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b/Project/Assets/ML-Agents/Examples/Sorter/Scripts/NumberTile.cs.meta new file mode 100644 index 0000000000..99fe6f9162 --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/Sorter/Scripts/NumberTile.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 03b2e6d9493cc4a92acf7f3b8b438aa4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs b/Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs new file mode 100644 index 0000000000..c72d4ad61c --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs @@ -0,0 +1,273 @@ +using System.Collections.Generic; +using UnityEngine; +using Unity.MLAgents; +using Unity.MLAgents.Actuators; +using Unity.MLAgents.Sensors; +using Random = UnityEngine.Random; + + +public class SorterAgent : Agent +{ + [Range(1, 20)] + public int DefaultMaxNumTiles; + private const int k_HighestTileValue = 20; + + int m_NumberOfTilesToSpawn; + int m_MaxNumberOfTiles; + PushBlockSettings m_PushBlockSettings; + Rigidbody m_AgentRb; + + // The BufferSensorComponent is the Sensor that allows the Agent to observe + // a variable number of items (here, numbered tiles) + BufferSensorComponent m_BufferSensor; + + public List NumberTilesList = new List(); + + private List CurrentlyVisibleTilesList = new List(); + private List AlreadyTouchedList = new List(); + + private List m_UsedPositionsList = new List(); + private Vector3 m_StartingPos; + + GameObject m_Area; + EnvironmentParameters m_ResetParams; + + private int m_NextExpectedTileIndex; + + + public override void Initialize() + { + m_Area = transform.parent.gameObject; + m_MaxNumberOfTiles = k_HighestTileValue; + m_ResetParams = Academy.Instance.EnvironmentParameters; + m_BufferSensor = GetComponent(); + m_PushBlockSettings = FindObjectOfType(); + m_AgentRb = GetComponent(); + m_StartingPos = transform.position; + } + + public override void OnEpisodeBegin() + { + m_MaxNumberOfTiles = (int)m_ResetParams.GetWithDefault("num_tiles", DefaultMaxNumTiles); + + m_NumberOfTilesToSpawn = Random.Range(1, m_MaxNumberOfTiles + 1); + SelectTilesToShow(); + SetTilePositions(); + + transform.position = m_StartingPos; + m_AgentRb.velocity = Vector3.zero; + m_AgentRb.angularVelocity = Vector3.zero; + } + + + public override void CollectObservations(VectorSensor sensor) + { + sensor.AddObservation((transform.position.x - m_Area.transform.position.x) / 20f); + sensor.AddObservation((transform.position.z - m_Area.transform.position.z) / 20f); + + sensor.AddObservation(transform.forward.x); + sensor.AddObservation(transform.forward.z); + + foreach (var item in CurrentlyVisibleTilesList) + { + // Each observation / tile in the BufferSensor will have 22 values + // The first 20 are one hot encoding of the value of the tile + // The 21st and 22nd are the position of the tile relative to the agent + // The 23rd is a boolean : 1 if the tile was visited already and 0 otherwise + float[] listObservation = new float[k_HighestTileValue + 3]; + listObservation[item.NumberValue] = 1.0f; + var tileTransform = item.transform.GetChild(1); + listObservation[k_HighestTileValue] = (tileTransform.position.x - transform.position.x) / 20f; + listObservation[k_HighestTileValue + 1] = (tileTransform.position.z - transform.position.z) / 20f; + listObservation[k_HighestTileValue + 2] = item.IsVisited ? 1.0f : 0.0f; + // Here, the observation for the tile is added to the BufferSensor + m_BufferSensor.AppendObservation(listObservation); + + }; + + } + + private void OnCollisionEnter(Collision col) + { + if (!col.gameObject.CompareTag("tile")) + { + return; + } + if (AlreadyTouchedList.Contains(col.transform)) + { + return; + } + if (col.transform.parent != CurrentlyVisibleTilesList[m_NextExpectedTileIndex].transform) + { + // The Agent Failed + AddReward(-1); + EndEpisode(); + } + else + { + // The Agent Succeeded + AddReward(1); + var tile = col.gameObject.GetComponentInParent(); + tile.VisitTile(); + m_NextExpectedTileIndex++; + + AlreadyTouchedList.Add(col.transform); + + //We got all of them. Can reset now. + if (m_NextExpectedTileIndex == m_NumberOfTilesToSpawn) + { + EndEpisode(); + } + } + } + + void SetTilePositions() + { + + m_UsedPositionsList.Clear(); + + //Disable all. We will enable the ones selected + foreach (var item in NumberTilesList) + { + item.ResetTile(); + item.gameObject.SetActive(false); + } + + + foreach (var item in CurrentlyVisibleTilesList) + { + //Select a rnd spawnAngle + bool posChosen = false; + int rndPosIndx = 0; + while (!posChosen) + { + rndPosIndx = Random.Range(0, k_HighestTileValue); + if (!m_UsedPositionsList.Contains(rndPosIndx)) + { + m_UsedPositionsList.Add(rndPosIndx); + posChosen = true; + } + } + item.transform.localRotation = Quaternion.Euler(0, rndPosIndx * (360f / k_HighestTileValue), 0); + item.gameObject.SetActive(true); + } + } + + void SelectTilesToShow() + { + + CurrentlyVisibleTilesList.Clear(); + AlreadyTouchedList.Clear(); + + int numLeft = m_NumberOfTilesToSpawn; + while (numLeft > 0) + { + int rndInt = Random.Range(0, k_HighestTileValue); + var tmp = NumberTilesList[rndInt]; + if (!CurrentlyVisibleTilesList.Contains(tmp)) + { + CurrentlyVisibleTilesList.Add(tmp); + numLeft--; + } + } + + //Sort Ascending + CurrentlyVisibleTilesList.Sort((x, y) => x.NumberValue.CompareTo(y.NumberValue)); + m_NextExpectedTileIndex = 0; + } + + + /// + /// Moves the agent according to the selected action. + /// + public void MoveAgent(ActionSegment act) + { + var dirToGo = Vector3.zero; + var rotateDir = Vector3.zero; + + var forwardAxis = act[0]; + var rightAxis = act[1]; + var rotateAxis = act[2]; + + switch (forwardAxis) + { + case 1: + dirToGo = transform.forward * 1f; + break; + case 2: + dirToGo = transform.forward * -1f; + break; + } + + switch (rightAxis) + { + case 1: + dirToGo = transform.right * 1f; + break; + case 2: + dirToGo = transform.right * -1f; + break; + } + + switch (rotateAxis) + { + case 1: + rotateDir = transform.up * -1f; + break; + case 2: + rotateDir = transform.up * 1f; + break; + } + + transform.Rotate(rotateDir, Time.deltaTime * 200f); + m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed, + ForceMode.VelocityChange); + + } + + /// + /// Called every step of the engine. Here the agent takes an action. + /// + public override void OnActionReceived(ActionBuffers actionBuffers) + + { + // Move the agent using the action. + MoveAgent(actionBuffers.DiscreteActions); + + // Penalty given each step to encourage agent to finish task quickly. + AddReward(-1f / MaxStep); + } + + public override void Heuristic(in ActionBuffers actionsOut) + { + var discreteActionsOut = actionsOut.DiscreteActions; + discreteActionsOut.Clear(); + //forward + if (Input.GetKey(KeyCode.W)) + { + discreteActionsOut[0] = 1; + } + if (Input.GetKey(KeyCode.S)) + { + discreteActionsOut[0] = 2; + } + //rotate + if (Input.GetKey(KeyCode.A)) + { + discreteActionsOut[2] = 1; + } + if (Input.GetKey(KeyCode.D)) + { + discreteActionsOut[2] = 2; + } + //right + if (Input.GetKey(KeyCode.E)) + { + discreteActionsOut[1] = 1; + } + if (Input.GetKey(KeyCode.Q)) + { + discreteActionsOut[1] = 2; + } + } +} diff --git a/Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs.meta b/Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs.meta new file mode 100644 index 0000000000..fbee5bb066 --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/Sorter/Scripts/SorterAgent.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 107ccb3d53379468eb5ba1b7ac443919 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Sorter/TFModels.meta b/Project/Assets/ML-Agents/Examples/Sorter/TFModels.meta new file mode 100644 index 0000000000..9f659741c4 --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/Sorter/TFModels.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 03d978c974e06423baa61d796282ad7b +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Sorter/TFModels/Sorter.onnx b/Project/Assets/ML-Agents/Examples/Sorter/TFModels/Sorter.onnx new file mode 100644 index 0000000000..dccf771fd1 Binary files /dev/null and b/Project/Assets/ML-Agents/Examples/Sorter/TFModels/Sorter.onnx differ diff --git a/Project/Assets/ML-Agents/Examples/Sorter/TFModels/Sorter.onnx.meta b/Project/Assets/ML-Agents/Examples/Sorter/TFModels/Sorter.onnx.meta new file mode 100644 index 0000000000..71ed40ed22 --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/Sorter/TFModels/Sorter.onnx.meta @@ -0,0 +1,15 @@ +fileFormatVersion: 2 +guid: a2b17bcb0df4d448893e800c34d87c4c +ScriptedImporter: + fileIDToRecycleName: + 11400000: main obj + 11400002: model data + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: + script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3} + optimizeModel: 1 + forceArbitraryBatchSize: 1 + treatErrorsAsWarnings: 0 + importMode: 1 diff --git a/Project/ProjectSettings/TagManager.asset b/Project/ProjectSettings/TagManager.asset index 02058173d9..8f00405a42 100644 --- a/Project/ProjectSettings/TagManager.asset +++ b/Project/ProjectSettings/TagManager.asset @@ -29,6 +29,7 @@ TagManager: - symbol_O_Goal - purpleAgent - purpleGoal + - tile layers: - Default - TransparentFX diff --git a/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs index c47df58ba5..c178bc668f 100644 --- a/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs +++ b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs @@ -104,15 +104,10 @@ void DisplayFailedModelChecks() // Grab the sensor components, since we need them to determine the observation sizes. // TODO make these methods of BehaviorParameters - SensorComponent[] sensorComponents; - if (behaviorParameters.UseChildSensors) - { - sensorComponents = behaviorParameters.GetComponentsInChildren(); - } - else - { - sensorComponents = behaviorParameters.GetComponents(); - } + var agent = behaviorParameters.gameObject.GetComponent(); + agent.sensors = new List(); + agent.InitializeSensors(); + var sensors = agent.sensors.ToArray(); ActuatorComponent[] actuatorComponents; if (behaviorParameters.UseChildActuators) @@ -127,7 +122,6 @@ void DisplayFailedModelChecks() // Get the total size of the sensors generated by ObservableAttributes. // If there are any errors (e.g. unsupported type, write-only properties), display them too. int observableAttributeSensorTotalSize = 0; - var agent = behaviorParameters.GetComponent(); if (agent != null && behaviorParameters.ObservableAttributeHandling != ObservableAttributeOptions.Ignore) { List observableErrors = new List(); @@ -146,7 +140,7 @@ void DisplayFailedModelChecks() if (brainParameters != null) { var failedChecks = Inference.BarracudaModelParamLoader.CheckModel( - barracudaModel, brainParameters, sensorComponents, actuatorComponents, + barracudaModel, brainParameters, sensors, actuatorComponents, observableAttributeSensorTotalSize, behaviorParameters.BehaviorType ); foreach (var check in failedChecks) diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs index 7d06da1df9..0189abe01b 100644 --- a/com.unity.ml-agents/Runtime/Academy.cs +++ b/com.unity.ml-agents/Runtime/Academy.cs @@ -95,9 +95,13 @@ public class Academy : IDisposable /// 1.4.0 /// Support training analytics sent from python trainer to the editor. /// + /// + /// 1.5.0 + /// Support variable length observation training. + /// /// /// - const string k_ApiVersion = "1.4.0"; + const string k_ApiVersion = "1.5.0"; /// /// Unity package version of com.unity.ml-agents. diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs index e1a4191b84..4f37506259 100644 --- a/com.unity.ml-agents/Runtime/Agent.cs +++ b/com.unity.ml-agents/Runtime/Agent.cs @@ -922,6 +922,10 @@ public virtual void Heuristic(in ActionBuffers actionsOut) /// internal void InitializeSensors() { + if (m_PolicyFactory == null) + { + m_PolicyFactory = GetComponent(); + } if (m_PolicyFactory.ObservableAttributeHandling != ObservableAttributeOptions.Ignore) { var excludeInherited = diff --git a/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs b/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs index b9044dd6a9..8d041e7856 100644 --- a/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs +++ b/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs @@ -410,6 +410,19 @@ public static ObservationProto GetObservationProto(this ISensor sensor, Observat { observationProto.DimensionProperties.Add((int)dimensionProperties[i]); } + // Checking trainer compatibility with variable length observations + if (dimensionProperties.Length == 2) + { + if (dimensionProperties[0] == DimensionProperty.VariableSize && + dimensionProperties[1] == DimensionProperty.None) + { + var trainerCanHandleVarLenObs = Academy.Instance.TrainerCapabilities == null || Academy.Instance.TrainerCapabilities.VariableLengthObservation; + if (!trainerCanHandleVarLenObs) + { + throw new UnityAgentsException("Variable Length Observations are not supported by the trainer"); + } + } + } } observationProto.Shape.AddRange(shape); @@ -437,6 +450,7 @@ public static UnityRLCapabilities ToRLCapabilities(this UnityRLCapabilitiesProto CompressedChannelMapping = proto.CompressedChannelMapping, HybridActions = proto.HybridActions, TrainingAnalytics = proto.TrainingAnalytics, + VariableLengthObservation = proto.VariableLengthObservation, }; } @@ -449,6 +463,7 @@ public static UnityRLCapabilitiesProto ToProto(this UnityRLCapabilities rlCaps) CompressedChannelMapping = rlCaps.CompressedChannelMapping, HybridActions = rlCaps.HybridActions, TrainingAnalytics = rlCaps.TrainingAnalytics, + VariableLengthObservation = rlCaps.VariableLengthObservation, }; } diff --git a/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs b/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs index 79627e48d4..bd495358d5 100644 --- a/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs +++ b/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs @@ -9,6 +9,7 @@ internal class UnityRLCapabilities public bool CompressedChannelMapping; public bool HybridActions; public bool TrainingAnalytics; + public bool VariableLengthObservation; /// /// A class holding the capabilities flags for Reinforcement Learning across C# and the Trainer codebase. This @@ -19,13 +20,15 @@ public UnityRLCapabilities( bool concatenatedPngObservations = true, bool compressedChannelMapping = true, bool hybridActions = true, - bool trainingAnalytics = true) + bool trainingAnalytics = true, + bool variableLengthObservation = true) { BaseRLCapabilities = baseRlCapabilities; ConcatenatedPngObservations = concatenatedPngObservations; CompressedChannelMapping = compressedChannelMapping; HybridActions = hybridActions; TrainingAnalytics = trainingAnalytics; + VariableLengthObservation = variableLengthObservation; } /// diff --git a/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs b/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs index 3953aea214..2e370e596a 100644 --- a/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs +++ b/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs @@ -25,16 +25,17 @@ static CapabilitiesReflection() { byte[] descriptorData = global::System.Convert.FromBase64String( string.Concat( "CjVtbGFnZW50c19lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2NhcGFiaWxp", - "dGllcy5wcm90bxIUY29tbXVuaWNhdG9yX29iamVjdHMirwEKGFVuaXR5UkxD", + "dGllcy5wcm90bxIUY29tbXVuaWNhdG9yX29iamVjdHMi0gEKGFVuaXR5UkxD", "YXBhYmlsaXRpZXNQcm90bxIaChJiYXNlUkxDYXBhYmlsaXRpZXMYASABKAgS", "IwobY29uY2F0ZW5hdGVkUG5nT2JzZXJ2YXRpb25zGAIgASgIEiAKGGNvbXBy", "ZXNzZWRDaGFubmVsTWFwcGluZxgDIAEoCBIVCg1oeWJyaWRBY3Rpb25zGAQg", - "ASgIEhkKEXRyYWluaW5nQW5hbHl0aWNzGAUgASgIQiWqAiJVbml0eS5NTEFn", - "ZW50cy5Db21tdW5pY2F0b3JPYmplY3RzYgZwcm90bzM=")); + "ASgIEhkKEXRyYWluaW5nQW5hbHl0aWNzGAUgASgIEiEKGXZhcmlhYmxlTGVu", + "Z3RoT2JzZXJ2YXRpb24YBiABKAhCJaoCIlVuaXR5Lk1MQWdlbnRzLkNvbW11", + "bmljYXRvck9iamVjdHNiBnByb3RvMw==")); descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData, new pbr::FileDescriptor[] { }, new pbr::GeneratedClrTypeInfo(null, new pbr::GeneratedClrTypeInfo[] { - new pbr::GeneratedClrTypeInfo(typeof(global::Unity.MLAgents.CommunicatorObjects.UnityRLCapabilitiesProto), global::Unity.MLAgents.CommunicatorObjects.UnityRLCapabilitiesProto.Parser, new[]{ "BaseRLCapabilities", "ConcatenatedPngObservations", "CompressedChannelMapping", "HybridActions", "TrainingAnalytics" }, null, null, null) + new pbr::GeneratedClrTypeInfo(typeof(global::Unity.MLAgents.CommunicatorObjects.UnityRLCapabilitiesProto), global::Unity.MLAgents.CommunicatorObjects.UnityRLCapabilitiesProto.Parser, new[]{ "BaseRLCapabilities", "ConcatenatedPngObservations", "CompressedChannelMapping", "HybridActions", "TrainingAnalytics", "VariableLengthObservation" }, null, null, null) })); } #endregion @@ -76,6 +77,7 @@ public UnityRLCapabilitiesProto(UnityRLCapabilitiesProto other) : this() { compressedChannelMapping_ = other.compressedChannelMapping_; hybridActions_ = other.hybridActions_; trainingAnalytics_ = other.trainingAnalytics_; + variableLengthObservation_ = other.variableLengthObservation_; _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields); } @@ -154,6 +156,20 @@ public bool TrainingAnalytics { } } + /// Field number for the "variableLengthObservation" field. + public const int VariableLengthObservationFieldNumber = 6; + private bool variableLengthObservation_; + /// + /// Support for variable length observations of rank 2 + /// + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + public bool VariableLengthObservation { + get { return variableLengthObservation_; } + set { + variableLengthObservation_ = value; + } + } + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] public override bool Equals(object other) { return Equals(other as UnityRLCapabilitiesProto); @@ -172,6 +188,7 @@ public bool Equals(UnityRLCapabilitiesProto other) { if (CompressedChannelMapping != other.CompressedChannelMapping) return false; if (HybridActions != other.HybridActions) return false; if (TrainingAnalytics != other.TrainingAnalytics) return false; + if (VariableLengthObservation != other.VariableLengthObservation) return false; return Equals(_unknownFields, other._unknownFields); } @@ -183,6 +200,7 @@ public override int GetHashCode() { if (CompressedChannelMapping != false) hash ^= CompressedChannelMapping.GetHashCode(); if (HybridActions != false) hash ^= HybridActions.GetHashCode(); if (TrainingAnalytics != false) hash ^= TrainingAnalytics.GetHashCode(); + if (VariableLengthObservation != false) hash ^= VariableLengthObservation.GetHashCode(); if (_unknownFields != null) { hash ^= _unknownFields.GetHashCode(); } @@ -216,6 +234,10 @@ public void WriteTo(pb::CodedOutputStream output) { output.WriteRawTag(40); output.WriteBool(TrainingAnalytics); } + if (VariableLengthObservation != false) { + output.WriteRawTag(48); + output.WriteBool(VariableLengthObservation); + } if (_unknownFields != null) { _unknownFields.WriteTo(output); } @@ -239,6 +261,9 @@ public int CalculateSize() { if (TrainingAnalytics != false) { size += 1 + 1; } + if (VariableLengthObservation != false) { + size += 1 + 1; + } if (_unknownFields != null) { size += _unknownFields.CalculateSize(); } @@ -265,6 +290,9 @@ public void MergeFrom(UnityRLCapabilitiesProto other) { if (other.TrainingAnalytics != false) { TrainingAnalytics = other.TrainingAnalytics; } + if (other.VariableLengthObservation != false) { + VariableLengthObservation = other.VariableLengthObservation; + } _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields); } @@ -296,6 +324,10 @@ public void MergeFrom(pb::CodedInputStream input) { TrainingAnalytics = input.ReadBool(); break; } + case 48: { + VariableLengthObservation = input.ReadBool(); + break; + } } } } diff --git a/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs b/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs index f5db8284b9..926c830c8d 100644 --- a/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs +++ b/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs @@ -26,13 +26,13 @@ internal class BarracudaModelParamLoader /// /// The BrainParameters that are used verify the compatibility with the InferenceEngine /// - /// Attached sensor components + /// Attached sensor components /// Attached actuator components /// Sum of the sizes of all ObservableAttributes. /// BehaviorType or the Agent to check. /// The list the error messages of the checks that failed public static IEnumerable CheckModel(Model model, BrainParameters brainParameters, - SensorComponent[] sensorComponents, ActuatorComponent[] actuatorComponents, + ISensor[] sensors, ActuatorComponent[] actuatorComponents, int observableAttributeTotalSize = 0, BehaviorType behaviorType = BehaviorType.Default) { @@ -82,13 +82,13 @@ public static IEnumerable CheckModel(Model model, BrainParameters brainP } failedModelChecks.AddRange( - CheckInputTensorPresence(model, brainParameters, memorySize, sensorComponents) + CheckInputTensorPresence(model, brainParameters, memorySize, sensors) ); failedModelChecks.AddRange( CheckOutputTensorPresence(model, memorySize) ); failedModelChecks.AddRange( - CheckInputTensorShape(model, brainParameters, sensorComponents, observableAttributeTotalSize) + CheckInputTensorShape(model, brainParameters, sensors, observableAttributeTotalSize) ); failedModelChecks.AddRange( CheckOutputTensorShape(model, brainParameters, actuatorComponents) @@ -109,7 +109,7 @@ public static IEnumerable CheckModel(Model model, BrainParameters brainP /// /// The memory size that the model is expecting. /// - /// Array of attached sensor components + /// Array of attached sensor components /// /// A IEnumerable of string corresponding to the failed input presence checks. /// @@ -117,7 +117,7 @@ static IEnumerable CheckInputTensorPresence( Model model, BrainParameters brainParameters, int memory, - SensorComponent[] sensorComponents + ISensor[] sensors ) { var failedModelChecks = new List(); @@ -135,9 +135,9 @@ SensorComponent[] sensorComponents // If there are not enough Visual Observation Input compared to what the // sensors expect. var visObsIndex = 0; - for (var sensorIndex = 0; sensorIndex < sensorComponents.Length; sensorIndex++) + for (var sensorIndex = 0; sensorIndex < sensors.Length; sensorIndex++) { - var sensor = sensorComponents[sensorIndex]; + var sensor = sensors[sensorIndex]; if (sensor.GetObservationShape().Length == 3) { if (!tensorsNames.Contains( @@ -229,15 +229,15 @@ static IEnumerable CheckOutputTensorPresence(Model model, int memory) /// Checks that the shape of the visual observation input placeholder is the same as the corresponding sensor. /// /// The tensor that is expected by the model - /// The sensor that produces the visual observation. + /// The sensor that produces the visual observation. /// /// If the Check failed, returns a string containing information about why the /// check failed. If the check passed, returns null. /// static string CheckVisualObsShape( - TensorProxy tensorProxy, SensorComponent sensorComponent) + TensorProxy tensorProxy, ISensor sensor) { - var shape = sensorComponent.GetObservationShape(); + var shape = sensor.GetObservationShape(); var heightBp = shape[0]; var widthBp = shape[1]; var pixelBp = shape[2]; @@ -257,15 +257,15 @@ static string CheckVisualObsShape( /// Checks that the shape of the rank 2 observation input placeholder is the same as the corresponding sensor. /// /// The tensor that is expected by the model - /// The sensor that produces the visual observation. + /// The sensor that produces the visual observation. /// /// If the Check failed, returns a string containing information about why the /// check failed. If the check passed, returns null. /// static string CheckRankTwoObsShape( - TensorProxy tensorProxy, SensorComponent sensorComponent) + TensorProxy tensorProxy, ISensor sensor) { - var shape = sensorComponent.GetObservationShape(); + var shape = sensor.GetObservationShape(); var dim1Bp = shape[0]; var dim2Bp = shape[1]; var dim1T = tensorProxy.Channels; @@ -289,16 +289,16 @@ static string CheckRankTwoObsShape( /// /// The BrainParameters that are used verify the compatibility with the InferenceEngine /// - /// Attached sensors + /// Attached sensors /// Sum of the sizes of all ObservableAttributes. /// The list the error messages of the checks that failed static IEnumerable CheckInputTensorShape( - Model model, BrainParameters brainParameters, SensorComponent[] sensorComponents, + Model model, BrainParameters brainParameters, ISensor[] sensors, int observableAttributeTotalSize) { var failedModelChecks = new List(); var tensorTester = - new Dictionary>() + new Dictionary>() { {TensorNames.VectorObservationPlaceholder, CheckVectorObsShape}, {TensorNames.PreviousActionPlaceholder, CheckPreviousActionShape}, @@ -314,20 +314,20 @@ static IEnumerable CheckInputTensorShape( } var visObsIndex = 0; - for (var sensorIndex = 0; sensorIndex < sensorComponents.Length; sensorIndex++) + for (var sensorIndex = 0; sensorIndex < sensors.Length; sensorIndex++) { - var sensorComponent = sensorComponents[sensorIndex]; - if (sensorComponent.GetObservationShape().Length == 3) + var sens = sensors[sensorIndex]; + if (sens.GetObservationShape().Length == 3) { tensorTester[TensorNames.VisualObservationPlaceholderPrefix + visObsIndex] = - (bp, tensor, scs, i) => CheckVisualObsShape(tensor, sensorComponent); + (bp, tensor, scs, i) => CheckVisualObsShape(tensor, sens); visObsIndex++; } - if (sensorComponent.GetObservationShape().Length == 2) + if (sens.GetObservationShape().Length == 2) { tensorTester[TensorNames.ObservationPlaceholderPrefix + sensorIndex] = - (bp, tensor, scs, i) => CheckRankTwoObsShape(tensor, sensorComponent); + (bp, tensor, scs, i) => CheckRankTwoObsShape(tensor, sens); } } @@ -345,7 +345,7 @@ static IEnumerable CheckInputTensorShape( else { var tester = tensorTester[tensor.name]; - var error = tester.Invoke(brainParameters, tensor, sensorComponents, observableAttributeTotalSize); + var error = tester.Invoke(brainParameters, tensor, sensors, observableAttributeTotalSize); if (error != null) { failedModelChecks.Add(error); @@ -363,14 +363,14 @@ static IEnumerable CheckInputTensorShape( /// The BrainParameters that are used verify the compatibility with the InferenceEngine /// /// The tensor that is expected by the model - /// Array of attached sensor components + /// Array of attached sensor components /// Sum of the sizes of all ObservableAttributes. /// /// If the Check failed, returns a string containing information about why the /// check failed. If the check passed, returns null. /// static string CheckVectorObsShape( - BrainParameters brainParameters, TensorProxy tensorProxy, SensorComponent[] sensorComponents, + BrainParameters brainParameters, TensorProxy tensorProxy, ISensor[] sensors, int observableAttributeTotalSize) { var vecObsSizeBp = brainParameters.VectorObservationSize; @@ -378,20 +378,18 @@ static string CheckVectorObsShape( var totalVecObsSizeT = tensorProxy.shape[tensorProxy.shape.Length - 1]; var totalVectorSensorSize = 0; - foreach (var sensorComp in sensorComponents) + foreach (var sens in sensors) { - if (sensorComp.GetObservationShape().Length == 1) + if ((sens.GetObservationShape().Length == 1)) { - totalVectorSensorSize += sensorComp.GetObservationShape()[0]; + totalVectorSensorSize += sens.GetObservationShape()[0]; } } - totalVectorSensorSize += observableAttributeTotalSize; - - if (vecObsSizeBp * numStackedVector + totalVectorSensorSize != totalVecObsSizeT) + if (totalVectorSensorSize != totalVecObsSizeT) { var sensorSizes = ""; - foreach (var sensorComp in sensorComponents) + foreach (var sensorComp in sensors) { if (sensorComp.GetObservationShape().Length == 1) { @@ -412,7 +410,7 @@ static string CheckVectorObsShape( $"but received: \n" + $"Vector observations: {vecObsSizeBp} x {numStackedVector}\n" + $"Total [Observable] attributes: {observableAttributeTotalSize}\n" + - $"SensorComponent sizes: {sensorSizes}."; + $"Sensor sizes: {sensorSizes}."; } return null; } @@ -425,13 +423,13 @@ static string CheckVectorObsShape( /// The BrainParameters that are used verify the compatibility with the InferenceEngine /// /// The tensor that is expected by the model - /// Array of attached sensor components (unused). + /// Array of attached sensor components (unused). /// Sum of the sizes of all ObservableAttributes (unused). /// If the Check failed, returns a string containing information about why the /// check failed. If the check passed, returns null. static string CheckPreviousActionShape( BrainParameters brainParameters, TensorProxy tensorProxy, - SensorComponent[] sensorComponents, int observableAttributeTotalSize) + ISensor[] sensors, int observableAttributeTotalSize) { var numberActionsBp = brainParameters.ActionSpec.NumDiscreteActions; var numberActionsT = tensorProxy.shape[tensorProxy.shape.Length - 1]; diff --git a/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs b/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs index 20e79e0ea9..12a8188c52 100644 --- a/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs +++ b/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs @@ -37,7 +37,7 @@ internal class ModelRunner SensorShapeValidator m_SensorShapeValidator = new SensorShapeValidator(); - bool m_VisualObservationsInitialized; + bool m_ObservationsInitialized; /// /// Initializes the Brain with the Model that it will use when selecting actions for @@ -175,13 +175,13 @@ public void DecideBatch() { return; } - if (!m_VisualObservationsInitialized) + if (!m_ObservationsInitialized) { // Just grab the first agent in the collection (any will suffice, really). // We check for an empty Collection above, so this will always return successfully. var firstInfo = m_Infos[0]; m_TensorGenerator.InitializeObservations(firstInfo.sensors, m_TensorAllocator); - m_VisualObservationsInitialized = true; + m_ObservationsInitialized = true; } Profiler.BeginSample("ModelRunner.DecideAction"); diff --git a/com.unity.ml-agents/Runtime/Sensors/BufferSensor.cs b/com.unity.ml-agents/Runtime/Sensors/BufferSensor.cs index d814345f98..aab8543510 100644 --- a/com.unity.ml-agents/Runtime/Sensors/BufferSensor.cs +++ b/com.unity.ml-agents/Runtime/Sensors/BufferSensor.cs @@ -2,12 +2,19 @@ namespace Unity.MLAgents.Sensors { - internal class BufferSensor : ISensor, IDimensionPropertiesSensor, IBuiltInSensor + /// + /// A Sensor that allows to observe a variable number of entities. + /// + public class BufferSensor : ISensor, IDimensionPropertiesSensor, IBuiltInSensor { private int m_MaxNumObs; private int m_ObsSize; float[] m_ObservationBuffer; int m_CurrentNumObservables; + static DimensionProperty[] s_DimensionProperties = new DimensionProperty[]{ + DimensionProperty.VariableSize, + DimensionProperty.None + }; public BufferSensor(int maxNumberObs, int obsSize) { m_MaxNumObs = maxNumberObs; @@ -25,10 +32,7 @@ public int[] GetObservationShape() /// public DimensionProperty[] GetDimensionProperties() { - return new DimensionProperty[]{ - DimensionProperty.VariableSize, - DimensionProperty.None - }; + return s_DimensionProperties; } /// @@ -40,6 +44,13 @@ public DimensionProperty[] GetDimensionProperties() /// The float array observation public void AppendObservation(float[] obs) { + if (obs.Length != m_ObsSize) + { + throw new UnityAgentsException( + "The BufferSensor was expecting an observation of size " + + $"{m_ObsSize} but received {obs.Length} observations instead." + ); + } if (m_CurrentNumObservables >= m_MaxNumObs) { return; diff --git a/com.unity.ml-agents/Runtime/Sensors/BufferSensorComponent.cs b/com.unity.ml-agents/Runtime/Sensors/BufferSensorComponent.cs index 9f7ecf7fbf..f294e572ff 100644 --- a/com.unity.ml-agents/Runtime/Sensors/BufferSensorComponent.cs +++ b/com.unity.ml-agents/Runtime/Sensors/BufferSensorComponent.cs @@ -4,13 +4,23 @@ namespace Unity.MLAgents.Sensors { /// - /// A component for BufferSensor. + /// A SensorComponent that creates a . /// [AddComponentMenu("ML Agents/Buffer Sensor", (int)MenuGroup.Sensors)] - internal class BufferSensorComponent : SensorComponent + public class BufferSensorComponent : SensorComponent { + /// + /// This is how many floats each entities will be represented with. This number + /// is fixed and all entities must have the same representation. + /// public int ObservableSize; + + /// + /// This is the maximum number of entities the `BufferSensor` will be able to + /// collect. + /// public int MaxNumObservables; + private BufferSensor m_Sensor; /// diff --git a/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs b/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs index 62c220bec7..7133057c4c 100644 --- a/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs +++ b/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs @@ -6,7 +6,7 @@ namespace Unity.MLAgents.Sensors /// /// A sensor that wraps a Camera object to generate visual observations for an agent. /// - public class CameraSensor : ISensor, IBuiltInSensor + public class CameraSensor : ISensor, IBuiltInSensor, IDimensionPropertiesSensor { Camera m_Camera; int m_Width; @@ -15,6 +15,10 @@ public class CameraSensor : ISensor, IBuiltInSensor string m_Name; int[] m_Shape; SensorCompressionType m_CompressionType; + static DimensionProperty[] s_DimensionProperties = new DimensionProperty[] { + DimensionProperty.TranslationalEquivariance, + DimensionProperty.TranslationalEquivariance, + DimensionProperty.None }; /// /// The Camera used for rendering the sensor observations. @@ -75,6 +79,17 @@ public int[] GetObservationShape() return m_Shape; } + /// + /// Accessor for the dimension properties of a camera sensor. A camera sensor + /// Has translational equivariance along width and hight and no property along + /// the channels dimension. + /// + /// + public DimensionProperty[] GetDimensionProperties() + { + return s_DimensionProperties; + } + /// /// Generates a compressed image. This can be valuable in speeding-up training. /// diff --git a/com.unity.ml-agents/Runtime/Sensors/IDimensionPropertiesSensor.cs b/com.unity.ml-agents/Runtime/Sensors/IDimensionPropertiesSensor.cs index d1648265fb..328c5ea781 100644 --- a/com.unity.ml-agents/Runtime/Sensors/IDimensionPropertiesSensor.cs +++ b/com.unity.ml-agents/Runtime/Sensors/IDimensionPropertiesSensor.cs @@ -5,7 +5,7 @@ namespace Unity.MLAgents.Sensors /// The Dimension property flags of the observations /// [System.Flags] - internal enum DimensionProperty + public enum DimensionProperty { /// /// No properties specified. diff --git a/com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs b/com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs index 1be7fad172..7c1a3cca20 100644 --- a/com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs +++ b/com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs @@ -238,7 +238,7 @@ public void TestCheckModelValidContinuous(bool useDeprecatedNNModel) var errors = BarracudaModelParamLoader.CheckModel( model, validBrainParameters, - new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0] + new ISensor[] { new VectorSensor(8), sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0] ); Assert.AreEqual(0, errors.Count()); // There should not be any errors } @@ -252,7 +252,7 @@ public void TestCheckModelValidDiscrete(bool useDeprecatedNNModel) var errors = BarracudaModelParamLoader.CheckModel( model, validBrainParameters, - new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0] + new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0] ); Assert.AreEqual(0, errors.Count()); // There should not be any errors } @@ -265,7 +265,7 @@ public void TestCheckModelValidHybrid() var errors = BarracudaModelParamLoader.CheckModel( model, validBrainParameters, - new SensorComponent[] { }, new ActuatorComponent[0] + new ISensor[] { new VectorSensor(validBrainParameters.VectorObservationSize) }, new ActuatorComponent[0] ); Assert.AreEqual(0, errors.Count()); // There should not be any errors } @@ -280,7 +280,7 @@ public void TestCheckModelThrowsVectorObservationContinuous(bool useDeprecatedNN brainParameters.VectorObservationSize = 9; // Invalid observation var errors = BarracudaModelParamLoader.CheckModel( model, brainParameters, - new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0] + new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0] ); Assert.Greater(errors.Count(), 0); @@ -288,7 +288,7 @@ public void TestCheckModelThrowsVectorObservationContinuous(bool useDeprecatedNN brainParameters.NumStackedVectorObservations = 2;// Invalid stacking errors = BarracudaModelParamLoader.CheckModel( model, brainParameters, - new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0] + new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0] ); Assert.Greater(errors.Count(), 0); } @@ -301,7 +301,7 @@ public void TestCheckModelThrowsVectorObservationDiscrete(bool useDeprecatedNNMo var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters(); brainParameters.VectorObservationSize = 1; // Invalid observation - var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]); + var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); } @@ -314,7 +314,7 @@ public void TestCheckModelThrowsVectorObservationHybrid() brainParameters.VectorObservationSize = 9; // Invalid observation var errors = BarracudaModelParamLoader.CheckModel( model, brainParameters, - new SensorComponent[] { }, new ActuatorComponent[0] + new ISensor[] { }, new ActuatorComponent[0] ); Assert.Greater(errors.Count(), 0); @@ -322,7 +322,7 @@ public void TestCheckModelThrowsVectorObservationHybrid() brainParameters.NumStackedVectorObservations = 2;// Invalid stacking errors = BarracudaModelParamLoader.CheckModel( model, brainParameters, - new SensorComponent[] { }, new ActuatorComponent[0] + new ISensor[] { }, new ActuatorComponent[0] ); Assert.Greater(errors.Count(), 0); } @@ -335,12 +335,12 @@ public void TestCheckModelThrowsActionContinuous(bool useDeprecatedNNModel) var brainParameters = GetContinuous2vis8vec2actionBrainParameters(); brainParameters.ActionSpec = ActionSpec.MakeContinuous(3); // Invalid action - var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]); + var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); brainParameters = GetContinuous2vis8vec2actionBrainParameters(); brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3); // Invalid SpaceType - errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]); + errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); } @@ -352,12 +352,12 @@ public void TestCheckModelThrowsActionDiscrete(bool useDeprecatedNNModel) var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters(); brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3, 3); // Invalid action - var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]); + var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); brainParameters = GetContinuous2vis8vec2actionBrainParameters(); brainParameters.ActionSpec = ActionSpec.MakeContinuous(2); // Invalid SpaceType - errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]); + errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); } @@ -368,12 +368,12 @@ public void TestCheckModelThrowsActionHybrid() var brainParameters = GetHybridBrainParameters(); brainParameters.ActionSpec = new ActionSpec(3, new[] { 3 }); // Invalid discrete action size - var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]); + var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); brainParameters = GetContinuous2vis8vec2actionBrainParameters(); brainParameters.ActionSpec = ActionSpec.MakeDiscrete(2); // Missing continuous action - errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]); + errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); } @@ -381,7 +381,7 @@ public void TestCheckModelThrowsActionHybrid() public void TestCheckModelThrowsNoModel() { var brainParameters = GetContinuous2vis8vec2actionBrainParameters(); - var errors = BarracudaModelParamLoader.CheckModel(null, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]); + var errors = BarracudaModelParamLoader.CheckModel(null, brainParameters, new ISensor[] { sensor_21_20_3.CreateSensor(), sensor_20_22_3.CreateSensor() }, new ActuatorComponent[0]); Assert.Greater(errors.Count(), 0); } } diff --git a/config/ppo/Sorter_curriculum.yaml b/config/ppo/Sorter_curriculum.yaml new file mode 100644 index 0000000000..e48ef146af --- /dev/null +++ b/config/ppo/Sorter_curriculum.yaml @@ -0,0 +1,105 @@ +behaviors: + Sorter: + trainer_type: ppo + hyperparameters: + batch_size: 512 + buffer_size: 40960 + learning_rate: 0.0003 + beta: 0.005 + epsilon: 0.2 + lambd: 0.95 + num_epoch: 3 + learning_rate_schedule: constant + network_settings: + normalize: False + hidden_units: 128 + num_layers: 2 + vis_encode_type: simple + reward_signals: + extrinsic: + gamma: 0.99 + strength: 1.0 + keep_checkpoints: 5 + max_steps: 5000000 + time_horizon: 256 + summary_freq: 10000 + threaded: true +environment_parameters: + num_tiles: + curriculum: + - name: Lesson0 # The '-' is important as this is a list + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.3 + value: 2.0 + - name: Lesson1 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.4 + value: 4.0 + - name: Lesson2 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.45 + value: 6.0 + - name: Lesson3 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.5 + value: 8.0 + - name: Lesson4 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.55 + value: 10.0 + - name: Lesson5 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.6 + value: 12.0 + - name: Lesson6 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.65 + value: 14.0 + - name: Lesson7 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.7 + value: 16.0 + - name: Lesson8 + completion_criteria: + measure: progress + behavior: Sorter + signal_smoothing: true + min_lesson_length: 100 + threshold: 0.75 + value: 18.0 + - name: Lesson9 + value: 20.0 +env_settings: + num_envs: 8 diff --git a/docs/Learning-Environment-Design-Agents.md b/docs/Learning-Environment-Design-Agents.md index e4d113abb4..ae84bcd679 100644 --- a/docs/Learning-Environment-Design-Agents.md +++ b/docs/Learning-Environment-Design-Agents.md @@ -17,6 +17,8 @@ - [Visual Observation Summary & Best Practices](#visual-observation-summary--best-practices) - [Raycast Observations](#raycast-observations) - [RayCast Observation Summary & Best Practices](#raycast-observation-summary--best-practices) + - [Variable Length Observations](#variable-length-observations) + - [Variable Length Observation Summary & Best Practices](#variable-length-observation-summary--best-practices) - [Actions and Actuators](#actions-and-actuators) - [Continuous Actions](#continuous-actions) - [Discrete Actions](#discrete-actions) @@ -510,6 +512,55 @@ setting the State Size. - Use as few rays and tags as necessary to solve the problem in order to improve learning stability and agent performance. +### Variable Length Observations + +It is possible for agents to collect observations from a varying number of +GameObjects by using a `BufferSensor`. +You can add a `BufferSensor` to your Agent by adding a `BufferSensorComponent` to +its GameObject. +The `BufferSensor` can be useful in situations in which the Agent must pay +attention to a varying number of entities (for example, a varying number of +enemies or projectiles). +On the trainer side, the `BufferSensor` +is processed using an attention module. More information about attention +mechanisms can be found [here](https://arxiv.org/abs/1706.03762). Training or +doing inference with variable length observations can be slower than using +a flat vector observation. However, attention mechanisms enable solving +problems that require comparative reasoning between entities in a scene +such as our [Sorter environment](Learning-Environment-Examples.md#sorter). +Note that even though the `BufferSensor` can process a variable number of +entities, you still need to define a maximum number of entities. This is +because our network architecture requires to know what the shape of the +observations will be. If fewer entities are observed than the maximum, the +observation will be padded with zeros and the trainer will ignore +the padded observations. Note that attention layers are invariant to +the order of the entities, so there is no need to properly "order" the +entities before feeding them into the `BufferSensor`. + +The the `BufferSensorComponent` Editor inspector have two arguments: + - `Observation Size` : This is how many floats each entities will be + represented with. This number is fixed and all entities must + have the same representation. For example, if the entities you want to + put into the `BufferSensor` have for relevant information position and + speed, then the `Observation Size` should be 6 floats. + - `Maximum Number of Entities` : This is the maximum number of entities + the `BufferSensor` will be able to collect. + +To add an entity's observations to a `BufferSensorComponent`, you need +to call `BufferSensorComponent.AppendObservation()` +with a float array of size `Observation Size` as argument. + +__Note__: Currently, the observations put into the `BufferSensor` are +not normalized, you will need to normalize your observations manually +between -1 and 1. + +#### Variable Length Observation Summary & Best Practices + - Attach `BufferSensorComponent` to use. + - Call `BufferSensorComponent.AppendObservation()` to add the observations + of an entity to the `BufferSensor`. + - Normalize the entities observations before feeding them into the `BufferSensor`. + + ## Actions and Actuators An action is an instruction from the Policy that the agent carries out. The diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md index 97fb771ddb..1b13009640 100644 --- a/docs/Learning-Environment-Examples.md +++ b/docs/Learning-Environment-Examples.md @@ -555,3 +555,30 @@ drop down. New pieces are spawned randomly at the top, with a chance of being - 37.6 for vector observations - 34.2 for simple heuristic (pick a random valid move) - 37.0 for greedy heuristic (pick the highest-scoring valid move) + +## Sorter +![Sorter](images/sorter.png) + + - Set-up: The Agent is in a circular room with numbered tiles. The values of the + tiles are random between 1 and 20. The tiles present in the room are randomized + at each episode. When the Agent visits a tile, it turns green. + - Goal: Visit all the tiles in ascending order. + - Agents: The environment contains a single Agent + - Agent Reward Function: + - -.0002 Existential penalty. + - +1 For visiting the right tile + - -1 For visiting the wrong tile + - BehaviorParameters: + - Vector Observations : 4 : 2 floats for Position and 2 floats for orientation + - Variable Length Observations : Between 1 and 20 entities (one for each tile) + each with 22 observations, the first 20 are one hot encoding of the value of the tile, + the 21st and 22nd represent the position of the tile relative to the Agent and the 23rd + is `1` if the tile was visited and `0` otherwise. + - Actions: 3 discrete branched actions corresponding to forward, backward, + sideways movement, as well as rotation. + - Float Properties: One + - num_tiles: The maximum number of tiles to sample. + - Default: 2 + - Recommended Minimum: 1 + - Recommended Maximum: 20 + - Benchmark Mean Reward: Depends on the number of tiles. diff --git a/docs/images/sorter.png b/docs/images/sorter.png new file mode 100644 index 0000000000..b947fe1a73 Binary files /dev/null and b/docs/images/sorter.png differ diff --git a/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.py b/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.py index 054fec848a..8f765fa5f8 100644 --- a/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.py +++ b/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.py @@ -19,7 +19,7 @@ name='mlagents_envs/communicator_objects/capabilities.proto', package='communicator_objects', syntax='proto3', - serialized_pb=_b('\n5mlagents_envs/communicator_objects/capabilities.proto\x12\x14\x63ommunicator_objects\"\xaf\x01\n\x18UnityRLCapabilitiesProto\x12\x1a\n\x12\x62\x61seRLCapabilities\x18\x01 \x01(\x08\x12#\n\x1b\x63oncatenatedPngObservations\x18\x02 \x01(\x08\x12 \n\x18\x63ompressedChannelMapping\x18\x03 \x01(\x08\x12\x15\n\rhybridActions\x18\x04 \x01(\x08\x12\x19\n\x11trainingAnalytics\x18\x05 \x01(\x08\x42%\xaa\x02\"Unity.MLAgents.CommunicatorObjectsb\x06proto3') + serialized_pb=_b('\n5mlagents_envs/communicator_objects/capabilities.proto\x12\x14\x63ommunicator_objects\"\xd2\x01\n\x18UnityRLCapabilitiesProto\x12\x1a\n\x12\x62\x61seRLCapabilities\x18\x01 \x01(\x08\x12#\n\x1b\x63oncatenatedPngObservations\x18\x02 \x01(\x08\x12 \n\x18\x63ompressedChannelMapping\x18\x03 \x01(\x08\x12\x15\n\rhybridActions\x18\x04 \x01(\x08\x12\x19\n\x11trainingAnalytics\x18\x05 \x01(\x08\x12!\n\x19variableLengthObservation\x18\x06 \x01(\x08\x42%\xaa\x02\"Unity.MLAgents.CommunicatorObjectsb\x06proto3') ) @@ -67,6 +67,13 @@ message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, options=None, file=DESCRIPTOR), + _descriptor.FieldDescriptor( + name='variableLengthObservation', full_name='communicator_objects.UnityRLCapabilitiesProto.variableLengthObservation', index=5, + number=6, type=8, cpp_type=7, label=1, + has_default_value=False, default_value=False, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + options=None, file=DESCRIPTOR), ], extensions=[ ], @@ -80,7 +87,7 @@ oneofs=[ ], serialized_start=80, - serialized_end=255, + serialized_end=290, ) DESCRIPTOR.message_types_by_name['UnityRLCapabilitiesProto'] = _UNITYRLCAPABILITIESPROTO diff --git a/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.pyi b/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.pyi index 69cf46fd0e..ae49d4d438 100644 --- a/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.pyi +++ b/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.pyi @@ -30,6 +30,7 @@ class UnityRLCapabilitiesProto(google___protobuf___message___Message): compressedChannelMapping = ... # type: builtin___bool hybridActions = ... # type: builtin___bool trainingAnalytics = ... # type: builtin___bool + variableLengthObservation = ... # type: builtin___bool def __init__(self, *, @@ -38,12 +39,13 @@ class UnityRLCapabilitiesProto(google___protobuf___message___Message): compressedChannelMapping : typing___Optional[builtin___bool] = None, hybridActions : typing___Optional[builtin___bool] = None, trainingAnalytics : typing___Optional[builtin___bool] = None, + variableLengthObservation : typing___Optional[builtin___bool] = None, ) -> None: ... @classmethod def FromString(cls, s: builtin___bytes) -> UnityRLCapabilitiesProto: ... def MergeFrom(self, other_msg: google___protobuf___message___Message) -> None: ... def CopyFrom(self, other_msg: google___protobuf___message___Message) -> None: ... if sys.version_info >= (3,): - def ClearField(self, field_name: typing_extensions___Literal[u"baseRLCapabilities",u"compressedChannelMapping",u"concatenatedPngObservations",u"hybridActions",u"trainingAnalytics"]) -> None: ... + def ClearField(self, field_name: typing_extensions___Literal[u"baseRLCapabilities",u"compressedChannelMapping",u"concatenatedPngObservations",u"hybridActions",u"trainingAnalytics",u"variableLengthObservation"]) -> None: ... else: - def ClearField(self, field_name: typing_extensions___Literal[u"baseRLCapabilities",b"baseRLCapabilities",u"compressedChannelMapping",b"compressedChannelMapping",u"concatenatedPngObservations",b"concatenatedPngObservations",u"hybridActions",b"hybridActions",u"trainingAnalytics",b"trainingAnalytics"]) -> None: ... + def ClearField(self, field_name: typing_extensions___Literal[u"baseRLCapabilities",b"baseRLCapabilities",u"compressedChannelMapping",b"compressedChannelMapping",u"concatenatedPngObservations",b"concatenatedPngObservations",u"hybridActions",b"hybridActions",u"trainingAnalytics",b"trainingAnalytics",u"variableLengthObservation",b"variableLengthObservation"]) -> None: ... diff --git a/ml-agents-envs/mlagents_envs/environment.py b/ml-agents-envs/mlagents_envs/environment.py index 5d844749c4..1411d9180f 100644 --- a/ml-agents-envs/mlagents_envs/environment.py +++ b/ml-agents-envs/mlagents_envs/environment.py @@ -63,7 +63,8 @@ class UnityEnvironment(BaseEnv): # * 1.2.0 - support compression mapping for stacked compressed observations. # * 1.3.0 - support action spaces with both continuous and discrete actions. # * 1.4.0 - support training analytics sent from python trainer to the editor. - API_VERSION = "1.4.0" + # * 1.5.0 - support variable length observation training. + API_VERSION = "1.5.0" # Default port that the editor listens on. If an environment executable # isn't specified, this port will be used. @@ -122,6 +123,7 @@ def _get_capabilities_proto() -> UnityRLCapabilitiesProto: capabilities.compressedChannelMapping = True capabilities.hybridActions = True capabilities.trainingAnalytics = True + capabilities.variableLengthObservation = True return capabilities @staticmethod diff --git a/ml-agents-envs/mlagents_envs/rpc_utils.py b/ml-agents-envs/mlagents_envs/rpc_utils.py index 3079fae991..d0523a256e 100644 --- a/ml-agents-envs/mlagents_envs/rpc_utils.py +++ b/ml-agents-envs/mlagents_envs/rpc_utils.py @@ -188,7 +188,7 @@ def _process_images_num_channels(image_arrays, expected_channels): @timed -def observation_to_np_array( +def _observation_to_np_array( obs: ObservationProto, expected_shape: Optional[Iterable[int]] = None ) -> np.ndarray: """ @@ -221,7 +221,7 @@ def observation_to_np_array( @timed -def _process_visual_observation( +def _process_maybe_compressed_observation( obs_index: int, shape: Tuple[int, int, int], agent_info_list: Collection[AgentInfoProto], @@ -230,7 +230,7 @@ def _process_visual_observation( return np.zeros((0, shape[0], shape[1], shape[2]), dtype=np.float32) batched_visual = [ - observation_to_np_array(agent_obs.observations[obs_index], shape) + _observation_to_np_array(agent_obs.observations[obs_index], shape) for agent_obs in agent_info_list ] return np.array(batched_visual, dtype=np.float32) @@ -257,7 +257,7 @@ def _raise_on_nan_and_inf(data: np.array, source: str) -> np.array: @timed -def _process_vector_observation( +def _process_rank_one_or_two_observation( obs_index: int, shape: Tuple[int, ...], agent_info_list: Collection[AgentInfoProto] ) -> np.ndarray: if len(agent_info_list) == 0: @@ -290,23 +290,23 @@ def steps_from_proto( if is_visual: obs_shape = cast(Tuple[int, int, int], observation_specs.shape) decision_obs_list.append( - _process_visual_observation( + _process_maybe_compressed_observation( obs_index, obs_shape, decision_agent_info_list ) ) terminal_obs_list.append( - _process_visual_observation( + _process_maybe_compressed_observation( obs_index, obs_shape, terminal_agent_info_list ) ) else: decision_obs_list.append( - _process_vector_observation( + _process_rank_one_or_two_observation( obs_index, observation_specs.shape, decision_agent_info_list ) ) terminal_obs_list.append( - _process_vector_observation( + _process_rank_one_or_two_observation( obs_index, observation_specs.shape, terminal_agent_info_list ) ) diff --git a/ml-agents-envs/mlagents_envs/tests/test_rpc_utils.py b/ml-agents-envs/mlagents_envs/tests/test_rpc_utils.py index 8f810ee0c1..ae664f2404 100644 --- a/ml-agents-envs/mlagents_envs/tests/test_rpc_utils.py +++ b/ml-agents-envs/mlagents_envs/tests/test_rpc_utils.py @@ -24,8 +24,8 @@ from mlagents_envs.rpc_utils import ( behavior_spec_from_proto, process_pixels, - _process_visual_observation, - _process_vector_observation, + _process_maybe_compressed_observation, + _process_rank_one_or_two_observation, steps_from_proto, ) from PIL import Image @@ -266,7 +266,7 @@ def test_vector_observation(): shapes = [(3,), (4,)] list_proto = generate_list_agent_proto(n_agents, shapes) for obs_index, shape in enumerate(shapes): - arr = _process_vector_observation(obs_index, shape, list_proto) + arr = _process_rank_one_or_two_observation(obs_index, shape, list_proto) assert list(arr.shape) == ([n_agents] + list(shape)) assert np.allclose(arr, 0.1, atol=0.01) @@ -285,7 +285,7 @@ def test_process_visual_observation(): ap2 = AgentInfoProto() ap2.observations.extend([proto_obs_2]) ap_list = [ap1, ap2] - arr = _process_visual_observation(0, (128, 64, 3), ap_list) + arr = _process_maybe_compressed_observation(0, (128, 64, 3), ap_list) assert list(arr.shape) == [2, 128, 64, 3] assert np.allclose(arr[0, :, :, :], in_array_1, atol=0.01) assert np.allclose(arr[1, :, :, :], in_array_2, atol=0.01) @@ -307,7 +307,7 @@ def test_process_visual_observation_grayscale(): ap2 = AgentInfoProto() ap2.observations.extend([proto_obs_2]) ap_list = [ap1, ap2] - arr = _process_visual_observation(0, (128, 64, 1), ap_list) + arr = _process_maybe_compressed_observation(0, (128, 64, 1), ap_list) assert list(arr.shape) == [2, 128, 64, 1] assert np.allclose(arr[0, :, :, :], expected_out_array_1, atol=0.01) assert np.allclose(arr[1, :, :, :], expected_out_array_2, atol=0.01) @@ -324,7 +324,7 @@ def test_process_visual_observation_padded_channels(): ap1 = AgentInfoProto() ap1.observations.extend([proto_obs_1]) ap_list = [ap1] - arr = _process_visual_observation(0, (128, 64, 8), ap_list) + arr = _process_maybe_compressed_observation(0, (128, 64, 8), ap_list) assert list(arr.shape) == [1, 128, 64, 8] assert np.allclose(arr[0, :, :, :], expected_out_array_1, atol=0.01) @@ -336,7 +336,7 @@ def test_process_visual_observation_bad_shape(): ap1.observations.extend([proto_obs_1]) ap_list = [ap1] with pytest.raises(UnityObservationException): - _process_visual_observation(0, (128, 42, 3), ap_list) + _process_maybe_compressed_observation(0, (128, 42, 3), ap_list) def test_batched_step_result_from_proto(): diff --git a/ml-agents/mlagents/trainers/torch/attention.py b/ml-agents/mlagents/trainers/torch/attention.py index 9b503e2d98..2bfa23a1fd 100644 --- a/ml-agents/mlagents/trainers/torch/attention.py +++ b/ml-agents/mlagents/trainers/torch/attention.py @@ -1,4 +1,5 @@ from mlagents.torch_utils import torch +import warnings from typing import Tuple, Optional, List from mlagents.trainers.torch.layers import ( LinearEncoder, @@ -10,16 +11,35 @@ from mlagents.trainers.exception import UnityTrainerException -def get_zero_entities_mask(observations: List[torch.Tensor]) -> List[torch.Tensor]: +def get_zero_entities_mask(entities: List[torch.Tensor]) -> List[torch.Tensor]: """ Takes a List of Tensors and returns a List of mask Tensor with 1 if the input was all zeros (on dimension 2) and 0 otherwise. This is used in the Attention layer to mask the padding observations. """ with torch.no_grad(): + + if exporting_to_onnx.is_exporting(): + with warnings.catch_warnings(): + # We ignore a TracerWarning from PyTorch that warns that doing + # shape[n].item() will cause the trace to be incorrect (the trace might + # not generalize to other inputs) + # We ignore this warning because we know the model will always be + # run with inputs of the same shape + warnings.simplefilter("ignore") + # When exporting to ONNX, we want to transpose the entities. This is + # because ONNX only support input in NCHW (channel first) format. + # Barracuda also expect to get data in NCHW. + entities = [ + torch.transpose(obs, 2, 1).reshape( + -1, obs.shape[1].item(), obs.shape[2].item() + ) + for obs in entities + ] + # Generate the masking tensors for each entities tensor (mask only if all zeros) key_masks: List[torch.Tensor] = [ - (torch.sum(ent ** 2, axis=2) < 0.01).float() for ent in observations + (torch.sum(ent ** 2, axis=2) < 0.01).float() for ent in entities ] return key_masks @@ -152,15 +172,24 @@ def add_self_embedding(self, size: int) -> None: ) def forward(self, x_self: torch.Tensor, entities: torch.Tensor) -> torch.Tensor: + num_entities = self.entity_num_max_elements + if num_entities < 0: + if exporting_to_onnx.is_exporting(): + raise UnityTrainerException( + "Trying to export an attention mechanism that doesn't have a set max \ + number of elements." + ) + num_entities = entities.shape[1] + + if exporting_to_onnx.is_exporting(): + # When exporting to ONNX, we want to transpose the entities. This is + # because ONNX only support input in NCHW (channel first) format. + # Barracuda also expect to get data in NCHW. + entities = torch.transpose(entities, 2, 1).reshape( + -1, num_entities, self.entity_size + ) + if self.self_size > 0: - num_entities = self.entity_num_max_elements - if num_entities < 0: - if exporting_to_onnx.is_exporting(): - raise UnityTrainerException( - "Trying to export an attention mechanism that doesn't have a set max \ - number of elements." - ) - num_entities = entities.shape[1] expanded_self = x_self.reshape(-1, 1, self.self_size) expanded_self = torch.cat([expanded_self] * num_entities, dim=1) # Concatenate all observations with self diff --git a/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto b/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto index 723cc2cd5c..7459e0cae3 100644 --- a/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto +++ b/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto @@ -22,4 +22,7 @@ message UnityRLCapabilitiesProto { // support for training analytics bool trainingAnalytics = 5; + + // Support for variable length observations of rank 2 + bool variableLengthObservation = 6; }