Random.Range((int) placeholder.minValue, (int) placeholder.maxValue + 1)});
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}
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}
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catch
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{
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throw new UnityAgentsException(string.Format(
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@"One of the Tensorflow placeholder cound nout be found.
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In brain {0}, there are no {1} placeholder named {2}.",
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brain.gameObject.name, placeholder.valueType.ToString(), graphScope + placeholder.name));
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}
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}
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// Create the state tensor
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if (hasState)
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{
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runner.AddInput(graph[graphScope + VectorObservationPlacholderName][0], inputState);
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}
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// Create the previous action tensor
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if (hasPrevAction)
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{
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runner.AddInput(graph[graphScope + PreviousActionPlaceholderName][0], inputPrevAction);
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}
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// Create the observation tensors
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for (int obsNumber =
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0;
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obsNumber < brain.brainParameters.cameraResolutions.Length;
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obsNumber++)
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{
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runner.AddInput(graph[graphScope + VisualObservationPlaceholderName[obsNumber]][0],
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observationMatrixList[obsNumber]);
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}
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if (hasRecurrent)
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{
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runner.AddInput(graph[graphScope + "sequence_length"][0], 1);
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runner.AddInput(graph[graphScope + RecurrentInPlaceholderName][0], inputOldMemories);
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runner.Fetch(graph[graphScope + RecurrentOutPlaceholderName][0]);
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}
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if (hasValueEstimate)
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{
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runner.Fetch(graph[graphScope + "value_estimate"][0]);
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}
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TFTensor[] networkOutput;
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try
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{
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networkOutput = runner.Run();
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}
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catch (TFException e)
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{
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string errorMessage = e.Message;
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try
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{
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errorMessage =
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$@"The tensorflow graph needs an input for {e.Message.Split(new string[] {"Node: "}, 0)[1].Split('=')[0]} of type {e.Message.Split(new string[] {"dtype="}, 0)[1].Split(',')[0]}";
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}
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finally
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{
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throw new UnityAgentsException(errorMessage);
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}
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}
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// Create the recurrent tensor
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if (hasRecurrent)
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{
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float[,] recurrentTensor = networkOutput[1].GetValue() as float[,];
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var i = 0;
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foreach (Agent agent in agentList)
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{
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var m = new float[memorySize];
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for (int j = 0; j < memorySize; j++)
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{
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m[j] = recurrentTensor[i, j];
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}
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agent.UpdateMemoriesAction(m.ToList());
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i++;
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}
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}
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if (hasValueEstimate)
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{
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float[,] value_estimates = new float[currentBatchSize,1];
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if (hasRecurrent)
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{
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value_estimates = networkOutput[2].GetValue() as float[,];
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}
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else
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{
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value_estimates = networkOutput[1].GetValue() as float[,];
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}
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var i = 0;
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foreach (Agent agent in agentList)
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{
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agent.UpdateValueAction(value_estimates[i,0]);
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}
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}
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if (brain.brainParameters.vectorActionSpaceType == SpaceType.continuous)
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{
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var output = networkOutput[0].GetValue() as float[,];
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var i = 0;
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foreach (Agent agent in agentList)
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{
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var a = new float[brain.brainParameters.vectorActionSize];
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for (int j = 0; j < brain.brainParameters.vectorActionSize; j++)
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{
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a[j] = output[i, j];
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}
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agent.UpdateVectorAction(a);
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i++;
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}
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}
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else if (brain.brainParameters.vectorActionSpaceType == SpaceType.discrete)
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{
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long[,] output = networkOutput[0].GetValue() as long[,];
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var i = 0;
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foreach (Agent agent in agentList)
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{
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var a = new float[1] {(float) (output[i, 0])};
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agent.UpdateVectorAction(a);
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i++;
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}
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}
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#else
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if (agentInfo.Count > 0)
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{
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throw new UnityAgentsException(string.Format(
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@"The brain {0} was set to Internal but the Tensorflow
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library is not present in the Unity project.",
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brain.gameObject.name));
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}
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#endif
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}
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/// Displays the parameters of the CoreBrainInternal in the Inspector
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public void OnInspector()
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{
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#if ENABLE_TENSORFLOW && UNITY_EDITOR
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EditorGUILayout.LabelField("", GUI.skin.horizontalSlider);
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broadcast = EditorGUILayout.Toggle(new GUIContent("Broadcast",
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"If checked, the brain will broadcast states and actions to Python."), broadcast);
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var serializedBrain = new SerializedObject(this);
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GUILayout.Label("Edit the Tensorflow graph parameters here");
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var tfGraphModel = serializedBrain.FindProperty("graphModel");
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serializedBrain.Update();
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EditorGUILayout.ObjectField(tfGraphModel);
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serializedBrain.ApplyModifiedProperties();
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if (graphModel == null)
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{
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EditorGUILayout.HelpBox("Please provide a tensorflow graph as a bytes file.", MessageType.Error);
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}
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graphScope =
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EditorGUILayout.TextField(new GUIContent("Graph Scope",
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"If you set a scope while training your tensorflow model, " +
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"all your placeholder name will have a prefix. You must specify that prefix here."), graphScope);
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if (BatchSizePlaceholderName == "")
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{
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BatchSizePlaceholderName = "batch_size";
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}
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BatchSizePlaceholderName =
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EditorGUILayout.TextField(new GUIContent("Batch Size Node Name", "If the batch size is one of " +
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"the inputs of your graph, you must specify the name if the placeholder here."),
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BatchSizePlaceholderName);
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if (VectorObservationPlacholderName == "")
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{
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VectorObservationPlacholderName = "state";
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}
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VectorObservationPlacholderName =
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EditorGUILayout.TextField(new GUIContent("Vector Observation Node Name",
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"If your graph uses the state as an input, " +
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"you must specify the name if the placeholder here."), VectorObservationPlacholderName);
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if (RecurrentInPlaceholderName == "")
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{
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RecurrentInPlaceholderName = "recurrent_in";
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}
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RecurrentInPlaceholderName =
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EditorGUILayout.TextField(new GUIContent("Recurrent Input Node Name", "If your graph uses a " +
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"recurrent input / memory as input and outputs new recurrent input / memory, " +
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"you must specify the name if the input placeholder here."),
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RecurrentInPlaceholderName);
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if (RecurrentOutPlaceholderName == "")
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{
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RecurrentOutPlaceholderName = "recurrent_out";
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}
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RecurrentOutPlaceholderName =
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EditorGUILayout.TextField(new GUIContent("Recurrent Output Node Name", " If your graph uses a " +
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"recurrent input / memory as input and outputs new recurrent input / memory, you must specify the name if " +
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"the output placeholder here."),
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RecurrentOutPlaceholderName);
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if (brain.brainParameters.cameraResolutions != null)
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{
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if (brain.brainParameters.cameraResolutions.Count() > 0)
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{
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if (VisualObservationPlaceholderName == null)
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{
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VisualObservationPlaceholderName =
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new string[brain.brainParameters.cameraResolutions.Count()];
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}
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if (VisualObservationPlaceholderName.Count() != brain.brainParameters.cameraResolutions.Count())
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{
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VisualObservationPlaceholderName =
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new string[brain.brainParameters.cameraResolutions.Count()];
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}
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for (int obs_number =
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0;
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obs_number < brain.brainParameters.cameraResolutions.Count();
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obs_number++)
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{
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if ((VisualObservationPlaceholderName[obs_number] == "") ||
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(VisualObservationPlaceholderName[obs_number] == null))
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{
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VisualObservationPlaceholderName[obs_number] =
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"visual_observation_" + obs_number;
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}
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}
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var opn = serializedBrain.FindProperty("VisualObservationPlaceholderName");
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serializedBrain.Update();
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EditorGUILayout.PropertyField(opn, true);
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serializedBrain.ApplyModifiedProperties();
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}
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}
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if (ActionPlaceholderName == "")
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{
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ActionPlaceholderName = "action";
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}
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ActionPlaceholderName =
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EditorGUILayout.TextField(new GUIContent("Action Node Name", "Specify the name of the " +
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"placeholder corresponding to the actions of the brain in your graph. If the action space type is " +
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"continuous, the output must be a one dimensional tensor of float of length Action Space Size, " +
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"if the action space type is discrete, the output must be a one dimensional tensor of int " +
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"of length 1."), ActionPlaceholderName);
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var tfPlaceholders = serializedBrain.FindProperty("graphPlaceholders");
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serializedBrain.Update();
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EditorGUILayout.PropertyField(tfPlaceholders, true);
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serializedBrain.ApplyModifiedProperties();
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#endif
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#if !ENABLE_TENSORFLOW && UNITY_EDITOR
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|
EditorGUILayout.HelpBox(
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"You need to install and enable the TensorflowSharp plugin in " +
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|
"order to use the internal brain.", MessageType.Error);
|
|
if (GUILayout.Button("Show me how"))
|
|
{
|
|
Application.OpenURL(
|
|
"https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Getting-Started-with-" +
|
|
"Balance-Ball.md#embedding-the-trained-brain-into-the-unity-environment-experimental");
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/// <summary>
|
|
/// Converts a list of Texture2D into a Tensor.
|
|
/// </summary>
|
|
/// <returns>
|
|
/// A 4 dimensional float Tensor of dimension
|
|
/// [batch_size, height, width, channel].
|
|
/// Where batch_size is the number of input textures,
|
|
/// height corresponds to the height of the texture,
|
|
/// width corresponds to the width of the texture,
|
|
/// channel corresponds to the number of channels extracted from the
|
|
/// input textures (based on the input blackAndWhite flag
|
|
/// (3 if the flag is false, 1 otherwise).
|
|
/// The values of the Tensor are between 0 and 1.
|
|
/// </returns>
|
|
/// <param name="textures">
|
|
/// The list of textures to be put into the tensor.
|
|
/// Note that the textures must have same width and height.
|
|
/// </param>
|
|
/// <param name="blackAndWhite">
|
|
/// If set to <c>true</c> the textures
|
|
/// will be converted to grayscale before being stored in the tensor.
|
|
/// </param>
|
|
public static float[,,,] BatchVisualObservations(
|
|
List<Texture2D> textures, bool blackAndWhite)
|
|
{
|
|
int batchSize = textures.Count();
|
|
int width = textures[0].width;
|
|
int height = textures[0].height;
|
|
int pixels = 0;
|
|
if (blackAndWhite)
|
|
pixels = 1;
|
|
else
|
|
pixels = 3;
|
|
float[,,,] result = new float[batchSize, height, width, pixels];
|
|
float[] resultTemp = new float[batchSize * height * width * pixels];
|
|
int hwp = height * width * pixels;
|
|
int wp = width * pixels;
|
|
|
|
for (int b = 0; b < batchSize; b++)
|
|
{
|
|
Color32[] cc = textures[b].GetPixels32();
|
|
for (int h = height - 1; h >= 0; h--)
|
|
{
|
|
for (int w = 0; w < width; w++)
|
|
{
|
|
Color32 currentPixel = cc[(height - h - 1) * width + w];
|
|
if (!blackAndWhite)
|
|
{
|
|
// For Color32, the r, g and b values are between
|
|
// 0 and 255.
|
|
resultTemp[b * hwp + h * wp + w * pixels] = currentPixel.r / 255.0f;
|
|
resultTemp[b * hwp + h * wp + w * pixels + 1] = currentPixel.g / 255.0f;
|
|
resultTemp[b * hwp + h * wp + w * pixels + 2] = currentPixel.b / 255.0f;
|
|
}
|
|
else
|
|
{
|
|
resultTemp[b * hwp + h * wp + w * pixels] =
|
|
(currentPixel.r + currentPixel.g + currentPixel.b)
|
|
/ 3f / 255.0f;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
System.Buffer.BlockCopy(resultTemp, 0, result, 0, batchSize * hwp * sizeof(float));
|
|
return result;
|
|
}
|
|
}
|
|
}
|