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[MLA-12] update protobuf for vector observations #2862

Merged
merged 21 commits into from
Nov 7, 2019
Merged

[MLA-12] update protobuf for vector observations #2862

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a37b896
WIP observation proto
Nov 2, 2019
0dd70ff
ISensor extension
Nov 4, 2019
d49eee4
use Sensor extenstion
Nov 4, 2019
856407b
Merge remote-tracking branch 'origin/develop' into develop-MLA-12-obs…
Nov 5, 2019
e40d362
precommit fixes
Nov 6, 2019
09ba7dd
fix test protos
Nov 6, 2019
bb6d302
before demo convert
Nov 6, 2019
ae4c9ea
convert demo files
Nov 6, 2019
441a6fc
remove usage of AgentInfo.stacked_vector_observation
Nov 6, 2019
0d11d7b
remove BrainParameters.num_stacked_vector_observations
Nov 6, 2019
eb5e88b
remove vec size and stack size from BrainParameters.proto
Nov 6, 2019
1a7d33a
cleanup debug logs
Nov 6, 2019
970f1a0
Merge remote-tracking branch 'origin/develop' into develop-MLA-12-obs…
Nov 6, 2019
66d94cd
rename compressed_observation.proto
Nov 6, 2019
026ec67
remove vec obs from agent_info.proto
Nov 6, 2019
112e875
fix unit test
Nov 6, 2019
6bfd059
undo accidental change
Nov 6, 2019
c0f0b89
docstrings and cleanup
Nov 6, 2019
173286c
python brain cleanup
Nov 6, 2019
2fa4afd
workaround protobuf EnumTypeWrapper bug (need proto3.8 to fix)
Nov 7, 2019
a408c42
more proto3.6 fixes (no append)
Nov 7, 2019
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13 changes: 8 additions & 5 deletions UnitySDK/Assets/ML-Agents/Editor/Tests/DemonstrationTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,6 @@ public void TestStoreInitalize()
done = true,
id = 5,
maxStepReached = true,
floatObservations = new List<float>() { 1f, 1f, 1f },
storedVectorActions = new[] { 0f, 1f },
};

Expand Down Expand Up @@ -120,13 +119,17 @@ public void TestAgentWrite()
BrainParametersProto.Parser.ParseDelimitedFrom(reader);

var agentInfoProto = AgentInfoProto.Parser.ParseDelimitedFrom(reader);
var obs = agentInfoProto.StackedVectorObservation;
Assert.AreEqual(obs.Count, bpA.brainParameters.vectorObservationSize);
for (var i = 0; i < obs.Count; i++)
var obs = agentInfoProto.Observations[2]; // skip dummy sensors
{
Assert.AreEqual((float) i+1, obs[i]);
var vecObs = obs.FloatData.Data;
Assert.AreEqual(bpA.brainParameters.vectorObservationSize, vecObs.Count);
for (var i = 0; i < vecObs.Count; i++)
{
Assert.AreEqual((float) i+1, vecObs[i]);
}
}


}
}
}
64 changes: 45 additions & 19 deletions UnitySDK/Assets/ML-Agents/Scripts/Agent.cs
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
using System;
using System.Collections.Generic;
using UnityEngine;
using Barracuda;
Expand All @@ -13,12 +14,9 @@ namespace MLAgents
public struct AgentInfo
{
/// <summary>
/// Most recent compressed observations.
/// Most recent observations.
/// </summary>
public List<CompressedObservation> compressedObservations;

// TODO struct?
public List<float> floatObservations;
public List<Observation> observations;

/// <summary>
/// Keeps track of the last vector action taken by the Brain.
Expand Down Expand Up @@ -229,11 +227,23 @@ public AgentInfo Info
/// </summary>
DemonstrationRecorder m_Recorder;

/// <summary>
/// List of sensors used to generate observations.
/// Currently generated from attached SensorComponents, and a legacy VectorSensor
/// </summary>
[FormerlySerializedAs("m_Sensors")]
public List<ISensor> sensors;

/// <summary>
/// VectorSensor which is written to by AddVectorObs
/// </summary>
public VectorSensor collectObservationsSensor;

/// <summary>
/// Internal buffer used for generating float observations.
/// </summary>
float[] m_VectorSensorBuffer;
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WriteAdapter m_WriteAdapter = new WriteAdapter();

/// MonoBehaviour function that is called when the attached GameObject
Expand Down Expand Up @@ -447,11 +457,7 @@ void ResetData()
}
}

m_Info.compressedObservations = new List<CompressedObservation>();
m_Info.floatObservations = new List<float>();
m_Info.floatObservations.AddRange(
new float[param.vectorObservationSize
* param.numStackedVectorObservations]);
m_Info.observations = new List<Observation>();
}

/// <summary>
Expand Down Expand Up @@ -523,6 +529,17 @@ public void InitializeSensors()
Debug.Assert(!sensors[i].GetName().Equals(sensors[i + 1].GetName()), "Sensor names must be unique.");
}
#endif
// Create a buffer for writing vector sensor data too
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Might need to discuss alternatives to this. We need to have somewhere for non-compressed sensors to write before passing this to the proto objects; this seemed like a good way to prevent repeated allocations. Another option would be to have the Communicator have a cache of Observations (indexed by size), and it manages the Write() calls before converting to proto.

int numFloatObservations = 0;
for (var i = 0; i < sensors.Count; i++)
{
if (sensors[i].GetCompressionType() == SensorCompressionType.None)
{
numFloatObservations += sensors[i].ObservationSize();
}
}

m_VectorSensorBuffer = new float[numFloatObservations];
}

/// <summary>
Expand All @@ -536,7 +553,7 @@ void SendInfoToBrain()
}

m_Info.storedVectorActions = m_Action.vectorActions;
m_Info.compressedObservations.Clear();
m_Info.observations.Clear();
m_ActionMasker.ResetMask();
UpdateSensors();
using (TimerStack.Instance.Scoped("CollectObservations"))
Expand All @@ -556,9 +573,9 @@ void SendInfoToBrain()

if (m_Recorder != null && m_Recorder.record && Application.isEditor)
{
// This is a bit of a hack - if we're in inference mode, compressed observations won't be generated
// This is a bit of a hack - if we're in inference mode, observations won't be generated
// But we need these to be generated for the recorder. So generate them here.
if (m_Info.compressedObservations.Count == 0)
if (m_Info.observations.Count == 0)
{
GenerateSensorData();
}
Expand All @@ -584,26 +601,35 @@ void UpdateSensors()
/// </summary>
public void GenerateSensorData()
{

int floatsWritten = 0;
// Generate data for all Sensors
for (var i = 0; i < sensors.Count; i++)
{
var sensor = sensors[i];
if (sensor.GetCompressionType() == SensorCompressionType.None)
{
m_WriteAdapter.SetTarget(m_Info.floatObservations, floatsWritten);
floatsWritten += sensor.Write(m_WriteAdapter);
// only handles 1D
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There's currently an assumption that compressed observation <=> 3 dimensional. We should (later) add an option to write visual obs as floats, just to test all the code paths (and maybe a compressed vector obs too).

// TODO handle in communicator code instead
m_WriteAdapter.SetTarget(m_VectorSensorBuffer, floatsWritten);
var numFloats = sensor.Write(m_WriteAdapter);
var floatObs = new Observation
{
FloatData = new ArraySegment<float>(m_VectorSensorBuffer, floatsWritten, numFloats),
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cool

Shape = sensor.GetFloatObservationShape(),
CompressionType = sensor.GetCompressionType()
};
m_Info.observations.Add(floatObs);
floatsWritten += numFloats;
}
else
{
var compressedObs = new CompressedObservation
var compressedObs = new Observation
{
Data = sensor.GetCompressedObservation(),
CompressedData = sensor.GetCompressedObservation(),
Shape = sensor.GetFloatObservationShape(),
CompressionType = sensor.GetCompressionType()
};
m_Info.compressedObservations.Add(compressedObs);
m_Info.observations.Add(compressedObs);
}
}
}
Expand Down
72 changes: 25 additions & 47 deletions UnitySDK/Assets/ML-Agents/Scripts/Grpc/CommunicatorObjects/AgentInfo.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,20 +25,19 @@ static AgentInfoReflection() {
byte[] descriptorData = global::System.Convert.FromBase64String(
string.Concat(
"CjNtbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2FnZW50X2lu",
"Zm8ucHJvdG8SFGNvbW11bmljYXRvcl9vYmplY3RzGj9tbGFnZW50cy9lbnZz",
"L2NvbW11bmljYXRvcl9vYmplY3RzL2NvbXByZXNzZWRfb2JzZXJ2YXRpb24u",
"cHJvdG8inQIKDkFnZW50SW5mb1Byb3RvEiIKGnN0YWNrZWRfdmVjdG9yX29i",
"c2VydmF0aW9uGAEgAygCEh0KFXN0b3JlZF92ZWN0b3JfYWN0aW9ucxgEIAMo",
"AhIOCgZyZXdhcmQYByABKAISDAoEZG9uZRgIIAEoCBIYChBtYXhfc3RlcF9y",
"ZWFjaGVkGAkgASgIEgoKAmlkGAogASgFEhMKC2FjdGlvbl9tYXNrGAsgAygI",
"ElEKF2NvbXByZXNzZWRfb2JzZXJ2YXRpb25zGA0gAygLMjAuY29tbXVuaWNh",
"dG9yX29iamVjdHMuQ29tcHJlc3NlZE9ic2VydmF0aW9uUHJvdG9KBAgCEANK",
"BAgDEARKBAgFEAZKBAgGEAdKBAgMEA1CH6oCHE1MQWdlbnRzLkNvbW11bmlj",
"YXRvck9iamVjdHNiBnByb3RvMw=="));
"Zm8ucHJvdG8SFGNvbW11bmljYXRvcl9vYmplY3RzGjRtbGFnZW50cy9lbnZz",
"L2NvbW11bmljYXRvcl9vYmplY3RzL29ic2VydmF0aW9uLnByb3RvIuoBCg5B",
"Z2VudEluZm9Qcm90bxIdChVzdG9yZWRfdmVjdG9yX2FjdGlvbnMYBCADKAIS",
"DgoGcmV3YXJkGAcgASgCEgwKBGRvbmUYCCABKAgSGAoQbWF4X3N0ZXBfcmVh",
"Y2hlZBgJIAEoCBIKCgJpZBgKIAEoBRITCgthY3Rpb25fbWFzaxgLIAMoCBI8",
"CgxvYnNlcnZhdGlvbnMYDSADKAsyJi5jb21tdW5pY2F0b3Jfb2JqZWN0cy5P",
"YnNlcnZhdGlvblByb3RvSgQIARACSgQIAhADSgQIAxAESgQIBRAGSgQIBhAH",
"SgQIDBANQh+qAhxNTEFnZW50cy5Db21tdW5pY2F0b3JPYmplY3RzYgZwcm90",
"bzM="));
descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.CompressedObservationReflection.Descriptor, },
new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.ObservationReflection.Descriptor, },
new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] {
new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.AgentInfoProto), global::MLAgents.CommunicatorObjects.AgentInfoProto.Parser, new[]{ "StackedVectorObservation", "StoredVectorActions", "Reward", "Done", "MaxStepReached", "Id", "ActionMask", "CompressedObservations" }, null, null, null)
new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.AgentInfoProto), global::MLAgents.CommunicatorObjects.AgentInfoProto.Parser, new[]{ "StoredVectorActions", "Reward", "Done", "MaxStepReached", "Id", "ActionMask", "Observations" }, null, null, null)
}));
}
#endregion
Expand Down Expand Up @@ -70,14 +69,13 @@ public AgentInfoProto() {

[global::System.Diagnostics.DebuggerNonUserCodeAttribute]
public AgentInfoProto(AgentInfoProto other) : this() {
stackedVectorObservation_ = other.stackedVectorObservation_.Clone();
storedVectorActions_ = other.storedVectorActions_.Clone();
reward_ = other.reward_;
done_ = other.done_;
maxStepReached_ = other.maxStepReached_;
id_ = other.id_;
actionMask_ = other.actionMask_.Clone();
compressedObservations_ = other.compressedObservations_.Clone();
observations_ = other.observations_.Clone();
_unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
}

Expand All @@ -86,16 +84,6 @@ public AgentInfoProto Clone() {
return new AgentInfoProto(this);
}

/// <summary>Field number for the "stacked_vector_observation" field.</summary>
public const int StackedVectorObservationFieldNumber = 1;
private static readonly pb::FieldCodec<float> _repeated_stackedVectorObservation_codec
= pb::FieldCodec.ForFloat(10);
private readonly pbc::RepeatedField<float> stackedVectorObservation_ = new pbc::RepeatedField<float>();
[global::System.Diagnostics.DebuggerNonUserCodeAttribute]
public pbc::RepeatedField<float> StackedVectorObservation {
get { return stackedVectorObservation_; }
}

/// <summary>Field number for the "stored_vector_actions" field.</summary>
public const int StoredVectorActionsFieldNumber = 4;
private static readonly pb::FieldCodec<float> _repeated_storedVectorActions_codec
Expand Down Expand Up @@ -160,14 +148,14 @@ public int Id {
get { return actionMask_; }
}

/// <summary>Field number for the "compressed_observations" field.</summary>
public const int CompressedObservationsFieldNumber = 13;
private static readonly pb::FieldCodec<global::MLAgents.CommunicatorObjects.CompressedObservationProto> _repeated_compressedObservations_codec
= pb::FieldCodec.ForMessage(106, global::MLAgents.CommunicatorObjects.CompressedObservationProto.Parser);
private readonly pbc::RepeatedField<global::MLAgents.CommunicatorObjects.CompressedObservationProto> compressedObservations_ = new pbc::RepeatedField<global::MLAgents.CommunicatorObjects.CompressedObservationProto>();
/// <summary>Field number for the "observations" field.</summary>
public const int ObservationsFieldNumber = 13;
private static readonly pb::FieldCodec<global::MLAgents.CommunicatorObjects.ObservationProto> _repeated_observations_codec
= pb::FieldCodec.ForMessage(106, global::MLAgents.CommunicatorObjects.ObservationProto.Parser);
private readonly pbc::RepeatedField<global::MLAgents.CommunicatorObjects.ObservationProto> observations_ = new pbc::RepeatedField<global::MLAgents.CommunicatorObjects.ObservationProto>();
[global::System.Diagnostics.DebuggerNonUserCodeAttribute]
public pbc::RepeatedField<global::MLAgents.CommunicatorObjects.CompressedObservationProto> CompressedObservations {
get { return compressedObservations_; }
public pbc::RepeatedField<global::MLAgents.CommunicatorObjects.ObservationProto> Observations {
get { return observations_; }
}

[global::System.Diagnostics.DebuggerNonUserCodeAttribute]
Expand All @@ -183,28 +171,26 @@ public bool Equals(AgentInfoProto other) {
if (ReferenceEquals(other, this)) {
return true;
}
if(!stackedVectorObservation_.Equals(other.stackedVectorObservation_)) return false;
if(!storedVectorActions_.Equals(other.storedVectorActions_)) return false;
if (!pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.Equals(Reward, other.Reward)) return false;
if (Done != other.Done) return false;
if (MaxStepReached != other.MaxStepReached) return false;
if (Id != other.Id) return false;
if(!actionMask_.Equals(other.actionMask_)) return false;
if(!compressedObservations_.Equals(other.compressedObservations_)) return false;
if(!observations_.Equals(other.observations_)) return false;
return Equals(_unknownFields, other._unknownFields);
}

[global::System.Diagnostics.DebuggerNonUserCodeAttribute]
public override int GetHashCode() {
int hash = 1;
hash ^= stackedVectorObservation_.GetHashCode();
hash ^= storedVectorActions_.GetHashCode();
if (Reward != 0F) hash ^= pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.GetHashCode(Reward);
if (Done != false) hash ^= Done.GetHashCode();
if (MaxStepReached != false) hash ^= MaxStepReached.GetHashCode();
if (Id != 0) hash ^= Id.GetHashCode();
hash ^= actionMask_.GetHashCode();
hash ^= compressedObservations_.GetHashCode();
hash ^= observations_.GetHashCode();
if (_unknownFields != null) {
hash ^= _unknownFields.GetHashCode();
}
Expand All @@ -218,7 +204,6 @@ public override string ToString() {

[global::System.Diagnostics.DebuggerNonUserCodeAttribute]
public void WriteTo(pb::CodedOutputStream output) {
stackedVectorObservation_.WriteTo(output, _repeated_stackedVectorObservation_codec);
storedVectorActions_.WriteTo(output, _repeated_storedVectorActions_codec);
if (Reward != 0F) {
output.WriteRawTag(61);
Expand All @@ -237,7 +222,7 @@ public void WriteTo(pb::CodedOutputStream output) {
output.WriteInt32(Id);
}
actionMask_.WriteTo(output, _repeated_actionMask_codec);
compressedObservations_.WriteTo(output, _repeated_compressedObservations_codec);
observations_.WriteTo(output, _repeated_observations_codec);
if (_unknownFields != null) {
_unknownFields.WriteTo(output);
}
Expand All @@ -246,7 +231,6 @@ public void WriteTo(pb::CodedOutputStream output) {
[global::System.Diagnostics.DebuggerNonUserCodeAttribute]
public int CalculateSize() {
int size = 0;
size += stackedVectorObservation_.CalculateSize(_repeated_stackedVectorObservation_codec);
size += storedVectorActions_.CalculateSize(_repeated_storedVectorActions_codec);
if (Reward != 0F) {
size += 1 + 4;
Expand All @@ -261,7 +245,7 @@ public int CalculateSize() {
size += 1 + pb::CodedOutputStream.ComputeInt32Size(Id);
}
size += actionMask_.CalculateSize(_repeated_actionMask_codec);
size += compressedObservations_.CalculateSize(_repeated_compressedObservations_codec);
size += observations_.CalculateSize(_repeated_observations_codec);
if (_unknownFields != null) {
size += _unknownFields.CalculateSize();
}
Expand All @@ -273,7 +257,6 @@ public void MergeFrom(AgentInfoProto other) {
if (other == null) {
return;
}
stackedVectorObservation_.Add(other.stackedVectorObservation_);
storedVectorActions_.Add(other.storedVectorActions_);
if (other.Reward != 0F) {
Reward = other.Reward;
Expand All @@ -288,7 +271,7 @@ public void MergeFrom(AgentInfoProto other) {
Id = other.Id;
}
actionMask_.Add(other.actionMask_);
compressedObservations_.Add(other.compressedObservations_);
observations_.Add(other.observations_);
_unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
}

Expand All @@ -300,11 +283,6 @@ public void MergeFrom(pb::CodedInputStream input) {
default:
_unknownFields = pb::UnknownFieldSet.MergeFieldFrom(_unknownFields, input);
break;
case 10:
case 13: {
stackedVectorObservation_.AddEntriesFrom(input, _repeated_stackedVectorObservation_codec);
break;
}
case 34:
case 37: {
storedVectorActions_.AddEntriesFrom(input, _repeated_storedVectorActions_codec);
Expand Down Expand Up @@ -332,7 +310,7 @@ public void MergeFrom(pb::CodedInputStream input) {
break;
}
case 106: {
compressedObservations_.AddEntriesFrom(input, _repeated_compressedObservations_codec);
observations_.AddEntriesFrom(input, _repeated_observations_codec);
break;
}
}
Expand Down
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