[MLA-1634] Add ObservationSpec and update ISensor interfaces (#5127)

Unity-Technologies · Mar 18, 2021 · 540595a · 540595a
1 parent 80a69a9
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diff --git a/DevProject/Packages/manifest.json b/DevProject/Packages/manifest.json
@@ -15,7 +15,7 @@
     "com.unity.package-manager-doctools": "1.7.0-preview",
     "com.unity.package-validation-suite": "0.19.0-preview",
     "com.unity.purchasing": "2.2.1",
-    "com.unity.test-framework": "1.1.20",
+    "com.unity.test-framework": "1.1.22",
     "com.unity.test-framework.performance": "2.2.0-preview",
     "com.unity.testtools.codecoverage": "1.0.0-pre.3",
     "com.unity.textmeshpro": "2.0.1",

diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json
@@ -185,7 +185,7 @@
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.test-framework": {
-      "version": "1.1.20",
+      "version": "1.1.22",
       "depth": 0,
       "source": "registry",
       "dependencies": {

diff --git a/DevProject/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json b/DevProject/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json
@@ -2,6 +2,22 @@
     "m_Name": "Settings",
     "m_Path": "ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json",
     "m_Dictionary": {
-        "m_DictionaryValues": []
+        "m_DictionaryValues": [
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "Path",
+                "value": "{\"m_Value\":\"{ProjectPath}\"}"
+            },
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "HistoryPath",
+                "value": "{\"m_Value\":\"{ProjectPath}\"}"
+            },
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "IncludeAssemblies",
+                "value": "{\"m_Value\":\"Assembly-CSharp,Runtime,Unity.ML-Agents,Unity.ML-Agents.Extensions\"}"
+            }
+        ]
     }
 }
diff --git a/DevProject/ProjectSettings/ProjectVersion.txt b/DevProject/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2019.4.19f1
-m_EditorVersionWithRevision: 2019.4.19f1 (ca5b14067cec)
+m_EditorVersion: 2019.4.20f1
+m_EditorVersionWithRevision: 2019.4.20f1 (6dd1c08eedfa)
diff --git a/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicSensorComponent.cs b/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicSensorComponent.cs
@@ -53,9 +53,9 @@ public override void WriteObservation(float[] output)
         }
 
         /// <inheritdoc/>
-        public override int[] GetObservationShape()
+        public override ObservationSpec GetObservationSpec()
         {
-            return new[] { BasicController.k_Extents };
+            return ObservationSpec.Vector(BasicController.k_Extents);
         }
 
         /// <inheritdoc/>

diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs
@@ -15,7 +15,7 @@ public abstract class SensorBase : ISensor
         public abstract void WriteObservation(float[] output);
 
         /// <inheritdoc/>
-        public abstract int[] GetObservationShape();
+        public abstract ObservationSpec GetObservationSpec();
 
         /// <inheritdoc/>
         public abstract string GetName();

diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx.meta b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx.meta
diff --git a/Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensor.cs b/Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensor.cs
@@ -5,7 +5,7 @@ public class TestTextureSensor : ISensor
 {
     Texture2D m_Texture;
     string m_Name;
-    int[] m_Shape;
+    private ObservationSpec m_ObservationSpec;
     SensorCompressionType m_CompressionType;
 
     /// <summary>
@@ -25,7 +25,7 @@ public TestTextureSensor(
         var width = texture.width;
         var height = texture.height;
         m_Name = name;
-        m_Shape = new[] { height, width, 3 };
+        m_ObservationSpec = ObservationSpec.Visual(height, width, 3);
         m_CompressionType = compressionType;
     }
 
@@ -36,9 +36,9 @@ public string GetName()
     }
 
     /// <inheritdoc/>
-    public int[] GetObservationShape()
+    public ObservationSpec GetObservationSpec()
     {
-        return m_Shape;
+        return m_ObservationSpec;
     }
 
     /// <inheritdoc/>

diff --git a/com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs b/com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs
@@ -39,7 +39,7 @@ public class Match3Sensor : ISparseChannelSensor, IBuiltInSensor
     {
         private Match3ObservationType m_ObservationType;
         private AbstractBoard m_Board;
-        private int[] m_Shape;
+        private ObservationSpec m_ObservationSpec;
         private int[] m_SparseChannelMapping;
         private string m_Name;
 
@@ -70,9 +70,9 @@ public Match3Sensor(AbstractBoard board, Match3ObservationType obsType, string n
             m_NumSpecialTypes = board.NumSpecialTypes;
 
             m_ObservationType = obsType;
-            m_Shape = obsType == Match3ObservationType.Vector ?
-                new[] { m_Rows * m_Columns * (m_NumCellTypes + SpecialTypeSize) } :
-                new[] { m_Rows, m_Columns, m_NumCellTypes + SpecialTypeSize };
+            m_ObservationSpec = obsType == Match3ObservationType.Vector
+                ? ObservationSpec.Vector(m_Rows * m_Columns * (m_NumCellTypes + SpecialTypeSize))
+                : ObservationSpec.Visual(m_Rows, m_Columns, m_NumCellTypes + SpecialTypeSize);
 
             // See comment in GetCompressedObservation()
             var cellTypePaddedSize = 3 * ((m_NumCellTypes + 2) / 3);
@@ -96,9 +96,9 @@ public Match3Sensor(AbstractBoard board, Match3ObservationType obsType, string n
         }
 
         /// <inheritdoc/>
-        public int[] GetObservationShape()
+        public ObservationSpec GetObservationSpec()
         {
-            return m_Shape;
+            return m_ObservationSpec;
         }
 
         /// <inheritdoc/>

diff --git a/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs b/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
@@ -215,9 +215,9 @@ public enum GridDepthType { Channel, ChannelHot };
         protected bool Initialized = false;
 
         /// <summary>
-        /// Array holding the dimensions of the resulting tensor
+        /// Cached ObservationSpec
         /// </summary>
-        private int[] m_Shape;
+        private ObservationSpec m_ObservationSpec;
 
         //
         // Debug Parameters
@@ -423,7 +423,7 @@ public virtual void Start()
             // Default root reference to current game object
             if (rootReference == null)
                 rootReference = gameObject;
-            m_Shape = new[] { GridNumSideX, GridNumSideZ, ObservationPerCell };
+            m_ObservationSpec = ObservationSpec.Visual(GridNumSideX, GridNumSideZ, ObservationPerCell);
 
             compressedImgs = new List<byte[]>();
             byteSizesBytesList = new List<byte[]>();
@@ -475,14 +475,6 @@ public void ClearPerceptionBuffer()
             }
         }
 
-        /// <summary>Gets the shape of the grid observation</summary>
-        /// <returns>integer array shape of the grid observation</returns>
-        public int[] GetFloatObservationShape()
-        {
-            m_Shape = new[] { GridNumSideX, GridNumSideZ, ObservationPerCell };
-            return m_Shape;
-        }
-
         /// <inheritdoc/>
         public string GetName()
         {
@@ -914,10 +906,22 @@ void ISensor.Update()
 
         /// <summary>Gets the observation shape</summary>
         /// <returns>int[] of the observation shape</returns>
+        public ObservationSpec GetObservationSpec()
+        {
+            // Lazy update
+            var shape = m_ObservationSpec.Shape;
+            if (shape[0] != GridNumSideX || shape[1] != GridNumSideZ || shape[2] != ObservationPerCell)
+            {
+                m_ObservationSpec = ObservationSpec.Visual(GridNumSideX, GridNumSideZ, ObservationPerCell);
+            }
+            return m_ObservationSpec;
+        }
+
+        /// <inheritdoc/>
         public override int[] GetObservationShape()
         {
-            m_Shape = new[] { GridNumSideX, GridNumSideZ, ObservationPerCell };
-            return m_Shape;
+            var shape = m_ObservationSpec.Shape;
+            return new int[] { shape[0], shape[1], shape[2] };
         }
 
         /// <inheritdoc/>

diff --git a/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs b/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs
@@ -11,7 +11,7 @@ namespace Unity.MLAgents.Extensions.Sensors
     /// </summary>
     public class PhysicsBodySensor : ISensor, IBuiltInSensor
     {
-        int[] m_Shape;
+        ObservationSpec m_ObservationSpec;
         string m_SensorName;
 
         PoseExtractor m_PoseExtractor;
@@ -44,7 +44,7 @@ string sensorName
             }
 
             var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
-            m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
+            m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
         }
 
 #if UNITY_2020_1_OR_NEWER
@@ -65,14 +65,14 @@ public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settin
             }
 
             var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
-            m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
+            m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
         }
 #endif
 
         /// <inheritdoc/>
-        public int[] GetObservationShape()
+        public ObservationSpec GetObservationSpec()
         {
-            return m_Shape;
+            return m_ObservationSpec;
         }
 
         /// <inheritdoc/>

diff --git a/com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs b/com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs
@@ -31,7 +31,7 @@ public void TestVectorObservations()
 
             var expectedShape = new[] { 3 * 3 * 2 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             var expectedObs = new float[]
             {
@@ -65,7 +65,7 @@ public void TestVectorObservationsSpecial()
 
             var expectedShape = new[] { 3 * 3 * (2 + 3) };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             var expectedObs = new float[]
             {
@@ -94,7 +94,7 @@ public void TestVisualObservations()
 
             var expectedShape = new[] { 3, 3, 2 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionType());
 
@@ -138,7 +138,7 @@ public void TestVisualObservationsSpecial()
 
             var expectedShape = new[] { 3, 3, 2 + 3 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionType());
 
@@ -176,7 +176,7 @@ public void TestCompressedVisualObservations()
 
             var expectedShape = new[] { 3, 3, 2 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionType());
 
@@ -216,7 +216,7 @@ public void TestCompressedVisualObservationsSpecial()
 
             var expectedShape = new[] { 3, 3, 2 + 3 };
             Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(expectedShape, sensor.GetObservationShape());
+            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
 
             Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionType());
 

diff --git a/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelHotShapeTests.cs b/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelHotShapeTests.cs
@@ -35,7 +35,7 @@ public void OneChannelDepthOne()
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 1 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
 
         }
 
@@ -52,7 +52,7 @@ public void OneChannelDepthTwo()
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 2 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
 
         }
 
@@ -67,7 +67,7 @@ public void TwoChannelsDepthTwoOne()
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 3 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
 
         }
 
@@ -82,7 +82,7 @@ public void TwoChannelsDepthThreeThree()
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 6 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
 
         }
 

diff --git a/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelShapeTests.cs b/com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelShapeTests.cs
@@ -35,7 +35,7 @@ public void OneChannel()
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 1 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
         }
 
         [Test]
@@ -49,7 +49,7 @@ public void TwoChannel()
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 2 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
         }
 
         [Test]
@@ -63,7 +63,7 @@ public void SevenChannel()
             gridSensor.Start();
 
             int[] expectedShape = { 10, 10, 7 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetFloatObservationShape());
+            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
         }
     }
 }
diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
@@ -9,14 +9,16 @@ and this project adheres to
 ## [Unreleased]
 ### Major Changes
 #### com.unity.ml-agents (C#)
-======
+- Several breaking interface changes were made. See the
+[Migration Guide](https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Migrating.md) for more
+details.
 - Some methods previously marked as `Obsolete` have been removed. If you were using these methods, you need to replace them with their supported counterpart.
 - The interface for disabling discrete actions in `IDiscreteActionMask` has changed.
 `WriteMask(int branch, IEnumerable<int> actionIndices)` was replaced with
-`SetActionEnabled(int branch, int actionIndex, bool isEnabled)`. See the
+`SetActionEnabled(int branch, int actionIndex, bool isEnabled)`. (#5060)
 - IActuator now implements IHeuristicProvider. (#5110)
-[Migration Guide](https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Migrating.md) for more
-details. (#5060)
+- `ISensor.GetObservationShape()` was removed, and `GetObservationSpec()` was added. (#5127)
+
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 
 ### Minor Changes

diff --git a/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs b/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs
@@ -10,6 +10,7 @@ public interface IDiscreteActionMask
         /// <summary>
         /// Set whether or not the action index for the given branch is allowed.
         /// </summary>
+        /// <remarks>
         /// By default, all discrete actions are allowed.
         /// If isEnabled is false, the agent will not be able to perform the actions passed as argument
         /// at the next decision for the specified action branch. The actionIndex correspond