diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml index f3941597fe..aa9b69c513 100644 --- a/.github/workflows/pre-commit.yml +++ b/.github/workflows/pre-commit.yml @@ -19,7 +19,6 @@ jobs: - uses: actions/setup-dotnet@v1 with: dotnet-version: '3.1.x' - - run: dotnet tool install -g dotnet-format --version 4.1.131201 - uses: pre-commit/action@v2.0.0 markdown-link-check: diff --git a/.github/workflows/pytest.yml b/.github/workflows/pytest.yml index 254d35560e..1aa9df2545 100644 --- a/.github/workflows/pytest.yml +++ b/.github/workflows/pytest.yml @@ -19,7 +19,16 @@ jobs: TEST_ENFORCE_BUFFER_KEY_TYPES: 1 strategy: matrix: - python-version: [3.6.x, 3.7.x, 3.8.x] + python-version: [3.6.x, 3.7.x, 3.8.x, 3.9.x] + include: + - python-version: 3.6.x + pip_constraints: test_constraints_min_version.txt + - python-version: 3.7.x + pip_constraints: test_constraints_mid_version.txt + - python-version: 3.8.x + pip_constraints: test_constraints_mid_version.txt + - python-version: 3.9.x + pip_constraints: test_constraints_max_version.txt steps: - uses: actions/checkout@v2 - name: Set up Python @@ -32,7 +41,7 @@ jobs: # This path is specific to Ubuntu path: ~/.cache/pip # Look to see if there is a cache hit for the corresponding requirements file - key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'gym-unity/setup.py', 'test_requirements.txt') }} + key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'gym-unity/setup.py', 'test_requirements.txt', matrix.pip_constraints) }} restore-keys: | ${{ runner.os }}-pip- ${{ runner.os }}- @@ -42,11 +51,11 @@ jobs: run: | python -m pip install --upgrade pip python -m pip install --upgrade setuptools - python -m pip install --progress-bar=off -e ./ml-agents-envs - python -m pip install --progress-bar=off -e ./ml-agents - python -m pip install --progress-bar=off -r test_requirements.txt - python -m pip install --progress-bar=off -e ./gym-unity - python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples + python -m pip install --progress-bar=off -e ./ml-agents-envs -c ${{ matrix.pip_constraints }} + python -m pip install --progress-bar=off -e ./ml-agents -c ${{ matrix.pip_constraints }} + python -m pip install --progress-bar=off -r test_requirements.txt -c ${{ matrix.pip_constraints }} + python -m pip install --progress-bar=off -e ./gym-unity -c ${{ matrix.pip_constraints }} + python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples -c ${{ matrix.pip_constraints }} - name: Save python dependencies run: | pip freeze > pip_versions-${{ matrix.python-version }}.txt diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b6dea44518..f592fef9f4 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -83,6 +83,12 @@ repos: types: [markdown] exclude: ".*localized.*" +- repo: https://github.com/dotnet/format + rev: "7e343070a0355c86f72bdee226b5e19ffcbac931" # TODO - update to a tagged version when one that includes the hook is ready. + hooks: + - id: dotnet-format + args: [--folder, --include] + # "Local" hooks, see https://pre-commit.com/#repository-local-hooks - repo: local hooks: @@ -119,4 +125,3 @@ repos: name: validate release links language: script entry: utils/validate_release_links.py - diff --git a/.yamato/com.unity.ml-agents-optional-dep-tests.yml b/.yamato/com.unity.ml-agents-optional-dep-tests.yml new file mode 100644 index 0000000000..2d04d731d9 --- /dev/null +++ b/.yamato/com.unity.ml-agents-optional-dep-tests.yml @@ -0,0 +1,37 @@ +OptionalDependencyTestsLinux: + name : LinuxOptionalDependenciesTests + agent: + type: Unity::VM + image: package-ci/ubuntu:stable + flavor: b1.medium + commands: + - | + curl -L https://artifactory.prd.it.unity3d.com/artifactory/api/gpg/key/public | sudo apt-key add - + sudo sh -c "echo 'deb https://artifactory.prd.it.unity3d.com/artifactory/unity-apt-local bionic main' > /etc/apt/sources.list.d/unity.list" + sudo apt update + sudo apt install -y unity-config + npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + unity-config settings editor-path ./.Editor + unity-config project create opt-deps-test + unity-config project add dependency com.unity.ml-agents/ + unity-config project add testable com.unity.ml-agents + unity-config project add dependency com.unity.modules.imageconversion@1.0.0 + unity-config project add dependency com.unity.modules.jsonserialize@1.0.0 + unity-config project add dependency com.unity.modules.physics@1.0.0 + unity-config project add dependency com.unity.modules.physics2d@1.0.0 + upm-ci project test -u 2019.4 --type project-tests --project-path opt-deps-test --package-filter com.unity.ml-agents + artifacts: + logs: + paths: + - "upm-ci~/test-results/**/*" + dependencies: + - .yamato/com.unity.ml-agents-pack.yml#pack + triggers: + cancel_old_ci: true + expression: | + (pull_request.target eq "main" OR + pull_request.target match "release.+") AND + NOT pull_request.draft AND + (pull_request.changes.any match "com.unity.ml-agents/**" OR + pull_request.changes.any match ".yamato/com.unity.ml-agents-test.yml") + diff --git a/.yamato/com.unity.ml-agents-pack.yml b/.yamato/com.unity.ml-agents-pack.yml index cf22097dd7..3926eb575b 100644 --- a/.yamato/com.unity.ml-agents-pack.yml +++ b/.yamato/com.unity.ml-agents-pack.yml @@ -5,8 +5,12 @@ pack: image: package-ci/ubuntu:stable flavor: b1.small commands: - - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm - - upm-ci project pack --project-path Project + - | + python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade + unity-downloader-cli -u 2018.4 -c editor --wait --fast + ./.Editor/Unity -projectPath Project -batchMode -executeMethod Unity.MLAgents.SampleExporter.ExportCuratedSamples -logFile - + npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + upm-ci project pack --project-path Project artifacts: packages: paths: diff --git a/.yamato/com.unity.ml-agents-test.yml b/.yamato/com.unity.ml-agents-test.yml index c0d98ed728..dd07dd75db 100644 --- a/.yamato/com.unity.ml-agents-test.yml +++ b/.yamato/com.unity.ml-agents-test.yml @@ -150,3 +150,4 @@ test_{{ package.name }}_{{ platform.name }}_trunk: {% endfor %} {% endfor %} {% endfor %} + diff --git a/.yamato/python-ll-api-test.yml b/.yamato/python-ll-api-test.yml index cd3a941ec6..f33b77bdf2 100644 --- a/.yamato/python-ll-api-test.yml +++ b/.yamato/python-ll-api-test.yml @@ -18,7 +18,7 @@ test_linux_ll_api_{{ editor.version }}: python ml-agents/tests/yamato/scripts/run_llapi.py python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Basic python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-WallJump - python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Bouncer + python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Match3 dependencies: - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }} triggers: diff --git a/.yamato/standalone-build-test.yml b/.yamato/standalone-build-test.yml index fb554fddd3..4b952956d3 100644 --- a/.yamato/standalone-build-test.yml +++ b/.yamato/standalone-build-test.yml @@ -15,7 +15,7 @@ test_linux_standalone_{{ editor.version }}: - unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity - - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity + - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Match3/Scenes/Match3.unity - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedGrid/TestGridCompressed.unity - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureCompressed.unity diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json index 3ceb180eeb..c8f02170ac 100644 --- a/DevProject/Packages/packages-lock.json +++ b/DevProject/Packages/packages-lock.json @@ -31,7 +31,7 @@ "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates" }, "com.unity.barracuda": { - "version": "1.3.0-preview", + "version": "1.3.1-preview", "depth": 1, "source": "registry", "dependencies": { @@ -108,7 +108,7 @@ "depth": 0, "source": "local", "dependencies": { - "com.unity.barracuda": "1.3.0-preview", + "com.unity.barracuda": "1.3.1-preview", "com.unity.modules.imageconversion": "1.0.0", "com.unity.modules.jsonserialize": "1.0.0", "com.unity.modules.physics": "1.0.0", @@ -121,7 +121,7 @@ "depth": 0, "source": "local", "dependencies": { - "com.unity.ml-agents": "1.7.2-preview" + "com.unity.ml-agents": "1.8.0-preview" } }, "com.unity.multiplayer-hlapi": { diff --git a/Project/Assets/ML-Agents/Editor/Tests/SampleExporter.cs b/Project/Assets/ML-Agents/Editor/Tests/SampleExporter.cs new file mode 100644 index 0000000000..ca0604c4b8 --- /dev/null +++ b/Project/Assets/ML-Agents/Editor/Tests/SampleExporter.cs @@ -0,0 +1,125 @@ +using System; +using System.Collections.Generic; +using System.IO; +using Newtonsoft.Json; +using UnityEditor; +using UnityEngine; + +namespace Unity.MLAgents +{ + public class SampleExporter + { + const string k_MLAgentsSampleFile = "mlagents-sample.json"; + const string k_PackageSampleFile = ".sample.json"; + const string k_MLAgentsDir = "ML-Agents"; + const string k_MLAgentsExamplesDir = "Examples"; + const string k_MLAgentsPackageName = "com.unity.ml-agents"; + const string k_MLAgentsSamplesDirName = "Samples"; + const string k_MLAgentsScriptsDirName = "Scripts"; + + struct MLAgentsSampleJson + { +#pragma warning disable 649 + public string displayName; + public string description; + // ReSharper disable once CollectionNeverUpdated.Local + public List scenes; +#pragma warning restore 649 + } + + struct PackageSampleJson + { + public string displayName; + public string description; + } + + public static void ExportCuratedSamples() + { + var oldBurst = EditorPrefs.GetBool("BurstCompilation"); + EditorPrefs.SetBool("BurstCompilation", false); + try + { + // Path to Project/Assets + var assetsDir = Application.dataPath; + var repoRoot = Directory.GetParent(Directory.GetParent(assetsDir).FullName).FullName; + + // Top level of where to store the samples + var samplesDir = Path.Combine( + repoRoot, + k_MLAgentsPackageName, + k_MLAgentsSamplesDirName); + + if (!Directory.Exists(samplesDir)) + { + Directory.CreateDirectory(samplesDir); + } + + // Path to the examples dir in the project + var examplesDir = Path.Combine(Application.dataPath, k_MLAgentsDir, k_MLAgentsExamplesDir); + foreach (var exampleDirectory in Directory.GetDirectories(examplesDir)) + { + var mlAgentsSamplePath = Path.Combine(exampleDirectory, k_MLAgentsSampleFile); + if (File.Exists(mlAgentsSamplePath)) + { + var sampleJson = JsonConvert.DeserializeObject(File.ReadAllText(mlAgentsSamplePath)); + Debug.Log(JsonConvert.SerializeObject(sampleJson)); + foreach (var scene in sampleJson.scenes) + { + var scenePath = Path.Combine(exampleDirectory, scene); + if (File.Exists(scenePath)) + { + // Create a Sample Directory + var currentSampleDir = Directory.CreateDirectory(Path.Combine(samplesDir, + Path.GetFileNameWithoutExtension(scenePath))); + + + var scriptsPath = Path.Combine(exampleDirectory, k_MLAgentsScriptsDirName); + Debug.Log($"Scene Path: {scenePath}"); + var assets = new List { scenePath.Substring(scenePath.IndexOf("Assets")) }; + if (!Directory.Exists(Path.Combine(scriptsPath))) + { + scriptsPath = exampleDirectory; + } + + scriptsPath = scriptsPath.Substring(scriptsPath.IndexOf("Assets")); + foreach (var guid in AssetDatabase.FindAssets("t:Script", new[] { scriptsPath })) + { + var path = AssetDatabase.GUIDToAssetPath(guid); + assets.Add(path); + Debug.Log($"Adding Asset: {path}"); + } + + var packageFilePath = Path.GetFileNameWithoutExtension(scenePath) + ".unitypackage"; + AssetDatabase.ExportPackage(assets.ToArray(), + Path.Combine(Application.dataPath, packageFilePath), + ExportPackageOptions.IncludeDependencies | ExportPackageOptions.Recurse); + + // Move the .unitypackage into the samples folder. + var packageFileFullPath = Path.Combine(Application.dataPath, packageFilePath); + + var packageInSamplePath = Path.Combine(currentSampleDir.FullName, packageFilePath); + Debug.Log($"Moving {packageFileFullPath} to {packageInSamplePath}"); + File.Move(packageFileFullPath, packageInSamplePath); + + // write the .sample.json file to the sample directory + File.WriteAllText(Path.Combine(currentSampleDir.FullName, k_PackageSampleFile), + JsonConvert.SerializeObject(new PackageSampleJson + { + description = sampleJson.description, + displayName = sampleJson.displayName + })); + } + } + } + } + } + catch (Exception e) + { + Debug.Log(e); + EditorApplication.Exit(1); + } + EditorPrefs.SetBool("BurstCompilation", oldBurst); + EditorApplication.Exit(0); + } + } +} diff --git a/Project/Assets/ML-Agents/Editor/Tests/SampleExporter.cs.meta b/Project/Assets/ML-Agents/Editor/Tests/SampleExporter.cs.meta new file mode 100644 index 0000000000..012de8c396 --- /dev/null +++ b/Project/Assets/ML-Agents/Editor/Tests/SampleExporter.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 914d5be190bb435eb11383db3aaf70eb +timeCreated: 1615161245 \ No newline at end of file diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHard.prefab similarity index 100% rename from Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab rename to Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHard.prefab diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab.meta b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHard.prefab.meta similarity index 100% rename from Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab.meta rename to Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHard.prefab.meta diff --git a/Project/Assets/ML-Agents/Examples/3DBall/mlagents-sample.json b/Project/Assets/ML-Agents/Examples/3DBall/mlagents-sample.json new file mode 100644 index 0000000000..b1cce936e5 --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/3DBall/mlagents-sample.json @@ -0,0 +1,7 @@ +{ + "displayName": "3D Ball", + "description": "The 3D Ball sample is a simple environment that is a great for jumping into Ml-Agents to see how things work.", + "scenes": [ + "Scenes/3DBall.unity" + ] +} diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/GridFoodCollector.unity.meta b/Project/Assets/ML-Agents/Examples/3DBall/mlagents-sample.json.meta similarity index 62% rename from Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/GridFoodCollector.unity.meta rename to Project/Assets/ML-Agents/Examples/3DBall/mlagents-sample.json.meta index 454c6df09d..1e0892275e 100644 --- a/Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/GridFoodCollector.unity.meta +++ b/Project/Assets/ML-Agents/Examples/3DBall/mlagents-sample.json.meta @@ -1,6 +1,6 @@ fileFormatVersion: 2 -guid: 07d4146bc5bfaba4ab42d159c49f4d7b -DefaultImporter: +guid: 6b6f1c189dc84df391d1c3ccb13a54f7 +TextScriptImporter: externalObjects: {} userData: assetBundleName: diff --git a/Project/Assets/ML-Agents/Examples/Bouncer.meta b/Project/Assets/ML-Agents/Examples/Bouncer.meta deleted file mode 100644 index 3891920f5e..0000000000 --- a/Project/Assets/ML-Agents/Examples/Bouncer.meta +++ /dev/null @@ -1,10 +0,0 @@ -fileFormatVersion: 2 -guid: d49541568568a44fe8e8a78844821afd -folderAsset: yes -timeCreated: 1518038008 -licenseType: Free -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Demos.meta b/Project/Assets/ML-Agents/Examples/Bouncer/Demos.meta deleted file mode 100644 index 57cac4a597..0000000000 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Demos.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 142ce43fbf41c496c9776bb2ba6e8578 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo b/Project/Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo deleted file mode 100644 index 4b186c3a7e..0000000000 Binary files a/Project/Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo and /dev/null differ diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo.meta b/Project/Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo.meta deleted file mode 100644 index 2f1d4d0e98..0000000000 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo.meta +++ /dev/null @@ -1,10 +0,0 @@ -fileFormatVersion: 2 -guid: 6285af622c80e493b906f26cf5b2327f -ScriptedImporter: - fileIDToRecycleName: - 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-fileFormatVersion: 2 -guid: 2c29359d4c9fe49219b21cd83e246596 -timeCreated: 1518038044 -licenseType: Free -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts.meta b/Project/Assets/ML-Agents/Examples/Bouncer/Scripts.meta deleted file mode 100644 index 5da27b10f5..0000000000 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts.meta +++ /dev/null @@ -1,10 +0,0 @@ -fileFormatVersion: 2 -guid: bb8e2ddd792f045479a43ddf73c51784 -folderAsset: yes -timeCreated: 1518038051 -licenseType: Free -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs b/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs deleted file mode 100644 index 0cd5a0aebd..0000000000 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs +++ /dev/null @@ -1,135 +0,0 @@ -using UnityEngine; -using Unity.MLAgents; -using Unity.MLAgents.Actuators; -using Unity.MLAgents.Sensors; - -public class BouncerAgent : Agent -{ - [Header("Bouncer Specific")] - public GameObject target; - public GameObject bodyObject; - Rigidbody m_Rb; - Vector3 m_LookDir; - public float strength = 10f; - float m_JumpCooldown; - int m_NumberJumps = 20; - int m_JumpLeft = 20; - - EnvironmentParameters m_ResetParams; - - public override void Initialize() - { - m_Rb = gameObject.GetComponent(); - m_LookDir = Vector3.zero; - - m_ResetParams = Academy.Instance.EnvironmentParameters; - - SetResetParameters(); - } - - public override void CollectObservations(VectorSensor sensor) - { - sensor.AddObservation(gameObject.transform.localPosition); - sensor.AddObservation(target.transform.localPosition); - } - - public override void OnActionReceived(ActionBuffers actionBuffers) - - { - var continuousActions = actionBuffers.ContinuousActions; - for (var i = 0; i < continuousActions.Length; i++) - { - continuousActions[i] = Mathf.Clamp(continuousActions[i], -1f, 1f); - } - var x = continuousActions[0]; - var y = ScaleAction(continuousActions[1], 0, 1); - var z = continuousActions[2]; - m_Rb.AddForce(new Vector3(x, y + 1, z) * strength); - - AddReward(-0.05f * ( - continuousActions[0] * continuousActions[0] + - continuousActions[1] * continuousActions[1] + - continuousActions[2] * continuousActions[2]) / 3f); - - m_LookDir = new Vector3(x, y, z); - } - - public override void OnEpisodeBegin() - { - gameObject.transform.localPosition = new Vector3( - (1 - 2 * Random.value) * 5, 2, (1 - 2 * Random.value) * 5); - m_Rb.velocity = default(Vector3); - var environment = gameObject.transform.parent.gameObject; - var targets = - environment.GetComponentsInChildren(); - foreach (var t in targets) - { - t.Respawn(); - } - m_JumpLeft = m_NumberJumps; - - SetResetParameters(); - } - - - void FixedUpdate() - { - if (Physics.Raycast(transform.position, new Vector3(0f, -1f, 0f), 0.51f) && m_JumpCooldown <= 0f) - { - RequestDecision(); - m_JumpLeft -= 1; - m_JumpCooldown = 0.1f; - m_Rb.velocity = default(Vector3); - } - - m_JumpCooldown -= Time.fixedDeltaTime; - - if (gameObject.transform.position.y < -1) - { - AddReward(-1); - EndEpisode(); - return; - } - - if (gameObject.transform.localPosition.x < -19 || gameObject.transform.localPosition.x > 19 - || gameObject.transform.localPosition.z < -19 || gameObject.transform.localPosition.z > 19) - { - AddReward(-1); - EndEpisode(); - return; - } - if (m_JumpLeft == 0) - { - EndEpisode(); - } - } - - public override void Heuristic(in ActionBuffers actionsOut) - { - var continuousActionsOut = actionsOut.ContinuousActions; - continuousActionsOut[0] = Input.GetAxis("Horizontal"); - continuousActionsOut[1] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f; - continuousActionsOut[2] = Input.GetAxis("Vertical"); - } - - void Update() - { - if (m_LookDir.magnitude > float.Epsilon) - { - bodyObject.transform.rotation = Quaternion.Lerp(bodyObject.transform.rotation, - Quaternion.LookRotation(m_LookDir), - Time.deltaTime * 10f); - } - } - - public void SetTargetScale() - { - var targetScale = m_ResetParams.GetWithDefault("target_scale", 1.0f); - target.transform.localScale = new Vector3(targetScale, targetScale, targetScale); - } - - public void SetResetParameters() - { - SetTargetScale(); - } -} diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs.meta b/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs.meta deleted file mode 100644 index 77f34ebc06..0000000000 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs.meta +++ /dev/null @@ -1,13 +0,0 @@ -fileFormatVersion: 2 -guid: 0f09741cbce2e44bc88d3e92917eea0e -timeCreated: 1518038112 -licenseType: Free -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerTarget.cs b/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerTarget.cs deleted file mode 100644 index 3da8ace188..0000000000 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerTarget.cs +++ /dev/null @@ -1,30 +0,0 @@ -using UnityEngine; -using Unity.MLAgents; - -public class BouncerTarget : MonoBehaviour -{ - // Update is called once per frame - void FixedUpdate() - { - gameObject.transform.Rotate(new Vector3(1, 0, 0), 0.5f); - } - - void OnTriggerEnter(Collider collision) - { - var agent = collision.gameObject.GetComponent(); - if (agent != null) - { - agent.AddReward(1f); - Respawn(); - } - } - - public void Respawn() - { - gameObject.transform.localPosition = - new Vector3( - (1 - 2 * Random.value) * 5f, - 2f + Random.value * 5f, - (1 - 2 * Random.value) * 5f); - } -} diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/TFModels.meta b/Project/Assets/ML-Agents/Examples/Bouncer/TFModels.meta deleted file 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--- a/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs +++ b/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs @@ -9,29 +9,6 @@ [RequireComponent(typeof(JointDriveController))] // Required to set joint forces public class CrawlerAgent : Agent { - //The type of crawler behavior we want to use. - //This setting will determine how the agent is set up during initialization. - public enum CrawlerAgentBehaviorType - { - CrawlerDynamic, - CrawlerDynamicVariableSpeed, - CrawlerStatic, - CrawlerStaticVariableSpeed - } - - [Tooltip( - "VariableSpeed - The agent will sample random speed magnitudes while training.\n" + - "Dynamic - The agent will run towards a target that changes position.\n" + - "Static - The agent will run towards a static target. 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Here the agent takes an action. + /// + public override void OnActionReceived(ActionBuffers actionBuffers) + + { + // Move the agent using the action. + MoveAgent(actionBuffers.DiscreteActions); + } + + public override void Heuristic(in ActionBuffers actionsOut) + { + var discreteActionsOut = actionsOut.DiscreteActions; + discreteActionsOut[0] = 0; + if (Input.GetKey(KeyCode.D)) + { + discreteActionsOut[0] = 3; + } + else if (Input.GetKey(KeyCode.W)) + { + discreteActionsOut[0] = 1; + } + else if (Input.GetKey(KeyCode.A)) + { + discreteActionsOut[0] = 4; + } + else if (Input.GetKey(KeyCode.S)) + { + discreteActionsOut[0] = 2; + } + } +} diff --git a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs.meta b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs.meta old mode 100755 new mode 100644 similarity index 75% rename from Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs.meta rename to Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs.meta index 643d943c89..921951249f --- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs.meta +++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs.meta @@ -1,6 +1,6 @@ fileFormatVersion: 2 -guid: e51a3fb0b3186433ea84fc1e0549cc91 -timeCreated: 1503202602 +guid: d94a85eca2e074578943301959c555ba +timeCreated: 1506829537 licenseType: Pro MonoImporter: serializedVersion: 2 diff --git a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs new file mode 100644 index 0000000000..1b4634820f --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs @@ -0,0 +1,234 @@ +using System.Collections; +using System.Collections.Generic; +using Unity.MLAgents; +using UnityEngine; + +public class PushBlockEnvController : MonoBehaviour +{ + [System.Serializable] + public class PlayerInfo + { + public PushAgentCollab Agent; + [HideInInspector] + public Vector3 StartingPos; + [HideInInspector] + public Quaternion StartingRot; + [HideInInspector] + public Rigidbody Rb; + } + + [System.Serializable] + public class BlockInfo + { + public Transform T; + [HideInInspector] + public Vector3 StartingPos; + [HideInInspector] + public Quaternion StartingRot; + [HideInInspector] + public Rigidbody Rb; + } + + /// + /// Max Academy steps before this platform resets + /// + /// + [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000; + + /// + /// The area bounds. + /// + [HideInInspector] + public Bounds areaBounds; + /// + /// The ground. The bounds are used to spawn the elements. + /// + public GameObject ground; + + public GameObject area; + + Material m_GroundMaterial; //cached on Awake() + + /// + /// We will be changing the ground material based on success/failue + /// + Renderer m_GroundRenderer; + + //List of Agents On Platform + public List AgentsList = new List(); + //List of Blocks On Platform + public List BlocksList = new List(); + + public bool UseRandomAgentRotation = true; + public bool UseRandomAgentPosition = true; + public bool UseRandomBlockRotation = true; + public bool UseRandomBlockPosition = true; + private PushBlockSettings m_PushBlockSettings; + + private int m_NumberOfRemainingBlocks; + + private SimpleMultiAgentGroup m_AgentGroup; + + private int m_ResetTimer; + + void Start() + { + + // Get the ground's bounds + areaBounds = ground.GetComponent().bounds; + // Get the ground renderer so we can change the material when a goal is scored + m_GroundRenderer = ground.GetComponent(); + // Starting material + m_GroundMaterial = m_GroundRenderer.material; + m_PushBlockSettings = FindObjectOfType(); + // Initialize Blocks + foreach (var item in BlocksList) + { + item.StartingPos = item.T.transform.position; + item.StartingRot = item.T.transform.rotation; + item.Rb = item.T.GetComponent(); + } + // Initialize TeamManager + m_AgentGroup = new SimpleMultiAgentGroup(); + foreach (var item in AgentsList) + { + item.StartingPos = item.Agent.transform.position; + item.StartingRot = item.Agent.transform.rotation; + item.Rb = item.Agent.GetComponent(); + m_AgentGroup.RegisterAgent(item.Agent); + } + ResetScene(); + } + + void FixedUpdate() + { + m_ResetTimer += 1; + if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0) + { + m_AgentGroup.GroupEpisodeInterrupted(); + ResetScene(); + } + + //Hurry Up Penalty + m_AgentGroup.AddGroupReward(-0.5f / MaxEnvironmentSteps); + } + + /// + /// Use the ground's bounds to pick a random spawn position. + /// + public Vector3 GetRandomSpawnPos() + { + var foundNewSpawnLocation = false; + var randomSpawnPos = Vector3.zero; + while (foundNewSpawnLocation == false) + { + var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier, + areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier); + + var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier, + areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier); + randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ); + if (Physics.CheckBox(randomSpawnPos, new Vector3(1.5f, 0.01f, 1.5f)) == false) + { + foundNewSpawnLocation = true; + } + } + return randomSpawnPos; + } + + /// + /// Resets the block position and velocities. + /// + void ResetBlock(BlockInfo block) + { + // Get a random position for the block. + block.T.position = GetRandomSpawnPos(); + + // Reset block velocity back to zero. + block.Rb.velocity = Vector3.zero; + + // Reset block angularVelocity back to zero. + block.Rb.angularVelocity = Vector3.zero; + } + + /// + /// Swap ground material, wait time seconds, then swap back to the regular material. + /// + IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time) + { + m_GroundRenderer.material = mat; + yield return new WaitForSeconds(time); // Wait for 2 sec + m_GroundRenderer.material = m_GroundMaterial; + } + + /// + /// Called when the agent moves the block into the goal. + /// + public void ScoredAGoal(Collider col, float score) + { + print($"Scored {score} on {gameObject.name}"); + + //Decrement the counter + m_NumberOfRemainingBlocks--; + + //Are we done? + bool done = m_NumberOfRemainingBlocks == 0; + + //Disable the block + col.gameObject.SetActive(false); + + //Give Agent Rewards + m_AgentGroup.AddGroupReward(score); + + // Swap ground material for a bit to indicate we scored. + StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f)); + + if (done) + { + //Reset assets + m_AgentGroup.EndGroupEpisode(); + ResetScene(); + } + } + + Quaternion GetRandomRot() + { + return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0); + } + + public void ResetScene() + { + m_ResetTimer = 0; + + //Random platform rotation + var rotation = Random.Range(0, 4); + var rotationAngle = rotation * 90f; + area.transform.Rotate(new Vector3(0f, rotationAngle, 0f)); + + //Reset Agents + foreach (var item in AgentsList) + { + var pos = UseRandomAgentPosition ? 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a/Project/Assets/ML-Agents/Examples/Reacher/Scripts.meta +++ /dev/null @@ -1,9 +0,0 @@ -fileFormatVersion: 2 -guid: 94ce022e6e3984390bf7dffa80eae215 -folderAsset: yes -timeCreated: 1503355437 -licenseType: Free -DefaultImporter: - userData: - assetBundleName: - assetBundleVariant: diff --git a/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs b/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs deleted file mode 100644 index f81d527a6f..0000000000 --- a/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs +++ /dev/null @@ -1,122 +0,0 @@ -using UnityEngine; -using Unity.MLAgents; -using Unity.MLAgents.Actuators; -using Unity.MLAgents.Sensors; - -public class ReacherAgent : Agent -{ - public GameObject pendulumA; - public GameObject pendulumB; - public GameObject hand; - public GameObject goal; - float m_GoalDegree; - Rigidbody m_RbA; - Rigidbody m_RbB; - // speed of the goal zone around the arm (in radians) - float m_GoalSpeed; - // radius of the goal zone - float m_GoalSize; - // Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension - float m_Deviation; - // Frequency of the cosine deviation of the goal along the vertical dimension - float m_DeviationFreq; - - EnvironmentParameters m_ResetParams; - - /// - /// Collect the rigidbodies of the reacher in order to resue them for - /// observations and actions. - /// - public override void Initialize() - { - m_RbA = pendulumA.GetComponent(); - m_RbB = pendulumB.GetComponent(); - - m_ResetParams = Academy.Instance.EnvironmentParameters; - - SetResetParameters(); - } - - /// - /// We collect the normalized rotations, angularal velocities, and velocities of both - /// limbs of the reacher as well as the relative position of the target and hand. - /// - public override void CollectObservations(VectorSensor sensor) - { - sensor.AddObservation(pendulumA.transform.localPosition); - sensor.AddObservation(pendulumA.transform.rotation); - sensor.AddObservation(m_RbA.angularVelocity); - sensor.AddObservation(m_RbA.velocity); - - sensor.AddObservation(pendulumB.transform.localPosition); - sensor.AddObservation(pendulumB.transform.rotation); - sensor.AddObservation(m_RbB.angularVelocity); - sensor.AddObservation(m_RbB.velocity); - - sensor.AddObservation(goal.transform.localPosition); - sensor.AddObservation(hand.transform.localPosition); - - sensor.AddObservation(m_GoalSpeed); - } - - /// - /// The agent's four actions correspond to torques on each of the two joints. - /// - public override void OnActionReceived(ActionBuffers actionBuffers) - { - m_GoalDegree += m_GoalSpeed; - UpdateGoalPosition(); - - var torqueX = Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f) * 150f; - var torqueZ = Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f) * 150f; - m_RbA.AddTorque(new Vector3(torqueX, 0f, torqueZ)); - - torqueX = Mathf.Clamp(actionBuffers.ContinuousActions[2], -1f, 1f) * 150f; - torqueZ = Mathf.Clamp(actionBuffers.ContinuousActions[3], -1f, 1f) * 150f; - m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ)); - } - - /// - /// Used to move the position of the target goal around the agent. - /// - void UpdateGoalPosition() - { - var radians = m_GoalDegree * Mathf.PI / 180f; - var goalX = 8f * Mathf.Cos(radians); - var goalY = 8f * Mathf.Sin(radians); - var goalZ = m_Deviation * Mathf.Cos(m_DeviationFreq * radians); - goal.transform.position = new Vector3(goalY, goalZ, goalX) + transform.position; - } - - /// - /// Resets the position and velocity of the agent and the goal. - /// - public override void OnEpisodeBegin() - { - pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position; - pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f); - m_RbA.velocity = Vector3.zero; - m_RbA.angularVelocity = Vector3.zero; - - pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position; - pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f); - m_RbB.velocity = Vector3.zero; - m_RbB.angularVelocity = Vector3.zero; - - m_GoalDegree = Random.Range(0, 360); - UpdateGoalPosition(); - - SetResetParameters(); - - - goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize); - } - - public void SetResetParameters() - { - m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5); - m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1); - m_Deviation = m_ResetParams.GetWithDefault("deviation", 0); - m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0); - } -} diff --git a/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs.meta b/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs.meta deleted file mode 100644 index 1974e1d4dc..0000000000 --- a/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs.meta +++ /dev/null @@ -1,12 +0,0 @@ -fileFormatVersion: 2 -guid: 220b156e3b142406c8b76d4db981d044 -timeCreated: 1503355437 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m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -359,6 +363,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -370,6 +375,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -584,6 +590,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -595,6 +602,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -705,6 +713,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -716,6 +725,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -827,6 +837,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -838,6 +849,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -917,6 +929,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -928,6 +941,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -994,6 +1008,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1005,6 +1020,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1116,6 +1132,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1127,6 +1144,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1243,6 +1261,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1255,6 +1274,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1406,6 +1426,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1417,6 +1438,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1487,6 +1509,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1499,6 +1522,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1617,6 +1641,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1628,6 +1653,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1694,6 +1720,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1705,6 +1732,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1760,9 +1788,10 @@ Camera: m_ClearFlags: 2 m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1} m_projectionMatrixMode: 1 + m_GateFitMode: 2 + m_FOVAxisMode: 0 m_SensorSize: {x: 36, y: 24} m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 m_FocalLength: 50 m_NormalizedViewPortRect: serializedVersion: 2 @@ -1849,6 +1878,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1860,6 +1890,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1962,7 +1993,7 @@ MonoBehaviour: VectorActionDescriptions: [] VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 - m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} + m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3} m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos @@ -1987,10 +2018,10 @@ MonoBehaviour: hasUpgradedFromAgentParameters: 1 MaxStep: 3000 team: 0 - area: {fileID: 114559182131992928} position: 2 - timePenalty: 0 agentRb: {fileID: 0} + initialPos: {x: 0, y: 0, z: 0} + rotSign: 0 --- !u!114 &114320493772006642 MonoBehaviour: m_ObjectHideFlags: 0 @@ -2093,9 +2124,10 @@ Camera: m_ClearFlags: 2 m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1} m_projectionMatrixMode: 1 + m_GateFitMode: 2 + m_FOVAxisMode: 0 m_SensorSize: {x: 36, y: 24} m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 m_FocalLength: 50 m_NormalizedViewPortRect: serializedVersion: 2 @@ -2213,7 +2245,7 @@ MonoBehaviour: VectorActionDescriptions: [] VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 - m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} + m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3} m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos @@ -2238,10 +2270,10 @@ MonoBehaviour: hasUpgradedFromAgentParameters: 1 MaxStep: 3000 team: 1 - area: {fileID: 114559182131992928} position: 2 - timePenalty: 0 agentRb: {fileID: 0} + initialPos: {x: 0, y: 0, z: 0} + rotSign: 0 --- !u!114 &114516244030127556 MonoBehaviour: m_ObjectHideFlags: 0 @@ -2310,7 +2342,7 @@ GameObject: serializedVersion: 6 m_Component: - component: {fileID: 4558743310993102} - - component: {fileID: 114559182131992928} + - component: {fileID: 8122248192225965164} m_Layer: 0 m_Name: SoccerFieldTwos m_TagString: Untagged @@ -2339,7 +2371,7 @@ Transform: m_Father: {fileID: 0} m_RootOrder: 0 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} ---- !u!114 &114559182131992928 +--- !u!114 &8122248192225965164 MonoBehaviour: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} @@ -2348,17 +2380,29 @@ MonoBehaviour: m_GameObject: {fileID: 1141134673700168} m_Enabled: 1 m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: efd705d0a5b1e405eb1869b7cbe47dda, type: 3} + m_Script: {fileID: 11500000, guid: 4e397bc3ae78c466a8d44400f5b68e38, type: 3} m_Name: m_EditorClassIdentifier: + MaxEnvironmentSteps: 5000 ball: {fileID: 1682753582128710} ballRb: {fileID: 0} - ground: {fileID: 0} - centerPitch: {fileID: 0} - playerStates: [] - ballStartingPos: {x: 0, y: 0, z: 0} - goalTextUI: {fileID: 0} - canResetBall: 0 + AgentsList: + - Agent: {fileID: 114850431417842684} + StartingPos: {x: 0, y: 0, z: 0} + StartingRot: {x: 0, y: 0, z: 0, w: 0} + Rb: {fileID: 0} + - Agent: {fileID: 114492261207303438} + StartingPos: {x: 0, y: 0, z: 0} + StartingRot: {x: 0, y: 0, z: 0, w: 0} + Rb: {fileID: 0} + - Agent: {fileID: 5379409612883756837} + StartingPos: {x: 0, y: 0, z: 0} + StartingRot: {x: 0, y: 0, z: 0, w: 0} + Rb: {fileID: 0} + - Agent: {fileID: 5320024511406682322} + StartingPos: {x: 0, y: 0, z: 0} + StartingRot: {x: 0, y: 0, z: 0, w: 0} + Rb: {fileID: 0} --- !u!1 &1366507812774098 GameObject: m_ObjectHideFlags: 0 @@ -2413,6 +2457,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2424,6 +2469,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2520,6 +2566,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2531,6 +2578,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2597,6 +2645,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2608,6 +2657,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2677,6 +2727,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2688,6 +2739,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2725,7 +2777,8 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 93558b952b37a4b0ebaca3ca6711bcc4, type: 3} m_Name: m_EditorClassIdentifier: - area: {fileID: 0} + area: {fileID: 1141134673700168} + envController: {fileID: 0} purpleGoalTag: purpleGoal blueGoalTag: blueGoal --- !u!54 &54100138833592438 @@ -2798,6 +2851,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2809,6 +2863,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2880,6 +2935,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2891,6 +2947,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2957,6 +3014,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2968,6 +3026,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3034,6 +3093,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3045,6 +3105,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3111,6 +3172,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3122,6 +3184,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3188,6 +3251,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3199,6 +3263,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3317,9 +3382,10 @@ Camera: m_ClearFlags: 2 m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1} m_projectionMatrixMode: 1 + m_GateFitMode: 2 + m_FOVAxisMode: 0 m_SensorSize: {x: 36, y: 24} m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 m_FocalLength: 50 m_NormalizedViewPortRect: serializedVersion: 2 @@ -3453,9 +3519,10 @@ Camera: m_ClearFlags: 2 m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1} m_projectionMatrixMode: 1 + m_GateFitMode: 2 + m_FOVAxisMode: 0 m_SensorSize: {x: 36, y: 24} m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 m_FocalLength: 50 m_NormalizedViewPortRect: serializedVersion: 2 @@ -3537,6 +3604,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3548,6 +3616,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3614,6 +3683,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3625,6 +3695,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3754,6 +3825,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3765,6 +3837,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3836,6 +3909,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3847,6 +3921,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3949,7 +4024,7 @@ MonoBehaviour: VectorActionDescriptions: [] VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 - m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} + m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3} m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos @@ -3974,10 +4049,10 @@ MonoBehaviour: hasUpgradedFromAgentParameters: 1 MaxStep: 3000 team: 0 - area: {fileID: 114559182131992928} position: 2 - timePenalty: 0 agentRb: {fileID: 0} + initialPos: {x: 0, y: 0, z: 0} + rotSign: 0 --- !u!114 &1023485123796557062 MonoBehaviour: m_ObjectHideFlags: 0 @@ -4096,6 +4171,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -4107,6 +4183,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4173,6 +4250,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -4184,6 +4262,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4250,6 +4329,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -4261,6 +4341,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4327,6 +4408,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -4338,6 +4420,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4440,7 +4523,7 @@ MonoBehaviour: VectorActionDescriptions: [] VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 - m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} + m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3} m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos @@ -4465,10 +4548,10 @@ MonoBehaviour: hasUpgradedFromAgentParameters: 1 MaxStep: 3000 team: 1 - area: {fileID: 114559182131992928} position: 2 - timePenalty: 0 agentRb: {fileID: 0} + initialPos: {x: 0, y: 0, z: 0} + rotSign: 0 --- !u!114 &2562571719799803906 MonoBehaviour: m_ObjectHideFlags: 0 @@ -4582,6 +4665,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -4593,6 +4677,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4659,6 +4744,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -4670,6 +4756,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab index 92fa04e05c..bc32804cdd 100644 --- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab +++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab @@ -30,7 +30,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 11 + m_RootOrder: 12 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &253232880 MeshFilter: @@ -54,6 +54,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -65,6 +66,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -107,7 +109,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 1 + m_RootOrder: 2 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &444114137 MeshFilter: @@ -131,6 +133,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -142,6 +145,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -216,7 +220,7 @@ Transform: m_LocalScale: {x: 100, y: 100, z: 100} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 14 + m_RootOrder: 15 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!65 &474940251 BoxCollider: @@ -265,7 +269,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 6 + m_RootOrder: 7 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &615018297 MeshFilter: @@ -289,6 +293,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -301,6 +306,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -395,7 +401,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 3 + m_RootOrder: 4 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &654598890 MeshFilter: @@ -419,6 +425,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -430,6 +437,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -476,7 +484,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 8 + m_RootOrder: 9 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &738577478 MeshFilter: @@ -500,6 +508,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -512,6 +521,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -606,7 +616,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 9 + m_RootOrder: 10 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &922552527 MeshFilter: @@ -630,6 +640,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -641,6 +652,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -893,7 +905,7 @@ Transform: m_LocalScale: {x: 300, y: 10, z: 1200} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 12 + m_RootOrder: 13 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &1358559440 MeshFilter: @@ -930,6 +942,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -941,6 +954,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -984,7 +998,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 5 + m_RootOrder: 6 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &1411349256 MeshFilter: @@ -1008,6 +1022,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1019,6 +1034,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1075,6 +1091,7 @@ Transform: m_LocalPosition: {x: 0, y: 0, z: 0} m_LocalScale: {x: 0.01, y: 0.01, z: 0.01} m_Children: + - {fileID: 5380420931288637108} - {fileID: 1838648424} - {fileID: 444114135} - {fileID: 1905370727} @@ -1115,6 +1132,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1126,6 +1144,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1214,7 +1233,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 7 + m_RootOrder: 8 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &1641907513 MeshFilter: @@ -1238,6 +1257,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1249,6 +1269,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1336,7 +1357,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 4 + m_RootOrder: 5 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &1685058926 MeshFilter: @@ -1360,6 +1381,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1371,6 +1393,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1426,7 +1449,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 10 + m_RootOrder: 11 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &1728133460 MeshFilter: @@ -1450,6 +1473,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1461,6 +1485,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1504,7 +1529,7 @@ Transform: m_LocalScale: {x: 300, y: 10, z: 1200} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 13 + m_RootOrder: 14 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &1790209497 MeshFilter: @@ -1541,6 +1566,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1552,6 +1578,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1594,7 +1621,7 @@ Transform: - {fileID: 1280034523} - {fileID: 473053728} m_Father: {fileID: 1590368733} - m_RootOrder: 0 + m_RootOrder: 1 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!1 &1905370726 GameObject: @@ -1626,7 +1653,7 @@ Transform: m_LocalScale: {x: 1, y: 1, z: 1} m_Children: [] m_Father: {fileID: 1590368733} - m_RootOrder: 2 + m_RootOrder: 3 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &1905370729 MeshFilter: @@ -1650,6 +1677,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1661,6 +1689,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1760,9 +1789,10 @@ Camera: m_ClearFlags: 2 m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1} m_projectionMatrixMode: 1 + m_GateFitMode: 2 + m_FOVAxisMode: 0 m_SensorSize: {x: 36, y: 24} m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 m_FocalLength: 50 m_NormalizedViewPortRect: serializedVersion: 2 @@ -1849,6 +1879,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1860,6 +1891,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1903,7 +1935,7 @@ Transform: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1095606497496374} m_LocalRotation: {x: 0, y: -0.7071068, z: 0, w: 0.7071068} - m_LocalPosition: {x: 8, y: 0.5, z: 0} + m_LocalPosition: {x: 4, y: 0.5, z: 0} m_LocalScale: {x: 1, y: 1, z: 1} m_Children: - {fileID: 4540034559941056} @@ -1986,10 +2018,10 @@ MonoBehaviour: hasUpgradedFromAgentParameters: 1 MaxStep: 3000 team: 0 - area: {fileID: 114559182131992928} position: 1 - timePenalty: 0 agentRb: {fileID: 0} + initialPos: {x: 0, y: 0, z: 0} + rotSign: 0 --- !u!114 &114320493772006642 MonoBehaviour: m_ObjectHideFlags: 0 @@ -2090,9 +2122,10 @@ Camera: m_ClearFlags: 2 m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1} m_projectionMatrixMode: 1 + m_GateFitMode: 2 + m_FOVAxisMode: 0 m_SensorSize: {x: 36, y: 24} m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 m_FocalLength: 50 m_NormalizedViewPortRect: serializedVersion: 2 @@ -2235,10 +2268,10 @@ MonoBehaviour: hasUpgradedFromAgentParameters: 1 MaxStep: 3000 team: 1 - area: {fileID: 114559182131992928} position: 0 - timePenalty: 0 agentRb: {fileID: 0} + initialPos: {x: 0, y: 0, z: 0} + rotSign: 0 --- !u!114 &114516244030127556 MonoBehaviour: m_ObjectHideFlags: 0 @@ -2306,7 +2339,7 @@ GameObject: serializedVersion: 6 m_Component: - component: {fileID: 4558743310993102} - - component: {fileID: 114559182131992928} + - component: {fileID: 5003424191498964318} m_Layer: 0 m_Name: StrikersVsGoalieField m_TagString: Untagged @@ -2334,7 +2367,7 @@ Transform: m_Father: {fileID: 0} m_RootOrder: 0 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} ---- !u!114 &114559182131992928 +--- !u!114 &5003424191498964318 MonoBehaviour: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} @@ -2343,17 +2376,25 @@ MonoBehaviour: m_GameObject: {fileID: 1141134673700168} m_Enabled: 1 m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: efd705d0a5b1e405eb1869b7cbe47dda, type: 3} + m_Script: {fileID: 11500000, guid: 4e397bc3ae78c466a8d44400f5b68e38, type: 3} m_Name: m_EditorClassIdentifier: + MaxEnvironmentSteps: 5000 ball: {fileID: 1682753582128710} ballRb: {fileID: 0} - ground: {fileID: 0} - centerPitch: {fileID: 0} - playerStates: [] - ballStartingPos: {x: 0, y: 0, z: 0} - goalTextUI: {fileID: 0} - canResetBall: 0 + AgentsList: + - Agent: {fileID: 114850431417842684} + StartingPos: {x: 0, y: 0, z: 0} + StartingRot: {x: 0, y: 0, z: 0, w: 0} + Rb: {fileID: 0} + - Agent: {fileID: 5379409612883756837} + StartingPos: {x: 0, y: 0, z: 0} + StartingRot: {x: 0, y: 0, z: 0, w: 0} + Rb: {fileID: 0} + - Agent: {fileID: 114492261207303438} + StartingPos: {x: 0, y: 0, z: 0} + 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m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2603,6 +2649,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2672,6 +2719,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2683,6 +2731,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2720,7 +2769,8 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 93558b952b37a4b0ebaca3ca6711bcc4, type: 3} m_Name: m_EditorClassIdentifier: - area: {fileID: 0} + area: {fileID: 1141134673700168} + envController: {fileID: 0} purpleGoalTag: purpleGoal blueGoalTag: blueGoal --- !u!54 &54100138833592438 @@ -2793,6 +2843,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2804,6 +2855,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2875,6 +2927,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -2886,6 +2939,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -2952,6 +3006,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ 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-3183,6 +3243,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3194,6 +3255,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 1 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3311,9 +3373,10 @@ Camera: m_ClearFlags: 2 m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1} m_projectionMatrixMode: 1 + m_GateFitMode: 2 + m_FOVAxisMode: 0 m_SensorSize: {x: 36, y: 24} m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 m_FocalLength: 50 m_NormalizedViewPortRect: serializedVersion: 2 @@ -3395,6 +3458,7 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -3406,6 +3470,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} 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a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs +++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs @@ -3,6 +3,12 @@ using Unity.MLAgents.Actuators; using Unity.MLAgents.Policies; +public enum Team +{ + Blue = 0, + Purple = 1 +} + public class AgentSoccer : Agent { // Note that that the detectable tags are different for the blue and purple teams. The order is @@ -12,11 +18,6 @@ public class AgentSoccer : Agent // * wall // * own teammate // * opposing player - public enum Team - { - Blue = 0, - Purple = 1 - } public enum Position { @@ -28,8 +29,6 @@ public enum Position [HideInInspector] public Team team; float m_KickPower; - int m_PlayerIndex; - public SoccerFieldArea area; // The coefficient for the reward for colliding with a ball. Set using curriculum. float m_BallTouch; public Position position; @@ -39,14 +38,13 @@ public enum Position float m_LateralSpeed; float m_ForwardSpeed; - [HideInInspector] - public float timePenalty; [HideInInspector] public Rigidbody agentRb; SoccerSettings m_SoccerSettings; BehaviorParameters m_BehaviorParameters; - Vector3 m_Transform; + public Vector3 initialPos; + public float rotSign; EnvironmentParameters m_ResetParams; @@ -57,12 +55,14 @@ public override void Initialize() if (m_BehaviorParameters.TeamId == (int)Team.Blue) { team = Team.Blue; - m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z); + initialPos = new Vector3(transform.position.x - 5f, .5f, transform.position.z); + rotSign = 1f; } else { team = Team.Purple; - m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z); + initialPos = new Vector3(transform.position.x + 5f, .5f, transform.position.z); + rotSign = -1f; } if (position == Position.Goalie) { @@ -83,16 +83,6 @@ public override void Initialize() agentRb = GetComponent(); agentRb.maxAngularVelocity = 500; - var playerState = new PlayerState - { - agentRb = agentRb, - startingPos = transform.position, - agentScript = this, - }; - area.playerStates.Add(playerState); - m_PlayerIndex = area.playerStates.IndexOf(playerState); - playerState.playerIndex = m_PlayerIndex; - m_ResetParams = Academy.Instance.EnvironmentParameters; } @@ -157,11 +147,6 @@ public override void OnActionReceived(ActionBuffers actionBuffers) // Existential penalty for Strikers AddReward(-m_Existential); } - else - { - // Existential penalty cumulant for Generic - timePenalty -= m_Existential; - } MoveAgent(actionBuffers.DiscreteActions); } @@ -218,25 +203,7 @@ void OnCollisionEnter(Collision c) public override void OnEpisodeBegin() { - - timePenalty = 0; m_BallTouch = m_ResetParams.GetWithDefault("ball_touch", 0); - if (team == Team.Purple) - { - transform.rotation = Quaternion.Euler(0f, -90f, 0f); - } - else - { - transform.rotation = Quaternion.Euler(0f, 90f, 0f); - } - transform.position = m_Transform; - agentRb.velocity = Vector3.zero; - agentRb.angularVelocity = Vector3.zero; - SetResetParameters(); } - public void SetResetParameters() - { - area.ResetBall(); - } } diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs index 13a5e171a2..a1847ba27f 100644 --- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs +++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs @@ -2,20 +2,26 @@ public class SoccerBallController : MonoBehaviour { + public GameObject area; [HideInInspector] - public SoccerFieldArea area; + public SoccerEnvController envController; public string purpleGoalTag; //will be used to check if collided with purple goal public string blueGoalTag; //will be used to check if collided with blue goal + void Start() + { + envController = area.GetComponent(); + } + void OnCollisionEnter(Collision col) { if (col.gameObject.CompareTag(purpleGoalTag)) //ball touched purple goal { - area.GoalTouched(AgentSoccer.Team.Blue); + envController.GoalTouched(Team.Blue); } if (col.gameObject.CompareTag(blueGoalTag)) //ball touched blue goal { - area.GoalTouched(AgentSoccer.Team.Purple); + envController.GoalTouched(Team.Purple); } } } diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs new file mode 100644 index 0000000000..7eb60b360e --- /dev/null +++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs @@ -0,0 +1,139 @@ +using System.Collections; +using System.Collections.Generic; +using Unity.MLAgents; +using UnityEngine; + +public class SoccerEnvController : MonoBehaviour +{ + [System.Serializable] + public class PlayerInfo + { + public AgentSoccer Agent; + [HideInInspector] + public Vector3 StartingPos; + [HideInInspector] + public Quaternion StartingRot; + [HideInInspector] + public Rigidbody Rb; + } + + + /// + /// Max Academy steps before this platform resets + /// + /// + [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000; + + /// + /// The area bounds. + /// + + /// + /// We will be changing the ground material based on success/failue + /// + + public GameObject ball; + [HideInInspector] + public Rigidbody ballRb; + Vector3 m_BallStartingPos; + + //List of Agents On Platform + public List AgentsList = new List(); + + private SoccerSettings m_SoccerSettings; + + + private SimpleMultiAgentGroup m_BlueAgentGroup; + private SimpleMultiAgentGroup m_PurpleAgentGroup; + + private int m_ResetTimer; + + void Start() + { + + m_SoccerSettings = FindObjectOfType(); + // Initialize TeamManager + m_BlueAgentGroup = new SimpleMultiAgentGroup(); + m_PurpleAgentGroup = new SimpleMultiAgentGroup(); + ballRb = ball.GetComponent(); + m_BallStartingPos = new Vector3(ball.transform.position.x, ball.transform.position.y, ball.transform.position.z); + foreach (var item in AgentsList) + { + item.StartingPos = item.Agent.transform.position; + item.StartingRot = item.Agent.transform.rotation; + item.Rb = item.Agent.GetComponent(); + if (item.Agent.team == Team.Blue) + { + m_BlueAgentGroup.RegisterAgent(item.Agent); + } + else + { + m_PurpleAgentGroup.RegisterAgent(item.Agent); + } + } + ResetScene(); + } + + void FixedUpdate() + { + m_ResetTimer += 1; + if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0) + { + m_BlueAgentGroup.GroupEpisodeInterrupted(); + m_PurpleAgentGroup.GroupEpisodeInterrupted(); + ResetScene(); + } + } + + + public void ResetBall() + { + var randomPosX = Random.Range(-2.5f, 2.5f); + var randomPosZ = Random.Range(-2.5f, 2.5f); + + ball.transform.position = m_BallStartingPos + new Vector3(randomPosX, 0f, randomPosZ); ; + ballRb.velocity = Vector3.zero; + ballRb.angularVelocity = Vector3.zero; + + } + + public void GoalTouched(Team scoredTeam) + { + if (scoredTeam == Team.Blue) + { + m_BlueAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps); + m_PurpleAgentGroup.AddGroupReward(-1); + } + else + { + m_PurpleAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps); + m_BlueAgentGroup.AddGroupReward(-1); + } + m_PurpleAgentGroup.EndGroupEpisode(); + m_BlueAgentGroup.EndGroupEpisode(); + ResetScene(); + + } + + + public void ResetScene() + { + m_ResetTimer = 0; + + //Reset Agents + foreach (var item in AgentsList) + { + var randomPosX = Random.Range(-5f, 5f); + var newStartPos = item.Agent.initialPos + new Vector3(randomPosX, 0f, 0f); + var rot = item.Agent.rotSign * Random.Range(80.0f, 100.0f); + var newRot = Quaternion.Euler(0, rot, 0); + item.Agent.transform.SetPositionAndRotation(newStartPos, newRot); + + item.Rb.velocity = Vector3.zero; + item.Rb.angularVelocity = Vector3.zero; + } + + //Reset Ball + ResetBall(); + } +} diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerTarget.cs.meta b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs.meta similarity index 71% rename from Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerTarget.cs.meta rename to Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs.meta index 930b95ff6f..4325c04051 100644 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerTarget.cs.meta +++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs.meta @@ -1,7 +1,5 @@ fileFormatVersion: 2 -guid: bf223292f05ef4b7da282ea02ef6206a -timeCreated: 1518039071 -licenseType: Free +guid: 4e397bc3ae78c466a8d44400f5b68e38 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs deleted file mode 100644 index a119b7a572..0000000000 --- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs +++ /dev/null @@ -1,85 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using Unity.MLAgents; -using UnityEngine; -using UnityEngine.Serialization; - -[System.Serializable] -public class PlayerState -{ - public int playerIndex; - [FormerlySerializedAs("agentRB")] - public Rigidbody agentRb; - public Vector3 startingPos; - public AgentSoccer agentScript; - public float ballPosReward; -} - -public class SoccerFieldArea : MonoBehaviour -{ - public GameObject ball; - [FormerlySerializedAs("ballRB")] - [HideInInspector] - public Rigidbody ballRb; - public GameObject ground; - public GameObject centerPitch; - SoccerBallController m_BallController; - public List playerStates = new List(); - [HideInInspector] - public Vector3 ballStartingPos; - public GameObject goalTextUI; - [HideInInspector] - public bool canResetBall; - - EnvironmentParameters m_ResetParams; - - void Awake() - { - canResetBall = true; - if (goalTextUI) { goalTextUI.SetActive(false); } - ballRb = ball.GetComponent(); - m_BallController = ball.GetComponent(); - m_BallController.area = this; - ballStartingPos = ball.transform.position; - - m_ResetParams = Academy.Instance.EnvironmentParameters; - } - - IEnumerator ShowGoalUI() - { - if (goalTextUI) goalTextUI.SetActive(true); - yield return new WaitForSeconds(.25f); - if (goalTextUI) goalTextUI.SetActive(false); - } - - public void GoalTouched(AgentSoccer.Team scoredTeam) - { - foreach (var ps in playerStates) - { - if (ps.agentScript.team == scoredTeam) - { - ps.agentScript.AddReward(1 + ps.agentScript.timePenalty); - } - else - { - ps.agentScript.AddReward(-1); - } - ps.agentScript.EndEpisode(); //all agents need to be reset - - if (goalTextUI) - { - StartCoroutine(ShowGoalUI()); - } - } - } - - public void ResetBall() - { - ball.transform.position = ballStartingPos; - ballRb.velocity = Vector3.zero; - ballRb.angularVelocity = Vector3.zero; - - var ballScale = m_ResetParams.GetWithDefault("ball_scale", 0.015f); - ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale); - } -} diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs.meta b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs.meta deleted file mode 100644 index 42d3aa496d..0000000000 --- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs.meta +++ /dev/null @@ -1,13 +0,0 @@ -fileFormatVersion: 2 -guid: efd705d0a5b1e405eb1869b7cbe47dda -timeCreated: 1511497566 -licenseType: Free -MonoImporter: - 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FloorBHit - } - - public FloorHit lastFloorHit; - - TennisArea m_Area; - TennisAgent m_AgentA; - TennisAgent m_AgentB; - - // Use this for initialization - void Start() - { - m_Area = areaObject.GetComponent(); - m_AgentA = m_Area.agentA.GetComponent(); - m_AgentB = m_Area.agentB.GetComponent(); - } - - void Reset() - { - m_AgentA.EndEpisode(); - m_AgentB.EndEpisode(); - m_Area.MatchReset(); - lastFloorHit = FloorHit.Service; - net = false; - } - - void AgentAWins() - { - m_AgentA.SetReward(1); - m_AgentB.SetReward(-1); - m_AgentA.score += 1; - Reset(); - - } - - void AgentBWins() - { - m_AgentA.SetReward(-1); - m_AgentB.SetReward(1); - m_AgentB.score += 1; - Reset(); - - } - - void OnCollisionEnter(Collision collision) - { - if (collision.gameObject.CompareTag("iWall")) - { - if (collision.gameObject.name == "wallA") - { - // Agent A hits into wall or agent B hit a winner - if (lastAgentHit == 0 || lastFloorHit == FloorHit.FloorAHit) - { - AgentBWins(); - } - // Agent B hits long - else - { - AgentAWins(); - } - } - else if (collision.gameObject.name == "wallB") - { - // Agent B hits into wall or agent A hit a winner - if (lastAgentHit == 1 || lastFloorHit == FloorHit.FloorBHit) - { - AgentAWins(); - } - // Agent A hits long - else - { - AgentBWins(); - } - } - else if (collision.gameObject.name == "floorA") - { - // Agent A hits into floor, double bounce or service - if (lastAgentHit == 0 || lastFloorHit == FloorHit.FloorAHit || lastFloorHit == FloorHit.Service) - { - AgentBWins(); - } - else - { - lastFloorHit = FloorHit.FloorAHit; - //successful serve - if (!net) - { - net = true; - } - } - } - else if (collision.gameObject.name == "floorB") - { - // Agent B hits into floor, double bounce or service - if (lastAgentHit == 1 || lastFloorHit == FloorHit.FloorBHit || lastFloorHit == FloorHit.Service) - { - AgentAWins(); - } - else - { - lastFloorHit = FloorHit.FloorBHit; - //successful serve - if (!net) - { - net = true; - } - } - } - else if (collision.gameObject.name == "net" && !net) - { - if (lastAgentHit == 0) - { - AgentBWins(); - } - else if (lastAgentHit == 1) - { - AgentAWins(); - } - } - } - else if (collision.gameObject.name == "AgentA") - { - // Agent A double hit - if (lastAgentHit == 0) - { - AgentBWins(); - } - else - { - //agent can return serve in the air - if (lastFloorHit != FloorHit.Service && !net) - { - net = true; - } - - lastAgentHit = 0; - lastFloorHit = FloorHit.FloorHitUnset; - } - } - else if (collision.gameObject.name == "AgentB") - { - // Agent B double hit - if (lastAgentHit == 1) - { - AgentAWins(); - } - else - { - if (lastFloorHit != FloorHit.Service && !net) - { - net = true; - } - - lastAgentHit = 1; - lastFloorHit = FloorHit.FloorHitUnset; - } - } - } -} diff --git a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs deleted file mode 100644 index 2532321082..0000000000 --- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs +++ /dev/null @@ -1,130 +0,0 @@ -using UnityEngine; -using UnityEngine.UI; -using Unity.MLAgents; -using Unity.MLAgents.Actuators; -using Unity.MLAgents.Sensors; - -public class TennisAgent : Agent -{ - [Header("Specific to Tennis")] - public GameObject ball; - public bool invertX; - public int score; - public GameObject myArea; - public float angle; - public float scale; - - Text m_TextComponent; - Rigidbody m_AgentRb; - Rigidbody m_BallRb; - float m_InvertMult; - EnvironmentParameters m_ResetParams; - - // Looks for the scoreboard based on the name of the gameObjects. - // Do not modify the names of the Score GameObjects - const string k_CanvasName = "Canvas"; - const string k_ScoreBoardAName = "ScoreA"; - const string k_ScoreBoardBName = "ScoreB"; - - public override void Initialize() - { - m_AgentRb = GetComponent(); - m_BallRb = ball.GetComponent(); - var canvas = GameObject.Find(k_CanvasName); - GameObject scoreBoard; - m_ResetParams = Academy.Instance.EnvironmentParameters; - if (invertX) - { - scoreBoard = canvas.transform.Find(k_ScoreBoardBName).gameObject; - } - else - { - scoreBoard = canvas.transform.Find(k_ScoreBoardAName).gameObject; - } - m_TextComponent = scoreBoard.GetComponent(); - SetResetParameters(); - } - - public override void CollectObservations(VectorSensor sensor) - { - sensor.AddObservation(m_InvertMult * (transform.position.x - myArea.transform.position.x)); - sensor.AddObservation(transform.position.y - myArea.transform.position.y); - sensor.AddObservation(m_InvertMult * m_AgentRb.velocity.x); - sensor.AddObservation(m_AgentRb.velocity.y); - - sensor.AddObservation(m_InvertMult * (ball.transform.position.x - myArea.transform.position.x)); - sensor.AddObservation(ball.transform.position.y - myArea.transform.position.y); - sensor.AddObservation(m_InvertMult * m_BallRb.velocity.x); - sensor.AddObservation(m_BallRb.velocity.y); - - sensor.AddObservation(m_InvertMult * gameObject.transform.rotation.z); - } - - public override void OnActionReceived(ActionBuffers actionBuffers) - - { - var continuousActions = actionBuffers.ContinuousActions; - var moveX = Mathf.Clamp(continuousActions[0], -1f, 1f) * m_InvertMult; - var moveY = Mathf.Clamp(continuousActions[1], -1f, 1f); - var rotate = Mathf.Clamp(continuousActions[2], -1f, 1f) * m_InvertMult; - - if (moveY > 0.5 && transform.position.y - transform.parent.transform.position.y < -1.5f) - { - m_AgentRb.velocity = new Vector3(m_AgentRb.velocity.x, 7f, 0f); - } - - m_AgentRb.velocity = new Vector3(moveX * 30f, m_AgentRb.velocity.y, 0f); - - m_AgentRb.transform.rotation = Quaternion.Euler(0f, -180f, 55f * rotate + m_InvertMult * 90f); - - if (invertX && transform.position.x - transform.parent.transform.position.x < -m_InvertMult || - !invertX && transform.position.x - transform.parent.transform.position.x > -m_InvertMult) - { - transform.position = new Vector3(-m_InvertMult + transform.parent.transform.position.x, - transform.position.y, - transform.position.z); - } - - m_TextComponent.text = score.ToString(); - } - - public override void Heuristic(in ActionBuffers actionsOut) - { - var continuousActionsOut = actionsOut.ContinuousActions; - continuousActionsOut[0] = Input.GetAxis("Horizontal"); // Racket Movement - continuousActionsOut[1] = Input.GetKey(KeyCode.Space) ? 1f : 0f; // Racket Jumping - continuousActionsOut[2] = Input.GetAxis("Vertical"); // Racket Rotation - } - - public override void OnEpisodeBegin() - { - m_InvertMult = invertX ? -1f : 1f; - - transform.position = new Vector3(-m_InvertMult * Random.Range(6f, 8f), -1.5f, -1.8f) + transform.parent.transform.position; - m_AgentRb.velocity = new Vector3(0f, 0f, 0f); - - SetResetParameters(); - } - - public void SetRacket() - { - angle = m_ResetParams.GetWithDefault("angle", 55); - gameObject.transform.eulerAngles = new Vector3( - gameObject.transform.eulerAngles.x, - gameObject.transform.eulerAngles.y, - m_InvertMult * angle - ); - } - - public void SetBall() - { - scale = m_ResetParams.GetWithDefault("scale", .5f); - ball.transform.localScale = new Vector3(scale, scale, scale); - } - - public void SetResetParameters() - { - SetRacket(); - SetBall(); - } -} diff --git a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs deleted file mode 100644 index 140b58a7fd..0000000000 --- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs +++ /dev/null @@ -1,39 +0,0 @@ -using UnityEngine; - 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//The type of agent behavior we want to use. - //This setting will determine how the agent is set up during initialization. - public enum WormAgentBehaviorType - { - WormDynamic, - WormStatic - } - - [Tooltip( - "Dynamic - The agent will run towards a target that changes position.\n\n" + - "Static - The agent will run towards a static target. " - )] - public WormAgentBehaviorType typeOfWorm; - const float m_MaxWalkingSpeed = 10; //The max walking speed - //Brains - //A different brain will be used depending on the CrawlerAgentBehaviorType selected - [Header("NN Models")] public NNModel wormDyModel; - public NNModel wormStModel; - - [Header("Target Prefabs")] public Transform dynamicTargetPrefab; //Target prefab to use in Dynamic envs - public Transform staticTargetPrefab; //Target prefab to use in Static envs + [Header("Target Prefabs")] public Transform TargetPrefab; //Target prefab to use in Dynamic envs private Transform m_Target; //Target the agent will walk towards during training. [Header("Body Parts")] public Transform bodySegment0; @@ -50,8 +30,7 @@ public enum WormAgentBehaviorType public override void Initialize() { - SetAgentType(); - + SpawnTarget(TargetPrefab, transform.position); //spawn target m_StartingPos = bodySegment0.position; m_OrientationCube = GetComponentInChildren(); @@ -78,33 +57,6 @@ void SpawnTarget(Transform prefab, Vector3 pos) m_Target = Instantiate(prefab, pos, Quaternion.identity, transform); } - /// - /// Set up the agent based on the type - /// - void SetAgentType() - { - var behaviorParams = GetComponent(); - switch (typeOfWorm) - { - case WormAgentBehaviorType.WormDynamic: - { - behaviorParams.BehaviorName = "WormDynamic"; //set behavior name - if (wormDyModel) - behaviorParams.Model = wormDyModel; //assign the brain - SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target - break; - } - case WormAgentBehaviorType.WormStatic: - { - behaviorParams.BehaviorName = "WormStatic"; //set behavior name - if (wormStModel) - behaviorParams.Model = wormStModel; //assign the brain - SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target - break; - } - } - } - /// /// Loop over body parts and reset them to initial conditions. /// diff --git a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn b/Project/Assets/ML-Agents/Examples/Worm/TFModels/Worm.nn similarity index 100% rename from Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn rename to Project/Assets/ML-Agents/Examples/Worm/TFModels/Worm.nn diff --git a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn.meta b/Project/Assets/ML-Agents/Examples/Worm/TFModels/Worm.nn.meta similarity index 100% rename from Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn.meta rename to Project/Assets/ML-Agents/Examples/Worm/TFModels/Worm.nn.meta diff --git a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn deleted file mode 100644 index 25ec23bd51..0000000000 Binary files a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn and /dev/null differ diff --git a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn.meta b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn.meta deleted file mode 100644 index 2fd85a32f8..0000000000 --- a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: fc1e2a84251634459bfd8edc900e2e71 -ScriptedImporter: - fileIDToRecycleName: - 11400000: main obj - 11400002: model data - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: - script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3} diff --git a/Project/Packages/manifest.json b/Project/Packages/manifest.json index 72137e00e7..288cc289e5 100644 --- a/Project/Packages/manifest.json +++ b/Project/Packages/manifest.json @@ -1,12 +1,10 @@ { "dependencies": { "com.unity.ads": "2.0.8", - "com.unity.analytics": "3.2.3", "com.unity.collab-proxy": "1.2.15", "com.unity.ml-agents": "file:../../com.unity.ml-agents", "com.unity.ml-agents.extensions": "file:../../com.unity.ml-agents.extensions", "com.unity.package-manager-ui": "2.0.13", - "com.unity.purchasing": "2.2.1", "com.unity.textmeshpro": "1.4.1", "com.unity.modules.ai": "1.0.0", "com.unity.modules.animation": "1.0.0", @@ -37,7 +35,8 @@ "com.unity.modules.video": "1.0.0", "com.unity.modules.vr": "1.0.0", "com.unity.modules.wind": "1.0.0", - "com.unity.modules.xr": "1.0.0" + "com.unity.modules.xr": "1.0.0", + "com.unity.nuget.newtonsoft-json": "2.0.0" }, "testables": [ "com.unity.ml-agents", diff --git a/Project/Project.sln.DotSettings b/Project/Project.sln.DotSettings index aacb62dadd..8870bbaaba 100644 --- a/Project/Project.sln.DotSettings +++ b/Project/Project.sln.DotSettings @@ -1,2 +1,3 @@  + ML True \ No newline at end of file diff --git a/README.md b/README.md index 39afb62655..f3490ee8f5 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ # Unity ML-Agents Toolkit -[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/) +[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/) [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE) @@ -49,8 +49,8 @@ descriptions of all these features. ## Releases & Documentation -**Our latest, stable release is `Release 13`. Click -[here](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md) +**Our latest, stable release is `Release 14`. Click +[here](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Readme.md) to get started with the latest release of ML-Agents.** The table below lists all our releases, including our `main` branch which is @@ -70,14 +70,15 @@ under active development and may be unstable. A few helpful guidelines: | **Version** | **Release Date** | **Source** | **Documentation** | **Download** | **Python Package** | **Unity Package** | |:-------:|:------:|:-------------:|:-------:|:------------:|:------------:|:------------:| | **main (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/main) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/main/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/main.zip) | -- | -- | +| **Release 14** | **March 5, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_14)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_14.zip)** | **[0.24.1](https://pypi.org/project/mlagents/0.24.1/)** | **[1.8.1](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html)** | +| **Verified Package 1.0.7** | **March 8, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/com.unity.ml-agents_1.0.7)** | **[docs](https://github.com/Unity-Technologies/ml-agents/blob/release_2_verified_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/com.unity.ml-agents_1.0.7.zip)** | **[0.16.1](https://pypi.org/project/mlagents/0.16.1/)** | **[1.0.7](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.0/manual/index.html)** | | **Release 13** | **February 17, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_13)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_13.zip)** | **[0.24.0](https://pypi.org/project/mlagents/0.24.0/)** | **[1.8.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.8/manual/index.html)** | | **Release 12** | December 22, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_12) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_12.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.2](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) | | **Release 11** | December 21, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_11) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_11_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_11.zip) | [0.23.0](https://pypi.org/project/mlagents/0.23.0/) | [1.7.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.7/manual/index.html) | | **Release 10** | November 18, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_10) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_10_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_10.zip) | [0.22.0](https://pypi.org/project/mlagents/0.22.0/) | [1.6.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.6/manual/index.html) | -| **Verified Package 1.0.6** | **November 16, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/com.unity.ml-agents_1.0.6)** | **[docs](https://github.com/Unity-Technologies/ml-agents/blob/release_2_verified_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/com.unity.ml-agents_1.0.6.zip)** | **[0.16.1](https://pypi.org/project/mlagents/0.16.1/)** | **[1.0.6](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.0/manual/index.html)** | +| **Verified Package 1.0.6** | November 16, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/com.unity.ml-agents_1.0.6) | [docs](https://github.com/Unity-Technologies/ml-agents/blob/release_2_verified_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/com.unity.ml-agents_1.0.6.zip) | [0.16.1](https://pypi.org/project/mlagents/0.16.1/) | [1.0.6](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.0/manual/index.html) | | **Release 9** | November 4, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_9) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_9_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_9.zip) | [0.21.1](https://pypi.org/project/mlagents/0.21.1/) | [1.5.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.5/manual/index.html) | | **Release 8** | October 14, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_8) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_8_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_8.zip) | [0.21.0](https://pypi.org/project/mlagents/0.21.0/) | [1.5.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.5/manual/index.html) | -| **Verified Package 1.0.5** | September 23, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/com.unity.ml-agents_1.0.5) | [docs](https://github.com/Unity-Technologies/ml-agents/blob/release_2_verified_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/com.unity.ml-agents_1.0.5.zip) | [0.16.1](https://pypi.org/project/mlagents/0.16.1/) | [1.0.5](https://docs.unity3d.com/Packages/com.unity.ml-agents@1.0/manual/index.html) | If you are a researcher interested in a discussion of Unity as an AI platform, see a pre-print of our @@ -169,6 +170,11 @@ sure to include as much detail as possible. If you run into any other problems using the ML-Agents Toolkit or have a specific feature request, please [submit a GitHub issue](https://github.com/Unity-Technologies/ml-agents/issues). +Please tell us which samples you would like to see shipped with the ML-Agents Unity +package by replying to +[this forum thread](https://forum.unity.com/threads/feedback-wanted-shipping-sample-s-with-the-ml-agents-package.1073468/). + + Your opinion matters a great deal to us. Only by hearing your thoughts on the Unity ML-Agents Toolkit can we continue to improve and grow. Please take a few minutes to diff --git a/com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md b/com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md index 79872dd534..38c278e99e 100644 --- a/com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md +++ b/com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md @@ -38,7 +38,7 @@ These limitations provided the motivation towards the development of the Grid Se An image can be thought of as a matrix of a predefined width (W) and a height (H) and each pixel can be thought of as simply an array of length 3 (in the case of RGB), `[Red, Green, Blue]` holding the different channel information of the color (channel) intensities at that pixel location. Thus an image is just a 3 dimensional matrix of size WxHx3. A Grid Observation can be thought of as a generalization of this setup where in place of a pixel there is a "cell" which is an array of length N representing different channel intensities at that cell position. From a Convolutional Neural Network point of view, the introduction of multiple channels in an "image" isn't a new concept. One such example is using an RGB-Depth image which is used in several robotics applications. The distinction of Grid Observations is what the data within the channels represents. Instead of limiting the channels to color intensities, the channels within a cell of a Grid Observation generalize to any data that can be represented by a single number (float or int). -Before jumping into the details of the Grid Sensor, an important thing to note is the agent performance and qualitatively different behavior over raycasts. Unity MLAgent's comes with a suite of example environments. One in particular, the [Food Collector](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Examples.md#food-collector), has been the focus of the Grid Sensor development. +Before jumping into the details of the Grid Sensor, an important thing to note is the agent performance and qualitatively different behavior over raycasts. Unity MLAgent's comes with a suite of example environments. One in particular, the [Food Collector](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Learning-Environment-Examples.md#food-collector), has been the focus of the Grid Sensor development. The Food Collector environment can be described as: * Set-up: A multi-agent environment where agents compete to collect food. diff --git a/com.unity.ml-agents.extensions/Documentation~/Match3.md b/com.unity.ml-agents.extensions/Documentation~/Match3.md index 297da21dee..dafc07b9a7 100644 --- a/com.unity.ml-agents.extensions/Documentation~/Match3.md +++ b/com.unity.ml-agents.extensions/Documentation~/Match3.md @@ -10,7 +10,7 @@ Our aim is to enable Match-3 teams to leverage ML-Agents to create player agents This implementation includes: * C# implementation catered toward a Match-3 setup including concepts around encoding for moves based on [Human Like Playtesting with Deep Learning](https://www.researchgate.net/publication/328307928_Human-Like_Playtesting_with_Deep_Learning) -* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/docs/Learning-Environment-Examples.md#match-3). +* An example Match-3 scene with ML-Agents implemented (located under /Project/Assets/ML-Agents/Examples/Match3). More information, on Match-3 example [here](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/docs/Learning-Environment-Examples.md#match-3). ### Feedback If you are a Match-3 developer and are trying to leverage ML-Agents for this scenario, [we want to hear from you](https://forms.gle/TBsB9jc8WshgzViU9). Additionally, we are also looking for interested Match-3 teams to speak with us for 45 minutes. If you are interested, please indicate that in the [form](https://forms.gle/TBsB9jc8WshgzViU9). If selected, we will provide gift cards as a token of appreciation. diff --git a/com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md b/com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md index 9ec55142e3..2873108048 100644 --- a/com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md +++ b/com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md @@ -29,25 +29,27 @@ The ML-Agents Extensions package is not currently available in the Package Manag recommended ways to install the package: ### Local Installation -[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the -[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/Installation.md#advanced-local-installation-for-development-1) +[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the +[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/Installation.md#advanced-local-installation-for-development-1) directions (substituting `com.unity.ml-agents.extensions` for the package name). ### Github via Package Manager In Unity 2019.4 or later, open the Package Manager, hit the "+" button, and select "Add package from git URL". -![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/images/unity_package_manager_git_url.png) +![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/images/unity_package_manager_git_url.png) + In the dialog that appears, enter ``` - git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions +git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_14 ``` You can also edit your project's `manifest.json` directly and add the following line to the `dependencies` section: ``` -"com.unity.ml-agents.extensions": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions", +"com.unity.ml-agents.extensions": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_14", ``` -See [Git dependencies](https://docs.unity3d.com/Manual/upm-git.html#subfolder) for more information. +See [Git dependencies](https://docs.unity3d.com/Manual/upm-git.html#subfolder) for more information. Note that this +may take several minutes to resolve the packages the first time that you add it. ## Requirements @@ -66,4 +68,4 @@ following versions of the Unity Editor: - No way to customize the action space of the `InputActuatorComponent` ## Need Help? -The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/README.md) contains links for contacting the team or getting support. +The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/README.md) contains links for contacting the team or getting support. diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs index 46cc297ae7..e2edd19d86 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs @@ -2,6 +2,7 @@ using Unity.MLAgents.Actuators; using UnityEngine; using UnityEngine.InputSystem; +using UnityEngine.InputSystem.Controls; using UnityEngine.InputSystem.LowLevel; namespace Unity.MLAgents.Extensions.Input @@ -26,11 +27,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action) } /// TODO again this might need to be more nuanced for things like continuous buttons. - /// - public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) + /// + public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) { var val = actionBuffers.DiscreteActions[0]; - InputSystem.QueueDeltaStateEvent(control, (byte)val); + ((ButtonControl)control).WriteValueIntoEvent((float)val, eventPtr); } /// > diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs index 9b2f58e74a..7fd143b570 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs @@ -1,6 +1,7 @@ #if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER using Unity.MLAgents.Actuators; using UnityEngine.InputSystem; +using UnityEngine.InputSystem.Controls; using UnityEngine.InputSystem.LowLevel; namespace Unity.MLAgents.Extensions.Input @@ -16,11 +17,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action) return ActionSpec.MakeContinuous(1); } - /// - public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) + /// + public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) { var val = actionBuffers.ContinuousActions[0]; - InputSystem.QueueDeltaStateEvent(control,(double)val); + ((DoubleControl)control).WriteValueIntoEvent((double)val, eventPtr); } /// diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs index c39960cb12..ea77bb5413 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs @@ -16,11 +16,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action) return ActionSpec.MakeContinuous(1); } - /// - public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) + /// + public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) { var val = actionBuffers.ContinuousActions[0]; - InputSystem.QueueDeltaStateEvent(control, val); + control.WriteValueIntoEvent(val, eventPtr); } /// diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs index a7501aa987..bd920ab169 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs @@ -17,11 +17,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action) return ActionSpec.MakeDiscrete(2); } - /// - public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) + /// + public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) { var val = actionBuffers.DiscreteActions[0]; - InputSystem.QueueDeltaStateEvent(control, val); + control.WriteValueIntoEvent(val, eventPtr); } /// diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs index 9c3e4b2620..95e7ed7124 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs @@ -3,6 +3,7 @@ using Unity.MLAgents.Actuators; using UnityEngine; using UnityEngine.InputSystem; +using UnityEngine.InputSystem.Controls; using UnityEngine.InputSystem.LowLevel; namespace Unity.MLAgents.Extensions.Input @@ -19,15 +20,15 @@ public ActionSpec GetActionSpecForInputAction(InputAction action) return ActionSpec.MakeContinuous(2); } - /// - public void QueueInputEventForAction(InputAction action, + /// + public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) { var x = actionBuffers.ContinuousActions[0]; var y = actionBuffers.ContinuousActions[1]; - InputSystem.QueueDeltaStateEvent(control, new Vector2(x, y)); + control.WriteValueIntoEvent(new Vector2(x, y), eventPtr); } /// diff --git a/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs index 173db482ae..d61aaa8f3b 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs @@ -2,6 +2,7 @@ using System; using Unity.MLAgents.Actuators; using UnityEngine.InputSystem; +using UnityEngine.InputSystem.LowLevel; namespace Unity.MLAgents.Extensions.Input { @@ -22,11 +23,12 @@ public interface IRLActionInputAdaptor /// /// Translates data from the object to the . /// + /// The Event pointer to write to. /// The action associated with this adaptor. /// The control which will write the event to the . /// The associated with this action and adaptor pair. /// The object to read from. - void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers); + void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers); /// /// Writes data from the to the . diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs b/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs index 867c716c37..4760ea1758 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs @@ -19,6 +19,7 @@ public class InputActionActuator : IActuator, IBuiltInActuator readonly BehaviorParameters m_BehaviorParameters; readonly InputAction m_Action; readonly IRLActionInputAdaptor m_InputAdaptor; + InputActuatorEventContext m_InputActuatorEventContext; InputDevice m_Device; InputControl m_Control; @@ -34,14 +35,17 @@ public class InputActionActuator : IActuator, IBuiltInActuator /// via the . /// The that will convert data between ML-Agents /// and the . + /// The object that will provide the event ptr to write to. public InputActionActuator(InputDevice inputDevice, BehaviorParameters behaviorParameters, InputAction action, - IRLActionInputAdaptor adaptor) + IRLActionInputAdaptor adaptor, + InputActuatorEventContext inputActuatorEventContext) { m_BehaviorParameters = behaviorParameters; Name = $"InputActionActuator-{action.name}"; m_Action = action; m_InputAdaptor = adaptor; + m_InputActuatorEventContext = inputActuatorEventContext; ActionSpec = adaptor.GetActionSpecForInputAction(m_Action); m_Device = inputDevice; m_Control = m_Device?.GetChildControl(m_Action.name); @@ -53,7 +57,11 @@ public void OnActionReceived(ActionBuffers actionBuffers) Profiler.BeginSample("InputActionActuator.OnActionReceived"); if (!m_BehaviorParameters.IsInHeuristicMode()) { - m_InputAdaptor.QueueInputEventForAction(m_Action, m_Control, ActionSpec, actionBuffers); + using (m_InputActuatorEventContext.GetEventForFrame(out var eventPtr)) + { + m_InputAdaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, ActionSpec, actionBuffers); + } + } Profiler.EndSample(); } diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs index ada3c5a804..71c5b1a6ad 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs +++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs @@ -1,12 +1,14 @@ #if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER using System; using System.Collections.Generic; +using Unity.Collections; using Unity.MLAgents.Actuators; using Unity.MLAgents.Policies; using UnityEngine; using UnityEngine.Assertions; using UnityEngine.InputSystem; using UnityEngine.InputSystem.Controls; +using UnityEngine.InputSystem.LowLevel; using UnityEngine.InputSystem.Layouts; using UnityEngine.InputSystem.Utilities; #if UNITY_EDITOR @@ -57,9 +59,18 @@ public override ActionSpec ActionSpec get { #if UNITY_EDITOR - FindNeededComponents(); - var actuators = CreateActuatorsFromMap(m_InputAsset.FindActionMap(m_PlayerInput.defaultActionMap), m_BehaviorParameters, null); - m_ActionSpec = CombineActuatorActionSpecs(actuators); + if (!EditorApplication.isPlaying && m_ActionSpec.NumContinuousActions == 0 + && m_ActionSpec.BranchSizes == null + || m_ActionSpec.BranchSizes.Length == 0) + { + FindNeededComponents(); + var actuators = CreateActuatorsFromMap(m_InputAsset.FindActionMap(m_PlayerInput.defaultActionMap), + m_BehaviorParameters, + null, + InputActuatorEventContext.s_EditorContext); + m_ActionSpec = CombineActuatorActionSpecs(actuators); + + } #endif return m_ActionSpec; } @@ -119,7 +130,8 @@ public override IActuator[] CreateActuators() RegisterLayoutBuilder(inputActionMap, m_LayoutName); m_Device = InputSystem.AddDevice(m_LayoutName); - m_Actuators = CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, m_Device); + var context = new InputActuatorEventContext(inputActionMap.actions.Count, m_Device); + m_Actuators = CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, m_Device, context); UpdateDeviceBinding(m_BehaviorParameters.IsInHeuristicMode()); inputActionMap.Enable(); @@ -141,7 +153,8 @@ static ActionSpec CombineActuatorActionSpecs(IActuator[] actuators) internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap, BehaviorParameters behaviorParameters, - InputDevice inputDevice) + InputDevice inputDevice, + InputActuatorEventContext context) { var actuators = new IActuator[inputActionMap.actions.Count]; for (var i = 0; i < inputActionMap.actions.Count; i++) @@ -149,7 +162,7 @@ internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap var action = inputActionMap.actions[i]; var actionLayout = InputSystem.LoadLayout(action.expectedControlType); var adaptor = (IRLActionInputAdaptor)Activator.CreateInstance(controlTypeToAdaptorType[actionLayout.type]); - actuators[i] = new InputActionActuator(inputDevice, behaviorParameters, action, adaptor); + actuators[i] = new InputActionActuator(inputDevice, behaviorParameters, action, adaptor, context); // Reasonably, the input system starts adding numbers after the first none numbered name // is added. So for device ID of 0, we use the empty string in the path. @@ -158,6 +171,7 @@ internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap action.interactions, action.processors, mlAgentsControlSchemeName); + action.bindingMask = InputBinding.MaskByGroup(mlAgentsControlSchemeName); } return actuators; } @@ -321,6 +335,43 @@ internal void CleanupActionAsset() m_BehaviorParameters = null; m_Device = null; } + + int m_ActuatorsWrittenToEvent; + NativeArray m_InputBufferForFrame; + InputEventPtr m_InputEventPtrForFrame; + public InputEventPtr GetEventForFrame() + { +#if UNITY_EDITOR + if (!EditorApplication.isPlaying) + { + return new InputEventPtr(); + } +#endif + if (m_ActuatorsWrittenToEvent % m_Actuators.Length == 0 || !m_InputEventPtrForFrame.valid) + { + m_ActuatorsWrittenToEvent = 0; + m_InputEventPtrForFrame = new InputEventPtr(); + m_InputBufferForFrame = StateEvent.From(m_Device, out m_InputEventPtrForFrame); + } + + return m_InputEventPtrForFrame; + } + + public void EventProcessedInFrame() + { +#if UNITY_EDITOR + if (!EditorApplication.isPlaying) + { + return; + } +#endif + m_ActuatorsWrittenToEvent++; + if (m_ActuatorsWrittenToEvent == m_Actuators.Length && m_InputEventPtrForFrame.valid) + { + InputSystem.QueueEvent(m_InputEventPtrForFrame); + m_InputBufferForFrame.Dispose(); + } + } } } #endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs new file mode 100644 index 0000000000..de8463fd18 --- /dev/null +++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs @@ -0,0 +1,81 @@ +#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER +using System; +using Unity.Collections; +using UnityEngine.InputSystem; +using UnityEngine.InputSystem.LowLevel; +#if UNITY_EDITOR +using UnityEditor; +#endif + +namespace Unity.MLAgents.Extensions.Input +{ + /// + /// This interface is passed to InputActionActuators to allow them to write to InputEvents. + /// The way this interface should be used is to request the by calling + /// then call before returning from + /// + public class InputActuatorEventContext : IDisposable + { + + /// + /// The number of times to allow the use of an event before queuing it in the InputSystem. + /// + public readonly int NumTimesToProcess; + public readonly InputDevice InputDevice; + NativeArray m_EventBuffer; + InputEventPtr m_Ptr; + int m_Count; + +#if UNITY_EDITOR + public static InputActuatorEventContext s_EditorContext = new InputActuatorEventContext(); +#endif + + public InputActuatorEventContext(int numTimesToProcess = 1, InputDevice device = null) + { + NumTimesToProcess = numTimesToProcess; + InputDevice = device; + m_Count = 0; + m_Ptr = new InputEventPtr(); + m_EventBuffer = new NativeArray(); + } + + /// + /// Returns the to write to for the current frame. + /// + /// The to write to for the current frame. + public IDisposable GetEventForFrame(out InputEventPtr eventPtr) + { +#if UNITY_EDITOR + if (!EditorApplication.isPlaying) + { + eventPtr = new InputEventPtr(); + } +#endif + if (m_Count % NumTimesToProcess == 0) + { + m_Count = 0; + m_EventBuffer = StateEvent.From(InputDevice, out m_Ptr); + } + eventPtr = m_Ptr; + return this; + } + + public void Dispose() + { +#if UNITY_EDITOR + if (!EditorApplication.isPlaying) + { + return; + } +#endif + m_Count++; + if (m_Count == NumTimesToProcess && m_Ptr.valid) + { + InputSystem.QueueEvent(m_Ptr); + m_EventBuffer.Dispose(); + } + + } + } +} +#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs.meta b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs.meta new file mode 100644 index 0000000000..bc7c18aeab --- /dev/null +++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 76c31df314114ec6bf104e8db4e5568b +timeCreated: 1614892215 \ No newline at end of file diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef b/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef index c1cdc58563..ccc3b6bf91 100644 --- a/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef +++ b/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef @@ -15,9 +15,9 @@ "versionDefines": [ { "name": "com.unity.inputsystem", - "expression": "1.1.0-preview", + "expression": "1.1.0-preview.3", "define": "MLA_INPUT_SYSTEM" } ], "noEngineReferences": false -} +} \ No newline at end of file diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs index d2a613f389..26378f170b 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs @@ -51,7 +51,11 @@ public void TestGenerateActionSpec() public void TestQueueEvent() { var actionBuffers = new ActionBuffers(ActionSegment.Empty, new ActionSegment(new[] { 1 })); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var val = m_Action.ReadValue(); Assert.IsTrue(Mathf.Approximately(1f, val)); @@ -61,7 +65,11 @@ public void TestQueueEvent() public void TestWriteToHeuristic() { var actionBuffers = new ActionBuffers(ActionSegment.Empty, new ActionSegment(new[] { 1 })); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var buffer = new ActionBuffers(ActionSegment.Empty, new ActionSegment(new[] { 1 })); m_Adaptor.WriteToHeuristic(m_Action, buffer); diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs index 4f52a075d3..8beeb08727 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs @@ -50,7 +50,11 @@ public void TestGenerateActionSpec() public void TestQueueEvent() { var actionBuffers = new ActionBuffers(new ActionSegment(new[] { 1f }), ActionSegment.Empty); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); Assert.IsTrue(Mathf.Approximately(1f, (float)m_Action.ReadValue())); } @@ -59,7 +63,11 @@ public void TestQueueEvent() public void TestWriteToHeuristic() { var actionBuffers = new ActionBuffers(new ActionSegment(new[] { 1f }), ActionSegment.Empty); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var buffer = new ActionBuffers(new ActionSegment(new[] { 1f }), ActionSegment.Empty); m_Adaptor.WriteToHeuristic(m_Action, buffer); diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs index 04ef1ea09d..7b6cb400e0 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs @@ -50,7 +50,11 @@ public void TestGenerateActionSpec() public void TestQueueEvent() { var actionBuffers = new ActionBuffers(new ActionSegment(new[] { 1f }), ActionSegment.Empty); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var val = m_Action.ReadValue(); Assert.IsTrue(Mathf.Approximately(1f, val)); @@ -60,7 +64,11 @@ public void TestQueueEvent() public void TestWriteToHeuristic() { var actionBuffers = new ActionBuffers(new ActionSegment(new[] { 1f }), ActionSegment.Empty); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var buffer = new ActionBuffers(new ActionSegment(new[] { 1f }), ActionSegment.Empty); m_Adaptor.WriteToHeuristic(m_Action, buffer); diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs index 3655bc31d0..905586aeb9 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs @@ -52,7 +52,11 @@ public void TestGenerateActionSpec() public void TestQueueEvent() { var actionBuffers = new ActionBuffers(ActionSegment.Empty, new ActionSegment(new[] { 1 })); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var val = m_Action.ReadValue(); Assert.IsTrue(val == 1); @@ -62,7 +66,11 @@ public void TestQueueEvent() public void TestWriteToHeuristic() { var actionBuffers = new ActionBuffers(ActionSegment.Empty, new ActionSegment(new[] { 1 })); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var buffer = new ActionBuffers(ActionSegment.Empty, new ActionSegment(new int[1])); m_Adaptor.WriteToHeuristic(m_Action, buffer); diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs index e699c2da96..6002312512 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs @@ -50,7 +50,11 @@ public void TestGenerateActionSpec() public void TestQueueEvent() { var actionBuffers = new ActionBuffers(new ActionSegment(new[] { 0f, 1f }), ActionSegment.Empty); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var val = m_Action.ReadValue(); Assert.IsTrue(Mathf.Approximately(0f, val.x)); @@ -61,7 +65,11 @@ public void TestQueueEvent() public void TestWriteToHeuristic() { var actionBuffers = new ActionBuffers(new ActionSegment(new[] { 0f, 1f }), ActionSegment.Empty); - m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers); + var context = new InputActuatorEventContext(1, m_Device); + using (context.GetEventForFrame(out var eventPtr)) + { + m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers); + } InputSystem.Update(); var buffer = new ActionBuffers(new ActionSegment(new float[2]), ActionSegment.Empty); m_Adaptor.WriteToHeuristic(m_Action, buffer); diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs index d5f2f15ce4..514bc48df2 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs @@ -6,12 +6,13 @@ using Unity.MLAgents.Policies; using UnityEngine; using UnityEngine.InputSystem; +using UnityEngine.InputSystem.LowLevel; namespace Unity.MLAgents.Extensions.Tests.Runtime.Input { class TestAdaptor : IRLActionInputAdaptor { - public bool eventQueued; + public bool eventWritten; public bool writtenToHeuristic; public ActionSpec GetActionSpecForInputAction(InputAction action) @@ -19,9 +20,9 @@ public ActionSpec GetActionSpecForInputAction(InputAction action) return ActionSpec.MakeContinuous(1); } - public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) + public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers) { - eventQueued = true; + eventWritten = true; } public void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers) @@ -31,7 +32,7 @@ public void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers) public void Reset() { - eventQueued = false; + eventWritten = false; writtenToHeuristic = false; } } @@ -50,7 +51,7 @@ public void Setup() m_BehaviorParameters = go.AddComponent(); var action = new InputAction("action"); m_Adaptor = new TestAdaptor(); - m_Actuator = new InputActionActuator(null, m_BehaviorParameters, action, m_Adaptor); + m_Actuator = new InputActionActuator(null, m_BehaviorParameters, action, m_Adaptor, new InputActuatorEventContext(1, InputSystem.AddDevice())); } [Test] @@ -59,18 +60,18 @@ public void TestOnActionReceived() m_BehaviorParameters.BehaviorType = BehaviorType.HeuristicOnly; m_Actuator.OnActionReceived(new ActionBuffers()); m_Actuator.Heuristic(new ActionBuffers()); - Assert.IsFalse(m_Adaptor.eventQueued); + Assert.IsFalse(m_Adaptor.eventWritten); Assert.IsTrue(m_Adaptor.writtenToHeuristic); m_Adaptor.Reset(); m_BehaviorParameters.BehaviorType = BehaviorType.Default; m_Actuator.OnActionReceived(new ActionBuffers()); - Assert.IsFalse(m_Adaptor.eventQueued); + Assert.IsFalse(m_Adaptor.eventWritten); m_Adaptor.Reset(); m_BehaviorParameters.Model = ScriptableObject.CreateInstance(); m_Actuator.OnActionReceived(new ActionBuffers()); - Assert.IsTrue(m_Adaptor.eventQueued); + Assert.IsTrue(m_Adaptor.eventWritten); m_Adaptor.Reset(); Assert.AreEqual(m_Actuator.Name, "InputActionActuator-action"); diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs index 459a4ba61c..35bc52254f 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs @@ -81,7 +81,7 @@ public void InputActuatorComponentTestGenerateActuatorsFromAsset() var device = InputSystem.AddDevice("TestLayout"); - var actuators = InputActuatorComponent.CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, device); + var actuators = InputActuatorComponent.CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, device, new InputActuatorEventContext()); Assert.IsTrue(actuators.Length == 2); Assert.IsTrue(actuators[0].ActionSpec.Equals(ActionSpec.MakeContinuous(2))); Assert.IsTrue(actuators[1].ActionSpec.NumDiscreteActions == 1); diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef index 40056f274b..f028c5ff7c 100644 --- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef +++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef @@ -23,7 +23,7 @@ "versionDefines": [ { "name": "com.unity.inputsystem", - "expression": "1.1.0", + "expression": "1.1.0-preview.3", "define": "MLA_INPUT_TESTS" } ], diff --git a/com.unity.ml-agents.extensions/package.json b/com.unity.ml-agents.extensions/package.json index f905435251..01ac60f409 100644 --- a/com.unity.ml-agents.extensions/package.json +++ b/com.unity.ml-agents.extensions/package.json @@ -1,10 +1,10 @@ { "name": "com.unity.ml-agents.extensions", "displayName": "ML Agents Extensions", - "version": "0.1.0-preview", + "version": "0.3.0-preview", "unity": "2018.4", "description": "A source-only package for new features based on ML-Agents", "dependencies": { - "com.unity.ml-agents": "1.8.0-preview" + "com.unity.ml-agents": "1.9.0-preview" } } diff --git a/com.unity.ml-agents/.gitignore b/com.unity.ml-agents/.gitignore index 0242da45db..2edd5f2a68 100755 --- a/com.unity.ml-agents/.gitignore +++ b/com.unity.ml-agents/.gitignore @@ -21,9 +21,11 @@ build.bat.meta /Assets/Plugins* /Assets/Demonstrations* /csharp_timers.json +/Samples/ +/Samples.meta # Visual Studio 2015 cache directory /.vs/ *.api -*.api.meta \ No newline at end of file +*.api.meta diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md index 2efe3c9f83..e2a6123896 100755 --- a/com.unity.ml-agents/CHANGELOG.md +++ b/com.unity.ml-agents/CHANGELOG.md @@ -33,16 +33,36 @@ details. (#5060) ### Major Changes #### com.unity.ml-agents (C#) - The `BufferSensor` and `BufferSensorComponent` have been added. They allow the Agent to observe variable number of entities. (#4909) +- The `SimpleMultiAgentGroup` class and `IMultiAgentGroup` interface have been added. These allow Agents to be given rewards and + end episodes in groups. (#4923) #### ml-agents / ml-agents-envs / gym-unity (Python) +- The MA-POCA trainer has been added. This is a new trainer that enables Agents to learn how to work together in groups. Configure + `poca` as the trainer in the configuration YAML after instantiating a `SimpleMultiAgentGroup` to use this feature. (#5005) ### Minor Changes #### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Updated com.unity.barracuda to 1.3.2-preview. (#5084) +- Make com.unity.modules.unityanalytics an optional dependency. (#5109) +- Added 3D Ball to the `com.unity.ml-agents` samples. (#5077) #### ml-agents / ml-agents-envs / gym-unity (Python) - The `encoding_size` setting for RewardSignals has been deprecated. Please use `network_settings` instead. (#4982) +- Sensor names are now passed through to `ObservationSpec.name`. (#5036) + ### Bug Fixes -#### com.unity.ml-agents (C#) +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) #### ml-agents / ml-agents-envs / gym-unity (Python) - An issue that caused `GAIL` to fail for environments where agents can terminate episodes by self-sacrifice has been fixed. (#4971) +- Made the error message when observations of different shapes are sent to the trainer clearer. (#5030) +- An issue that prevented curriculums from incrementing with self-play has been fixed. (#5098) + +## [1.8.1-preview] - 2021-03-08 +### Minor Changes +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The `cattrs` version dependency was updated to allow `>=1.1.0` on Python 3.8 or higher. (#4821) + +### Bug Fixes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Fix an issue where queuing InputEvents overwrote data from previous events in the same frame. (#5034) ## [1.8.0-preview] - 2021-02-17 ### Major Changes diff --git a/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md b/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md index 875d3f0bc6..92e94d359d 100644 --- a/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md +++ b/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md @@ -123,10 +123,10 @@ Please refer to "Information that is passively collected by Unity" in the [unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents [unity inference engine]: https://docs.unity3d.com/Packages/com.unity.barracuda@latest/index.html [package manager documentation]: https://docs.unity3d.com/Manual/upm-ui-install.html -[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Installation.md +[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Installation.md [github repository]: https://github.com/Unity-Technologies/ml-agents [python package]: https://github.com/Unity-Technologies/ml-agents [execution order of event functions]: https://docs.unity3d.com/Manual/ExecutionOrder.html [connect with us]: https://github.com/Unity-Technologies/ml-agents#community-and-feedback [ml-agents forum]: https://forum.unity.com/forums/ml-agents.453/ -[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/com.unity.ml-agents.extensions +[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/com.unity.ml-agents.extensions diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs index 39794fe6cf..59cae117a6 100644 --- a/com.unity.ml-agents/Runtime/Academy.cs +++ b/com.unity.ml-agents/Runtime/Academy.cs @@ -20,7 +20,7 @@ * API. For more information on each of these entities, in addition to how to * set-up a learning environment and train the behavior of characters in a * Unity scene, please browse our documentation pages on GitHub: - * https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/docs/ + * https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/docs/ */ namespace Unity.MLAgents @@ -61,7 +61,7 @@ void FixedUpdate() /// fall back to inference or heuristic decisions. (You can also set agents to always use /// inference or heuristics.) /// - [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_13_docs/" + + [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_14_docs/" + "docs/Learning-Environment-Design.md")] public class Academy : IDisposable { @@ -97,7 +97,7 @@ public class Academy : IDisposable /// /// /// 1.5.0 - /// Support variable length observation training. + /// Support variable length observation training and multi-agent groups. /// /// /// @@ -107,7 +107,7 @@ public class Academy : IDisposable /// Unity package version of com.unity.ml-agents. /// This must match the version string in package.json and is checked in a unit test. /// - internal const string k_PackageVersion = "1.8.0-preview"; + internal const string k_PackageVersion = "1.9.0-preview"; const int k_EditorTrainingPort = 5004; diff --git a/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs b/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs index 166cb0ecc7..a1069cae56 100644 --- a/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs +++ b/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs @@ -177,7 +177,7 @@ public interface IActionReceiver /// /// See [Agents - Actions] for more information on masking actions. /// - /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions + /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#actions /// /// void WriteDiscreteActionMask(IDiscreteActionMask actionMask); diff --git a/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs b/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs index 06a380db81..e70866d9fa 100644 --- a/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs +++ b/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs @@ -17,7 +17,7 @@ public interface IDiscreteActionMask /// /// See [Agents - Actions] for more information on masking actions. /// - /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions + /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#actions /// /// The branch for which the actions will be masked. /// Index of the action diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs index 0314e0c58a..4511827fbb 100644 --- a/com.unity.ml-agents/Runtime/Agent.cs +++ b/com.unity.ml-agents/Runtime/Agent.cs @@ -185,13 +185,13 @@ public override BuiltInActuatorType GetBuiltInActuatorType() /// [OnDisable()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnDisable.html] /// [OnBeforeSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnBeforeSerialize.html /// [OnAfterSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnAfterSerialize.html - /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md - /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design.md + /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md + /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design.md /// [Unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents - /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Readme.md + /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Readme.md /// /// - [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/" + + [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/" + "docs/Learning-Environment-Design-Agents.md")] [Serializable] [RequireComponent(typeof(BehaviorParameters))] @@ -686,8 +686,8 @@ public int CompletedEpisodes /// for information about mixing reward signals from curiosity and Generative Adversarial /// Imitation Learning (GAIL) with rewards supplied through this method. /// - /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#rewards - /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals + /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#rewards + /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals /// /// The new value of the reward. public void SetReward(float reward) @@ -716,8 +716,8 @@ public void SetReward(float reward) /// for information about mixing reward signals from curiosity and Generative Adversarial /// Imitation Learning (GAIL) with rewards supplied through this method. /// - /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#rewards - /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals + /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#rewards + /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals /// /// Incremental reward value. public void AddReward(float increment) @@ -911,8 +911,8 @@ public virtual void Initialize() { } /// implementing a simple heuristic function can aid in debugging agent actions and interactions /// with its environment. /// - /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations - /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions + /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations + /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#actions /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html /// /// @@ -1151,7 +1151,7 @@ void ResetSensors() /// For more information about observations, see [Observations and Sensors]. /// /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html - /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors + /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors /// public virtual void CollectObservations(VectorSensor sensor) { @@ -1182,7 +1182,7 @@ public ReadOnlyCollection GetObservations() /// /// See [Agents - Actions] for more information on masking actions. /// - /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions + /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#actions /// /// public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { } @@ -1248,7 +1248,7 @@ public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { } /// /// For more information about implementing agent actions see [Agents - Actions]. /// - /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Learning-Environment-Design-Agents.md#actions + /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Learning-Environment-Design-Agents.md#actions /// /// /// Struct containing the buffers of actions to be executed at this step. diff --git a/com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs b/com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs index c64906a25d..aa27bc151f 100644 --- a/com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs +++ b/com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs @@ -1,17 +1,29 @@ +#if MLA_UNITY_ANALYTICS_MODULE || !UNITY_2019_4_OR_NEWER +#define MLA_UNITY_ANALYTICS_MODULE_ENABLED +#endif + + using System; using System.Collections.Generic; +using System.Diagnostics; using Unity.Barracuda; using Unity.MLAgents.Actuators; using Unity.MLAgents.Inference; using Unity.MLAgents.Policies; using Unity.MLAgents.Sensors; using UnityEngine; + +#if MLA_UNITY_ANALYTICS_MODULE_ENABLED using UnityEngine.Analytics; +#endif + #if UNITY_EDITOR using UnityEditor; +#if MLA_UNITY_ANALYTICS_MODULE_ENABLED using UnityEditor.Analytics; -#endif +#endif // MLA_UNITY_ANALYTICS_MODULE_ENABLED +#endif // UNITY_EDITOR namespace Unity.MLAgents.Analytics @@ -50,16 +62,19 @@ static bool EnableAnalytics() return true; } -#if UNITY_EDITOR +#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED AnalyticsResult result = EditorAnalytics.RegisterEventWithLimit(k_EventName, k_MaxEventsPerHour, k_MaxNumberOfElements, k_VendorKey, k_EventVersion); -#else + if (result == AnalyticsResult.Ok) + { + s_EventRegistered = true; + } +#elif MLA_UNITY_ANALYTICS_MODULE_ENABLED AnalyticsResult result = AnalyticsResult.UnsupportedPlatform; -#endif if (result == AnalyticsResult.Ok) { s_EventRegistered = true; } - +#endif if (s_EventRegistered && s_SentModels == null) { s_SentModels = new HashSet(); @@ -89,6 +104,7 @@ public static bool IsAnalyticsEnabled() /// ActionSpec for the Agent. Used to generate information about the action space. /// List of IActuators for the Agent. Used to generate information about the action space. /// + [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")] public static void InferenceModelSet( NNModel nnModel, string behaviorName, @@ -117,7 +133,7 @@ IList actuators var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec, actuators); // Note - to debug, use JsonUtility.ToJson on the event. // Debug.Log(JsonUtility.ToJson(data, true)); -#if UNITY_EDITOR +#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED if (AnalyticsUtils.s_SendEditorAnalytics) { EditorAnalytics.SendEventWithLimit(k_EventName, data, k_EventVersion); diff --git a/com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs b/com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs index fa24f6c67c..faa26cfca5 100644 --- a/com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs +++ b/com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs @@ -1,13 +1,22 @@ +#if MLA_UNITY_ANALYTICS_MODULE || !UNITY_2019_4_OR_NEWER +#define MLA_UNITY_ANALYTICS_MODULE_ENABLED +#endif + using System; using System.Collections.Generic; +using System.Diagnostics; using Unity.MLAgents.Actuators; using Unity.MLAgents.Sensors; using UnityEngine; +#if MLA_UNITY_ANALYTICS_MODULE_ENABLED using UnityEngine.Analytics; +#if UNITY_EDITOR +using UnityEditor.Analytics; +#endif +#endif #if UNITY_EDITOR using UnityEditor; -using UnityEditor.Analytics; #endif namespace Unity.MLAgents.Analytics @@ -56,22 +65,22 @@ internal class TrainingAnalytics static bool EnableAnalytics() { +#if MLA_UNITY_ANALYTICS_MODULE_ENABLED if (s_EventsRegistered) { return true; } - foreach (var eventName in s_EventNames) { #if UNITY_EDITOR AnalyticsResult result = EditorAnalytics.RegisterEventWithLimit(eventName, k_MaxEventsPerHour, k_MaxNumberOfElements, k_VendorKey); -#else - AnalyticsResult result = AnalyticsResult.UnsupportedPlatform; -#endif if (result != AnalyticsResult.Ok) { return false; } +#else + return false; +#endif // UNITY_EDITOR } s_EventsRegistered = true; @@ -83,6 +92,9 @@ static bool EnableAnalytics() } return s_EventsRegistered; +#else + return false; +#endif // MLA_UNITY_ANALYTICS_MODULE_ENABLED } /// @@ -90,6 +102,7 @@ static bool EnableAnalytics() /// /// /// + [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")] public static void SetTrainerInformation(string packageVersion, string communicationVersion) { s_TrainerPackageVersion = packageVersion; @@ -98,13 +111,14 @@ public static void SetTrainerInformation(string packageVersion, string communica public static bool IsAnalyticsEnabled() { -#if UNITY_EDITOR +#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED return EditorAnalytics.enabled; #else return false; #endif } + [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")] public static void TrainingEnvironmentInitialized(TrainingEnvironmentInitializedEvent tbiEvent) { if (!IsAnalyticsEnabled()) @@ -126,16 +140,15 @@ public static void TrainingEnvironmentInitialized(TrainingEnvironmentInitialized // Debug.Log( // $"Would send event {k_TrainingEnvironmentInitializedEventName} with body {JsonUtility.ToJson(tbiEvent, true)}" // ); -#if UNITY_EDITOR +#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED if (AnalyticsUtils.s_SendEditorAnalytics) { EditorAnalytics.SendEventWithLimit(k_TrainingEnvironmentInitializedEventName, tbiEvent); } -#else - return; #endif } + [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")] public static void RemotePolicyInitialized( string fullyQualifiedBehaviorName, IList sensors, @@ -164,13 +177,11 @@ IList actuators // Debug.Log( // $"Would send event {k_RemotePolicyInitializedEventName} with body {JsonUtility.ToJson(data, true)}" // ); -#if UNITY_EDITOR +#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED if (AnalyticsUtils.s_SendEditorAnalytics) { EditorAnalytics.SendEventWithLimit(k_RemotePolicyInitializedEventName, data); } -#else - return; #endif } @@ -186,6 +197,7 @@ internal static string ParseBehaviorName(string fullyQualifiedBehaviorName) return fullyQualifiedBehaviorName.Substring(0, lastQuestionIndex); } + [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")] public static void TrainingBehaviorInitialized(TrainingBehaviorInitializedEvent tbiEvent) { if (!IsAnalyticsEnabled()) @@ -211,7 +223,7 @@ public static void TrainingBehaviorInitialized(TrainingBehaviorInitializedEvent // Debug.Log( // $"Would send event {k_TrainingBehaviorInitializedEventName} with body {JsonUtility.ToJson(tbiEvent, true)}" // ); -#if UNITY_EDITOR +#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED if (AnalyticsUtils.s_SendEditorAnalytics) { EditorAnalytics.SendEventWithLimit(k_TrainingBehaviorInitializedEventName, tbiEvent); diff --git a/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs b/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs index 690238a924..b90f05f386 100644 --- a/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs +++ b/com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs @@ -6,11 +6,11 @@ using UnityEngine; using System.Runtime.CompilerServices; using Unity.MLAgents.Actuators; -using Unity.MLAgents.Analytics; using Unity.MLAgents.Sensors; using Unity.MLAgents.Demonstrations; using Unity.MLAgents.Policies; +using Unity.MLAgents.Analytics; [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor")] [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor.Tests")] @@ -20,6 +20,11 @@ namespace Unity.MLAgents internal static class GrpcExtensions { #region AgentInfo + /// + /// Static flag to make sure that we only fire the warning once. + /// + private static bool s_HaveWarnedTrainerCapabilitiesAgentGroup = false; + /// /// Converts a AgentInfo to a protobuf generated AgentInfoActionPairProto /// @@ -55,6 +60,22 @@ public static AgentInfoActionPairProto ToInfoActionPairProto(this AgentInfo ai) /// The protobuf version of the AgentInfo. public static AgentInfoProto ToAgentInfoProto(this AgentInfo ai) { + if (ai.groupId > 0) + { + var trainerCanHandle = Academy.Instance.TrainerCapabilities == null || Academy.Instance.TrainerCapabilities.MultiAgentGroups; + if (!trainerCanHandle) + { + if (!s_HaveWarnedTrainerCapabilitiesAgentGroup) + { + Debug.LogWarning( + $"Attached trainer doesn't support Multi Agent Groups; group rewards will be ignored." + + "Please find the versions that work best together from our release page: " + + "https://github.com/Unity-Technologies/ml-agents/releases" + ); + s_HaveWarnedTrainerCapabilitiesAgentGroup = true; + } + } + } var agentInfoProto = new AgentInfoProto { Reward = ai.reward, @@ -407,7 +428,6 @@ public static ObservationProto GetObservationProto(this ISensor sensor, Observat if (dimensionPropertySensor != null) { var dimensionProperties = dimensionPropertySensor.GetDimensionProperties(); - int[] intDimensionProperties = new int[dimensionProperties.Length]; for (int i = 0; i < dimensionProperties.Length; i++) { observationProto.DimensionProperties.Add((int)dimensionProperties[i]); @@ -427,6 +447,11 @@ public static ObservationProto GetObservationProto(this ISensor sensor, Observat } } observationProto.Shape.AddRange(shape); + var sensorName = sensor.GetName(); + if (!string.IsNullOrEmpty(sensorName)) + { + observationProto.Name = sensorName; + } // Add the observation type, if any, to the observationProto var typeSensor = sensor as ITypedSensor; @@ -453,6 +478,7 @@ public static UnityRLCapabilities ToRLCapabilities(this UnityRLCapabilitiesProto HybridActions = proto.HybridActions, TrainingAnalytics = proto.TrainingAnalytics, VariableLengthObservation = proto.VariableLengthObservation, + MultiAgentGroups = proto.MultiAgentGroups, }; } @@ -466,6 +492,7 @@ public static UnityRLCapabilitiesProto ToProto(this UnityRLCapabilities rlCaps) HybridActions = rlCaps.HybridActions, TrainingAnalytics = rlCaps.TrainingAnalytics, VariableLengthObservation = rlCaps.VariableLengthObservation, + MultiAgentGroups = rlCaps.MultiAgentGroups, }; } @@ -498,7 +525,6 @@ internal static bool IsTrivialMapping(ISensor sensor) } #region Analytics - internal static TrainingEnvironmentInitializedEvent ToTrainingEnvironmentInitializedEvent( this TrainingEnvironmentInitialized inputProto) { @@ -542,7 +568,6 @@ internal static TrainingBehaviorInitializedEvent ToTrainingBehaviorInitializedEv NumNetworkHiddenUnits = inputProto.NumNetworkHiddenUnits, }; } - #endregion } diff --git a/com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs b/com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs index 221f94e641..2ae635efd8 100644 --- a/com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs +++ b/com.unity.ml-agents/Runtime/Communicator/RpcCommunicator.cs @@ -12,12 +12,13 @@ using System.Linq; using UnityEngine; using Unity.MLAgents.Actuators; -using Unity.MLAgents.Analytics; using Unity.MLAgents.CommunicatorObjects; using Unity.MLAgents.Sensors; using Unity.MLAgents.SideChannels; using Google.Protobuf; +using Unity.MLAgents.Analytics; + namespace Unity.MLAgents { /// Responsible for communication with External using gRPC. @@ -144,7 +145,6 @@ out input var pythonPackageVersion = initializationInput.RlInitializationInput.PackageVersion; var pythonCommunicationVersion = initializationInput.RlInitializationInput.CommunicationVersion; - TrainingAnalytics.SetTrainerInformation(pythonPackageVersion, pythonCommunicationVersion); var communicationIsCompatible = CheckCommunicationVersionsAreCompatible( diff --git a/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs b/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs index bd495358d5..1914ecba18 100644 --- a/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs +++ b/com.unity.ml-agents/Runtime/Communicator/UnityRLCapabilities.cs @@ -10,6 +10,7 @@ internal class UnityRLCapabilities public bool HybridActions; public bool TrainingAnalytics; public bool VariableLengthObservation; + public bool MultiAgentGroups; /// /// A class holding the capabilities flags for Reinforcement Learning across C# and the Trainer codebase. This @@ -21,7 +22,8 @@ public UnityRLCapabilities( bool compressedChannelMapping = true, bool hybridActions = true, bool trainingAnalytics = true, - bool variableLengthObservation = true) + bool variableLengthObservation = true, + bool multiAgentGroups = true) { BaseRLCapabilities = baseRlCapabilities; ConcatenatedPngObservations = concatenatedPngObservations; @@ -29,6 +31,7 @@ public UnityRLCapabilities( HybridActions = hybridActions; TrainingAnalytics = trainingAnalytics; VariableLengthObservation = variableLengthObservation; + MultiAgentGroups = multiAgentGroups; } /// diff --git a/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs b/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs index 57892acf84..fe9c2020a5 100644 --- a/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs +++ b/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs @@ -19,7 +19,7 @@ namespace Unity.MLAgents.Demonstrations /// See [Imitation Learning - Recording Demonstrations] for more information. /// /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html - /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations + /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations /// [RequireComponent(typeof(Agent))] [AddComponentMenu("ML Agents/Demonstration Recorder", (int)MenuGroup.Default)] diff --git a/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs b/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs index 2e370e596a..ac267f4c2f 100644 --- a/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs +++ b/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Capabilities.cs @@ -25,17 +25,18 @@ static CapabilitiesReflection() { byte[] descriptorData = global::System.Convert.FromBase64String( string.Concat( "CjVtbGFnZW50c19lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2NhcGFiaWxp", - "dGllcy5wcm90bxIUY29tbXVuaWNhdG9yX29iamVjdHMi0gEKGFVuaXR5UkxD", + "dGllcy5wcm90bxIUY29tbXVuaWNhdG9yX29iamVjdHMi7AEKGFVuaXR5UkxD", "YXBhYmlsaXRpZXNQcm90bxIaChJiYXNlUkxDYXBhYmlsaXRpZXMYASABKAgS", "IwobY29uY2F0ZW5hdGVkUG5nT2JzZXJ2YXRpb25zGAIgASgIEiAKGGNvbXBy", "ZXNzZWRDaGFubmVsTWFwcGluZxgDIAEoCBIVCg1oeWJyaWRBY3Rpb25zGAQg", "ASgIEhkKEXRyYWluaW5nQW5hbHl0aWNzGAUgASgIEiEKGXZhcmlhYmxlTGVu", - "Z3RoT2JzZXJ2YXRpb24YBiABKAhCJaoCIlVuaXR5Lk1MQWdlbnRzLkNvbW11", - "bmljYXRvck9iamVjdHNiBnByb3RvMw==")); + "Z3RoT2JzZXJ2YXRpb24YBiABKAgSGAoQbXVsdGlBZ2VudEdyb3VwcxgHIAEo", + "CEIlqgIiVW5pdHkuTUxBZ2VudHMuQ29tbXVuaWNhdG9yT2JqZWN0c2IGcHJv", + "dG8z")); 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", "VariableLengthObservation" }, 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", "MultiAgentGroups" }, null, null, null) })); } #endregion @@ -78,6 +79,7 @@ public UnityRLCapabilitiesProto(UnityRLCapabilitiesProto other) : this() { hybridActions_ = other.hybridActions_; trainingAnalytics_ = other.trainingAnalytics_; variableLengthObservation_ = other.variableLengthObservation_; + multiAgentGroups_ = other.multiAgentGroups_; _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields); } @@ -170,6 +172,20 @@ public bool VariableLengthObservation { } } + /// Field number for the "multiAgentGroups" field. + public const int MultiAgentGroupsFieldNumber = 7; + private bool multiAgentGroups_; + /// + /// Support for multi agent groups and group rewards + /// + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + public bool MultiAgentGroups { + get { return multiAgentGroups_; } + set { + multiAgentGroups_ = value; + } + } + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] public override bool Equals(object other) { return Equals(other as UnityRLCapabilitiesProto); @@ -189,6 +205,7 @@ public bool Equals(UnityRLCapabilitiesProto other) { if (HybridActions != other.HybridActions) return false; if (TrainingAnalytics != other.TrainingAnalytics) return false; if (VariableLengthObservation != other.VariableLengthObservation) return false; + if (MultiAgentGroups != other.MultiAgentGroups) return false; return Equals(_unknownFields, other._unknownFields); } @@ -201,6 +218,7 @@ public override int GetHashCode() { if (HybridActions != false) hash ^= HybridActions.GetHashCode(); if (TrainingAnalytics != false) hash ^= TrainingAnalytics.GetHashCode(); if (VariableLengthObservation != false) hash ^= VariableLengthObservation.GetHashCode(); + if (MultiAgentGroups != false) hash ^= MultiAgentGroups.GetHashCode(); if (_unknownFields != null) { hash ^= _unknownFields.GetHashCode(); } @@ -238,6 +256,10 @@ public void WriteTo(pb::CodedOutputStream output) { output.WriteRawTag(48); output.WriteBool(VariableLengthObservation); } + if (MultiAgentGroups != false) { + output.WriteRawTag(56); + output.WriteBool(MultiAgentGroups); + } if (_unknownFields != null) { _unknownFields.WriteTo(output); } @@ -264,6 +286,9 @@ public int CalculateSize() { if (VariableLengthObservation != false) { size += 1 + 1; } + if (MultiAgentGroups != false) { + size += 1 + 1; + } if (_unknownFields != null) { size += _unknownFields.CalculateSize(); } @@ -293,6 +318,9 @@ public void MergeFrom(UnityRLCapabilitiesProto other) { if (other.VariableLengthObservation != false) { VariableLengthObservation = other.VariableLengthObservation; } + if (other.MultiAgentGroups != false) { + MultiAgentGroups = other.MultiAgentGroups; + } _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields); } @@ -328,6 +356,10 @@ public void MergeFrom(pb::CodedInputStream input) { VariableLengthObservation = input.ReadBool(); break; } + case 56: { + MultiAgentGroups = input.ReadBool(); + break; + } } } } diff --git a/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Observation.cs b/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Observation.cs index 179751b6fd..55904935c8 100644 --- a/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Observation.cs +++ b/com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/Observation.cs @@ -25,7 +25,7 @@ static ObservationReflection() { byte[] descriptorData = global::System.Convert.FromBase64String( string.Concat( "CjRtbGFnZW50c19lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL29ic2VydmF0", - "aW9uLnByb3RvEhRjb21tdW5pY2F0b3Jfb2JqZWN0cyKBAwoQT2JzZXJ2YXRp", + "aW9uLnByb3RvEhRjb21tdW5pY2F0b3Jfb2JqZWN0cyKPAwoQT2JzZXJ2YXRp", "b25Qcm90bxINCgVzaGFwZRgBIAMoBRJEChBjb21wcmVzc2lvbl90eXBlGAIg", "ASgOMiouY29tbXVuaWNhdG9yX29iamVjdHMuQ29tcHJlc3Npb25UeXBlUHJv", "dG8SGQoPY29tcHJlc3NlZF9kYXRhGAMgASgMSAASRgoKZmxvYXRfZGF0YRgE", @@ -33,15 +33,16 @@ static ObservationReflection() { "RmxvYXREYXRhSAASIgoaY29tcHJlc3NlZF9jaGFubmVsX21hcHBpbmcYBSAD", "KAUSHAoUZGltZW5zaW9uX3Byb3BlcnRpZXMYBiADKAUSRAoQb2JzZXJ2YXRp", "b25fdHlwZRgHIAEoDjIqLmNvbW11bmljYXRvcl9vYmplY3RzLk9ic2VydmF0", - "aW9uVHlwZVByb3RvGhkKCUZsb2F0RGF0YRIMCgRkYXRhGAEgAygCQhIKEG9i", - "c2VydmF0aW9uX2RhdGEqKQoUQ29tcHJlc3Npb25UeXBlUHJvdG8SCAoETk9O", - "RRAAEgcKA1BORxABKkYKFE9ic2VydmF0aW9uVHlwZVByb3RvEgsKB0RFRkFV", - "TFQQABIICgRHT0FMEAESCgoGUkVXQVJEEAISCwoHTUVTU0FHRRADQiWqAiJV", - "bml0eS5NTEFnZW50cy5Db21tdW5pY2F0b3JPYmplY3RzYgZwcm90bzM=")); + "aW9uVHlwZVByb3RvEgwKBG5hbWUYCCABKAkaGQoJRmxvYXREYXRhEgwKBGRh", + "dGEYASADKAJCEgoQb2JzZXJ2YXRpb25fZGF0YSopChRDb21wcmVzc2lvblR5", + "cGVQcm90bxIICgROT05FEAASBwoDUE5HEAEqRgoUT2JzZXJ2YXRpb25UeXBl", + "UHJvdG8SCwoHREVGQVVMVBAAEggKBEdPQUwQARIKCgZSRVdBUkQQAhILCgdN", + "RVNTQUdFEANCJaoCIlVuaXR5Lk1MQWdlbnRzLkNvbW11bmljYXRvck9iamVj", + "dHNiBnByb3RvMw==")); descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData, new pbr::FileDescriptor[] { }, new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Unity.MLAgents.CommunicatorObjects.CompressionTypeProto), typeof(global::Unity.MLAgents.CommunicatorObjects.ObservationTypeProto), }, new pbr::GeneratedClrTypeInfo[] { - new pbr::GeneratedClrTypeInfo(typeof(global::Unity.MLAgents.CommunicatorObjects.ObservationProto), global::Unity.MLAgents.CommunicatorObjects.ObservationProto.Parser, new[]{ "Shape", "CompressionType", "CompressedData", "FloatData", "CompressedChannelMapping", "DimensionProperties", "ObservationType" }, new[]{ "ObservationData" }, null, new pbr::GeneratedClrTypeInfo[] { new pbr::GeneratedClrTypeInfo(typeof(global::Unity.MLAgents.CommunicatorObjects.ObservationProto.Types.FloatData), global::Unity.MLAgents.CommunicatorObjects.ObservationProto.Types.FloatData.Parser, new[]{ "Data" }, null, null, null)}) + new pbr::GeneratedClrTypeInfo(typeof(global::Unity.MLAgents.CommunicatorObjects.ObservationProto), global::Unity.MLAgents.CommunicatorObjects.ObservationProto.Parser, new[]{ "Shape", "CompressionType", "CompressedData", "FloatData", "CompressedChannelMapping", "DimensionProperties", "ObservationType", "Name" }, new[]{ "ObservationData" }, null, new pbr::GeneratedClrTypeInfo[] { new pbr::GeneratedClrTypeInfo(typeof(global::Unity.MLAgents.CommunicatorObjects.ObservationProto.Types.FloatData), global::Unity.MLAgents.CommunicatorObjects.ObservationProto.Types.FloatData.Parser, new[]{ "Data" }, null, null, null)}) })); } #endregion @@ -93,6 +94,7 @@ public ObservationProto(ObservationProto other) : this() { compressedChannelMapping_ = other.compressedChannelMapping_.Clone(); dimensionProperties_ = other.dimensionProperties_.Clone(); observationType_ = other.observationType_; + name_ = other.name_; switch (other.ObservationDataCase) { case ObservationDataOneofCase.CompressedData: CompressedData = other.CompressedData; @@ -184,6 +186,22 @@ public ObservationProto Clone() { } } + /// Field number for the "name" field. + public const int NameFieldNumber = 8; + private string name_ = ""; + /// + /// Optional name of the observation. + /// This will be set to the ISensor name when writing, + /// and read into the ObservationSpec in the low-level API + /// + [global::System.Diagnostics.DebuggerNonUserCodeAttribute] + public string Name { + get { return name_; } + set { + name_ = pb::ProtoPreconditions.CheckNotNull(value, "value"); + } + } + private object observationData_; /// Enum of possible cases for the "observation_data" oneof. public enum ObservationDataOneofCase { @@ -223,6 +241,7 @@ public bool Equals(ObservationProto other) { if(!compressedChannelMapping_.Equals(other.compressedChannelMapping_)) return false; if(!dimensionProperties_.Equals(other.dimensionProperties_)) return false; if (ObservationType != other.ObservationType) return false; + if (Name != other.Name) return false; if (ObservationDataCase != other.ObservationDataCase) return false; return Equals(_unknownFields, other._unknownFields); } @@ -237,6 +256,7 @@ public override int GetHashCode() { hash ^= compressedChannelMapping_.GetHashCode(); hash ^= dimensionProperties_.GetHashCode(); if (ObservationType != 0) hash ^= ObservationType.GetHashCode(); + if (Name.Length != 0) hash ^= Name.GetHashCode(); hash ^= (int) observationDataCase_; if (_unknownFields != null) { hash ^= _unknownFields.GetHashCode(); @@ -270,6 +290,10 @@ public void WriteTo(pb::CodedOutputStream output) { output.WriteRawTag(56); output.WriteEnum((int) ObservationType); } + if (Name.Length != 0) { + output.WriteRawTag(66); + output.WriteString(Name); + } if (_unknownFields != null) { _unknownFields.WriteTo(output); } @@ -293,6 +317,9 @@ public int CalculateSize() { if (ObservationType != 0) { size += 1 + pb::CodedOutputStream.ComputeEnumSize((int) ObservationType); } + if (Name.Length != 0) { + size += 1 + pb::CodedOutputStream.ComputeStringSize(Name); + } if (_unknownFields != null) { size += _unknownFields.CalculateSize(); } @@ -313,6 +340,9 @@ public void MergeFrom(ObservationProto other) { if (other.ObservationType != 0) { ObservationType = other.ObservationType; } + if (other.Name.Length != 0) { + Name = other.Name; + } switch (other.ObservationDataCase) { case ObservationDataOneofCase.CompressedData: CompressedData = other.CompressedData; @@ -372,6 +402,10 @@ public void MergeFrom(pb::CodedInputStream input) { observationType_ = (global::Unity.MLAgents.CommunicatorObjects.ObservationTypeProto) input.ReadEnum(); break; } + case 66: { + Name = input.ReadString(); + break; + } } } } diff --git a/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs b/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs index 6d0ef86e58..33a9089d75 100644 --- a/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs +++ b/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs @@ -74,8 +74,15 @@ public class BehaviorParameters : MonoBehaviour [HideInInspector, SerializeField] BrainParameters m_BrainParameters = new BrainParameters(); + /// + /// Delegate for receiving events about Policy Updates. + /// + /// Whether or not the current policy is running in heuristic mode. public delegate void PolicyUpdated(bool isInHeuristicMode); + /// + /// Event that fires when an Agent's policy is updated. + /// internal event PolicyUpdated OnPolicyUpdated; /// diff --git a/com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs b/com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs index fda19afcc8..e138590d97 100644 --- a/com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs +++ b/com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs @@ -1,7 +1,8 @@ + using System.Collections.Generic; using Unity.MLAgents.Actuators; -using Unity.MLAgents.Analytics; using Unity.MLAgents.Sensors; +using Unity.MLAgents.Analytics; namespace Unity.MLAgents.Policies diff --git a/com.unity.ml-agents/Runtime/SimpleMultiAgentGroup.cs b/com.unity.ml-agents/Runtime/SimpleMultiAgentGroup.cs index 5bdd592662..226bbbdb6d 100644 --- a/com.unity.ml-agents/Runtime/SimpleMultiAgentGroup.cs +++ b/com.unity.ml-agents/Runtime/SimpleMultiAgentGroup.cs @@ -7,7 +7,7 @@ namespace Unity.MLAgents /// /// A basic class implementation of MultiAgentGroup. /// - internal class SimpleMultiAgentGroup : IMultiAgentGroup, IDisposable + public class SimpleMultiAgentGroup : IMultiAgentGroup, IDisposable { readonly int m_Id = MultiAgentGroupIdCounter.GetGroupId(); HashSet m_Agents = new HashSet(); diff --git a/com.unity.ml-agents/Runtime/Unity.ML-Agents.asmdef b/com.unity.ml-agents/Runtime/Unity.ML-Agents.asmdef index 3086da3ac4..90e7e3fae6 100755 --- a/com.unity.ml-agents/Runtime/Unity.ML-Agents.asmdef +++ b/com.unity.ml-agents/Runtime/Unity.ML-Agents.asmdef @@ -15,5 +15,12 @@ "Grpc.Core.dll" ], "autoReferenced": true, - "defineConstraints": [] + "defineConstraints": [], + "versionDefines": [ + { + "name": "com.unity.modules.unityanalytics", + "expression": "1.0.0", + "define": "MLA_UNITY_ANALYTICS_MODULE" + } + ] } diff --git a/com.unity.ml-agents/Tests/Editor/Analytics/InferenceAnalyticsTests.cs b/com.unity.ml-agents/Tests/Editor/Analytics/InferenceAnalyticsTests.cs index 3e53f15465..c4516d9b7b 100644 --- a/com.unity.ml-agents/Tests/Editor/Analytics/InferenceAnalyticsTests.cs +++ b/com.unity.ml-agents/Tests/Editor/Analytics/InferenceAnalyticsTests.cs @@ -5,10 +5,11 @@ using UnityEngine; using Unity.Barracuda; using Unity.MLAgents.Actuators; -using Unity.MLAgents.Analytics; using Unity.MLAgents.Policies; +using Unity.MLAgents.Analytics; using UnityEditor; + namespace Unity.MLAgents.Tests.Analytics { [TestFixture] diff --git a/com.unity.ml-agents/Tests/Editor/Communicator/GrpcExtensionsTests.cs b/com.unity.ml-agents/Tests/Editor/Communicator/GrpcExtensionsTests.cs index 2529ecd96f..2df9e41d52 100644 --- a/com.unity.ml-agents/Tests/Editor/Communicator/GrpcExtensionsTests.cs +++ b/com.unity.ml-agents/Tests/Editor/Communicator/GrpcExtensionsTests.cs @@ -1,11 +1,12 @@ using NUnit.Framework; using Unity.MLAgents.Actuators; -using Unity.MLAgents.Analytics; -using Unity.MLAgents.CommunicatorObjects; using Unity.MLAgents.Demonstrations; using Unity.MLAgents.Policies; using Unity.MLAgents.Sensors; +using Unity.MLAgents.Analytics; +using Unity.MLAgents.CommunicatorObjects; + namespace Unity.MLAgents.Tests { [TestFixture] @@ -171,7 +172,6 @@ public void TestIsTrivialMapping() sparseChannelSensor.Mapping = new[] { 0, 0, 0, 1, 1, 1 }; Assert.AreEqual(GrpcExtensions.IsTrivialMapping(sparseChannelSensor), false); } - [Test] public void TestDefaultTrainingEvents() { diff --git a/com.unity.ml-agents/Tests/Editor/Unity.ML-Agents.Editor.Tests.asmdef b/com.unity.ml-agents/Tests/Editor/Unity.ML-Agents.Editor.Tests.asmdef index 6035c9b3e0..347220f54e 100755 --- a/com.unity.ml-agents/Tests/Editor/Unity.ML-Agents.Editor.Tests.asmdef +++ b/com.unity.ml-agents/Tests/Editor/Unity.ML-Agents.Editor.Tests.asmdef @@ -23,5 +23,12 @@ "autoReferenced": false, "defineConstraints": [ "UNITY_INCLUDE_TESTS" + ], + "versionDefines": [ + { + "name": "com.unity.modules.unityanalytics", + "expression": "1.0.0", + "define": "MLA_UNITY_ANALYTICS_MODULE" + } ] } diff --git a/com.unity.ml-agents/package.json b/com.unity.ml-agents/package.json index 21331d6aa8..700753daa1 100755 --- a/com.unity.ml-agents/package.json +++ b/com.unity.ml-agents/package.json @@ -1,15 +1,14 @@ { "name": "com.unity.ml-agents", "displayName": "ML Agents", - "version": "1.8.0-preview", + "version": "1.9.0-preview", "unity": "2018.4", "description": "Use state-of-the-art machine learning to create intelligent character behaviors in any Unity environment (games, robotics, film, etc.).", "dependencies": { - "com.unity.barracuda": "1.3.1-preview", + "com.unity.barracuda": "1.3.2-preview", "com.unity.modules.imageconversion": "1.0.0", "com.unity.modules.jsonserialize": "1.0.0", "com.unity.modules.physics": "1.0.0", - "com.unity.modules.physics2d": "1.0.0", - "com.unity.modules.unityanalytics": "1.0.0" + "com.unity.modules.physics2d": "1.0.0" } } diff --git a/config/imitation/CrawlerStatic.yaml b/config/imitation/Crawler.yaml similarity index 93% rename from config/imitation/CrawlerStatic.yaml rename to config/imitation/Crawler.yaml index 0cdcdd08f7..eb9cc33a28 100644 --- a/config/imitation/CrawlerStatic.yaml +++ b/config/imitation/Crawler.yaml @@ -1,5 +1,5 @@ behaviors: - CrawlerStatic: + Crawler: trainer_type: ppo hyperparameters: batch_size: 2024 @@ -27,14 +27,14 @@ behaviors: learning_rate: 0.0003 use_actions: false use_vail: false - demo_path: Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerSta.demo + demo_path: Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo keep_checkpoints: 5 max_steps: 10000000 time_horizon: 1000 summary_freq: 30000 threaded: true behavioral_cloning: - demo_path: Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerSta.demo + demo_path: Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawler.demo steps: 50000 strength: 0.5 samples_per_update: 0 diff --git a/config/imitation/FoodCollector.yaml b/config/imitation/FoodCollector.yaml deleted file mode 100644 index a05bc3c2fe..0000000000 --- a/config/imitation/FoodCollector.yaml +++ /dev/null @@ -1,40 +0,0 @@ -behaviors: - FoodCollector: - trainer_type: ppo - hyperparameters: - batch_size: 64 - buffer_size: 10240 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: false - hidden_units: 128 - num_layers: 2 - vis_encode_type: simple - reward_signals: - gail: - gamma: 0.99 - strength: 0.1 - network_settings: - normalize: false - hidden_units: 128 - num_layers: 2 - vis_encode_type: simple - learning_rate: 0.0003 - use_actions: false - use_vail: false - demo_path: Project/Assets/ML-Agents/Examples/FoodCollector/Demos/ExpertFood.demo - keep_checkpoints: 5 - max_steps: 2000000 - time_horizon: 64 - summary_freq: 10000 - threaded: true - behavioral_cloning: - demo_path: Project/Assets/ML-Agents/Examples/FoodCollector/Demos/ExpertFood.demo - steps: 0 - strength: 1.0 - samples_per_update: 0 diff --git a/config/ppo/GridFoodCollector.yaml b/config/poca/PushBlockCollab.yaml similarity index 70% rename from config/ppo/GridFoodCollector.yaml rename to config/poca/PushBlockCollab.yaml index 3cd735e9f8..547f582de5 100644 --- a/config/ppo/GridFoodCollector.yaml +++ b/config/poca/PushBlockCollab.yaml @@ -1,26 +1,26 @@ behaviors: - GridFoodCollector: - trainer_type: ppo + PushBlockCollab: + trainer_type: poca hyperparameters: batch_size: 1024 buffer_size: 10240 learning_rate: 0.0003 - beta: 0.005 + beta: 0.01 epsilon: 0.2 lambd: 0.95 num_epoch: 3 - learning_rate_schedule: linear + learning_rate_schedule: constant network_settings: normalize: false hidden_units: 256 - num_layers: 1 + num_layers: 2 vis_encode_type: simple reward_signals: extrinsic: gamma: 0.99 strength: 1.0 keep_checkpoints: 5 - max_steps: 2000000 + max_steps: 20000000 time_horizon: 64 - summary_freq: 10000 + summary_freq: 60000 threaded: true diff --git a/config/ppo/SoccerTwos.yaml b/config/poca/SoccerTwos.yaml similarity index 96% rename from config/ppo/SoccerTwos.yaml rename to config/poca/SoccerTwos.yaml index e9b390c981..b17fadcb28 100644 --- a/config/ppo/SoccerTwos.yaml +++ b/config/poca/SoccerTwos.yaml @@ -1,6 +1,6 @@ behaviors: SoccerTwos: - trainer_type: ppo + trainer_type: poca hyperparameters: batch_size: 2048 buffer_size: 20480 diff --git a/config/ppo/StrikersVsGoalie.yaml b/config/poca/StrikersVsGoalie.yaml similarity index 96% rename from config/ppo/StrikersVsGoalie.yaml rename to config/poca/StrikersVsGoalie.yaml index aafc1e918b..8bd67c03ee 100644 --- a/config/ppo/StrikersVsGoalie.yaml +++ b/config/poca/StrikersVsGoalie.yaml @@ -1,6 +1,6 @@ behaviors: Goalie: - trainer_type: ppo + trainer_type: poca hyperparameters: batch_size: 2048 buffer_size: 20480 @@ -32,7 +32,7 @@ behaviors: play_against_latest_model_ratio: 0.5 initial_elo: 1200.0 Striker: - trainer_type: ppo + trainer_type: poca hyperparameters: batch_size: 2048 buffer_size: 20480 diff --git a/config/ppo/Bouncer.yaml b/config/ppo/Bouncer.yaml deleted file mode 100644 index 02d43efa18..0000000000 --- a/config/ppo/Bouncer.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - Bouncer: - trainer_type: ppo - hyperparameters: - batch_size: 1024 - buffer_size: 10240 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 64 - num_layers: 2 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 4000000 - time_horizon: 64 - summary_freq: 10000 - threaded: true diff --git a/config/ppo/CrawlerStatic.yaml b/config/ppo/Crawler.yaml similarity index 97% rename from config/ppo/CrawlerStatic.yaml rename to config/ppo/Crawler.yaml index b15834e0c8..3a6391dc6e 100644 --- a/config/ppo/CrawlerStatic.yaml +++ b/config/ppo/Crawler.yaml @@ -1,5 +1,5 @@ behaviors: - CrawlerStatic: + Crawler: trainer_type: ppo hyperparameters: batch_size: 2048 diff --git a/config/ppo/CrawlerDynamic.yaml b/config/ppo/CrawlerDynamic.yaml deleted file mode 100644 index 52c93df91e..0000000000 --- a/config/ppo/CrawlerDynamic.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - CrawlerDynamic: - trainer_type: ppo - hyperparameters: - batch_size: 2048 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 10000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/ppo/CrawlerDynamicVariableSpeed.yaml b/config/ppo/CrawlerDynamicVariableSpeed.yaml deleted file mode 100644 index eced8e87cc..0000000000 --- a/config/ppo/CrawlerDynamicVariableSpeed.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - CrawlerDynamicVariableSpeed: - trainer_type: ppo - hyperparameters: - batch_size: 2048 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 10000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/ppo/CrawlerStaticVariableSpeed.yaml b/config/ppo/CrawlerStaticVariableSpeed.yaml deleted file mode 100644 index fb7184d242..0000000000 --- a/config/ppo/CrawlerStaticVariableSpeed.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - CrawlerStaticVariableSpeed: - trainer_type: ppo - hyperparameters: - batch_size: 2048 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 10000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/ppo/FoodCollector.yaml b/config/ppo/FoodCollector.yaml index 07f777bb9c..6cddcf1b25 100644 --- a/config/ppo/FoodCollector.yaml +++ b/config/ppo/FoodCollector.yaml @@ -12,8 +12,8 @@ behaviors: learning_rate_schedule: linear network_settings: normalize: false - hidden_units: 128 - num_layers: 2 + hidden_units: 256 + num_layers: 1 vis_encode_type: simple reward_signals: extrinsic: diff --git a/config/ppo/Reacher.yaml b/config/ppo/Reacher.yaml deleted file mode 100644 index ba2274b170..0000000000 --- a/config/ppo/Reacher.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - Reacher: - trainer_type: ppo - hyperparameters: - batch_size: 512 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.001 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 128 - num_layers: 2 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 20000000 - time_horizon: 1000 - summary_freq: 60000 - threaded: true diff --git a/config/ppo/Tennis.yaml b/config/ppo/Tennis.yaml deleted file mode 100644 index fc39a5b90c..0000000000 --- a/config/ppo/Tennis.yaml +++ /dev/null @@ -1,33 +0,0 @@ -behaviors: - Tennis: - trainer_type: ppo - hyperparameters: - batch_size: 2048 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: constant - network_settings: - normalize: true - hidden_units: 256 - num_layers: 2 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 50000000 - time_horizon: 1000 - summary_freq: 10000 - threaded: false - self_play: - save_steps: 50000 - team_change: 100000 - swap_steps: 2000 - window: 10 - play_against_latest_model_ratio: 0.5 - initial_elo: 1200.0 diff --git a/config/ppo/VisualHallway.yaml b/config/ppo/VisualHallway.yaml deleted file mode 100644 index 421b3ad5b0..0000000000 --- a/config/ppo/VisualHallway.yaml +++ /dev/null @@ -1,29 +0,0 @@ -behaviors: - VisualHallway: - trainer_type: ppo - hyperparameters: - batch_size: 64 - buffer_size: 1024 - learning_rate: 0.0003 - beta: 0.01 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: false - hidden_units: 128 - num_layers: 1 - vis_encode_type: simple - memory: - sequence_length: 64 - memory_size: 128 - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 10000000 - time_horizon: 64 - summary_freq: 10000 - threaded: true diff --git a/config/ppo/VisualPushBlock.yaml b/config/ppo/VisualPushBlock.yaml deleted file mode 100644 index 000b3f5074..0000000000 --- a/config/ppo/VisualPushBlock.yaml +++ /dev/null @@ -1,29 +0,0 @@ -behaviors: - VisualPushBlock: - trainer_type: ppo - hyperparameters: - batch_size: 64 - buffer_size: 1024 - learning_rate: 0.0003 - beta: 0.01 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: false - hidden_units: 128 - num_layers: 1 - vis_encode_type: simple - memory: - sequence_length: 32 - memory_size: 128 - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 3000000 - time_horizon: 64 - summary_freq: 60000 - threaded: true diff --git a/config/ppo/VisualPyramids.yaml b/config/ppo/VisualPyramids.yaml deleted file mode 100644 index 102cbdaf64..0000000000 --- a/config/ppo/VisualPyramids.yaml +++ /dev/null @@ -1,32 +0,0 @@ -behaviors: - VisualPyramids: - trainer_type: ppo - hyperparameters: - batch_size: 64 - buffer_size: 2024 - learning_rate: 0.0003 - beta: 0.01 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: false - hidden_units: 256 - num_layers: 1 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - curiosity: - gamma: 0.99 - strength: 0.01 - network_settings: - hidden_units: 256 - learning_rate: 0.0003 - keep_checkpoints: 5 - max_steps: 10000000 - time_horizon: 128 - summary_freq: 10000 - threaded: true diff --git a/config/ppo/WalkerStatic.yaml b/config/ppo/Walker.yaml similarity index 97% rename from config/ppo/WalkerStatic.yaml rename to config/ppo/Walker.yaml index 230cdcbe7c..dd5dae2d31 100644 --- a/config/ppo/WalkerStatic.yaml +++ b/config/ppo/Walker.yaml @@ -1,5 +1,5 @@ behaviors: - WalkerStatic: + Walker: trainer_type: ppo hyperparameters: batch_size: 2048 diff --git a/config/ppo/WalkerDynamic.yaml b/config/ppo/WalkerDynamic.yaml deleted file mode 100644 index f179d41973..0000000000 --- a/config/ppo/WalkerDynamic.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - WalkerDynamic: - trainer_type: ppo - hyperparameters: - batch_size: 2048 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 30000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/ppo/WalkerDynamicVariableSpeed.yaml b/config/ppo/WalkerDynamicVariableSpeed.yaml deleted file mode 100644 index 3f720e12e3..0000000000 --- a/config/ppo/WalkerDynamicVariableSpeed.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - WalkerDynamicVariableSpeed: - trainer_type: ppo - hyperparameters: - batch_size: 2048 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 30000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/ppo/WalkerStaticVariableSpeed.yaml b/config/ppo/WalkerStaticVariableSpeed.yaml deleted file mode 100644 index 5718631059..0000000000 --- a/config/ppo/WalkerStaticVariableSpeed.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - WalkerStaticVariableSpeed: - trainer_type: ppo - hyperparameters: - batch_size: 2048 - buffer_size: 20480 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 30000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/ppo/WormStatic.yaml b/config/ppo/Worm.yaml similarity index 97% rename from config/ppo/WormStatic.yaml rename to config/ppo/Worm.yaml index 1feb108505..1f810cfa55 100644 --- a/config/ppo/WormStatic.yaml +++ b/config/ppo/Worm.yaml @@ -1,5 +1,5 @@ behaviors: - WormStatic: + Worm: trainer_type: ppo hyperparameters: batch_size: 2024 diff --git a/config/ppo/WormDynamic.yaml b/config/ppo/WormDynamic.yaml deleted file mode 100644 index 8404557a87..0000000000 --- a/config/ppo/WormDynamic.yaml +++ /dev/null @@ -1,26 +0,0 @@ -behaviors: - WormDynamic: - trainer_type: ppo - hyperparameters: - batch_size: 2024 - buffer_size: 20240 - learning_rate: 0.0003 - beta: 0.005 - epsilon: 0.2 - lambd: 0.95 - num_epoch: 3 - learning_rate_schedule: linear - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 7000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/sac/Bouncer.yaml b/config/sac/Bouncer.yaml deleted file mode 100644 index 439e902877..0000000000 --- a/config/sac/Bouncer.yaml +++ /dev/null @@ -1,28 +0,0 @@ -behaviors: - Bouncer: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 128 - buffer_size: 50000 - buffer_init_steps: 0 - tau: 0.005 - steps_per_update: 10.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 10.0 - network_settings: - normalize: true - hidden_units: 64 - num_layers: 2 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 1000000 - time_horizon: 64 - summary_freq: 20000 - threaded: true diff --git a/config/sac/WormDynamic.yaml b/config/sac/Crawler.yaml similarity index 97% rename from config/sac/WormDynamic.yaml rename to config/sac/Crawler.yaml index 5966364315..0231a896fd 100644 --- a/config/sac/WormDynamic.yaml +++ b/config/sac/Crawler.yaml @@ -1,5 +1,5 @@ behaviors: - WormDynamic: + Crawler: trainer_type: sac hyperparameters: learning_rate: 0.0003 diff --git a/config/sac/CrawlerStatic.yaml b/config/sac/CrawlerStatic.yaml deleted file mode 100644 index 255143cb04..0000000000 --- a/config/sac/CrawlerStatic.yaml +++ /dev/null @@ -1,28 +0,0 @@ -behaviors: - CrawlerStatic: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 256 - buffer_size: 500000 - buffer_init_steps: 2000 - tau: 0.005 - steps_per_update: 20.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 20.0 - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 3000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/sac/FoodCollector.yaml b/config/sac/FoodCollector.yaml index d09e3cc6d0..555216fa1f 100644 --- a/config/sac/FoodCollector.yaml +++ b/config/sac/FoodCollector.yaml @@ -5,7 +5,7 @@ behaviors: learning_rate: 0.0003 learning_rate_schedule: constant batch_size: 256 - buffer_size: 500000 + buffer_size: 2048 buffer_init_steps: 0 tau: 0.005 steps_per_update: 10.0 @@ -14,8 +14,8 @@ behaviors: reward_signal_steps_per_update: 10.0 network_settings: normalize: false - hidden_units: 128 - num_layers: 2 + hidden_units: 256 + num_layers: 1 vis_encode_type: simple reward_signals: extrinsic: @@ -24,5 +24,5 @@ behaviors: keep_checkpoints: 5 max_steps: 2000000 time_horizon: 64 - summary_freq: 10000 - threaded: true + summary_freq: 60000 + threaded: true \ No newline at end of file diff --git a/config/sac/GridFoodCollector.yaml b/config/sac/GridFoodCollector.yaml deleted file mode 100644 index eb61c0ad15..0000000000 --- a/config/sac/GridFoodCollector.yaml +++ /dev/null @@ -1,28 +0,0 @@ -behaviors: - GridFoodCollector: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 256 - buffer_size: 2048 - buffer_init_steps: 0 - tau: 0.005 - steps_per_update: 10.0 - save_replay_buffer: false - init_entcoef: 0.05 - reward_signal_steps_per_update: 10.0 - network_settings: - normalize: false - hidden_units: 256 - num_layers: 1 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 2000000 - time_horizon: 64 - summary_freq: 60000 - threaded: true \ No newline at end of file diff --git a/config/sac/Reacher.yaml b/config/sac/Reacher.yaml deleted file mode 100644 index 800b92a146..0000000000 --- a/config/sac/Reacher.yaml +++ /dev/null @@ -1,28 +0,0 @@ -behaviors: - Reacher: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 128 - buffer_size: 500000 - buffer_init_steps: 0 - tau: 0.005 - steps_per_update: 20.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 20.0 - network_settings: - normalize: true - hidden_units: 128 - num_layers: 2 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 20000000 - time_horizon: 1000 - summary_freq: 60000 - threaded: true diff --git a/config/sac/Tennis.yaml b/config/sac/Tennis.yaml deleted file mode 100644 index c8f932187a..0000000000 --- a/config/sac/Tennis.yaml +++ /dev/null @@ -1,35 +0,0 @@ -behaviors: - Tennis: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 128 - buffer_size: 50000 - buffer_init_steps: 0 - tau: 0.005 - steps_per_update: 10.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 10.0 - network_settings: - normalize: true - hidden_units: 256 - num_layers: 2 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 20000000 - time_horizon: 64 - summary_freq: 10000 - threaded: true - self_play: - save_steps: 50000 - team_change: 250000 - swap_steps: 50000 - window: 10 - play_against_latest_model_ratio: 0.5 - initial_elo: 1200.0 diff --git a/config/sac/VisualHallway.yaml b/config/sac/VisualHallway.yaml deleted file mode 100644 index 28be1e5c9b..0000000000 --- a/config/sac/VisualHallway.yaml +++ /dev/null @@ -1,31 +0,0 @@ -behaviors: - VisualHallway: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 64 - buffer_size: 50000 - buffer_init_steps: 0 - tau: 0.005 - steps_per_update: 10.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 10.0 - network_settings: - normalize: false - hidden_units: 128 - num_layers: 1 - vis_encode_type: simple - memory: - sequence_length: 32 - memory_size: 128 - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 10000000 - time_horizon: 64 - summary_freq: 10000 - threaded: true diff --git a/config/sac/VisualPushBlock.yaml b/config/sac/VisualPushBlock.yaml deleted file mode 100644 index 375d16e9df..0000000000 --- a/config/sac/VisualPushBlock.yaml +++ /dev/null @@ -1,31 +0,0 @@ -behaviors: - VisualPushBlock: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 64 - buffer_size: 1024 - buffer_init_steps: 0 - tau: 0.005 - steps_per_update: 10.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 10.0 - network_settings: - normalize: false - hidden_units: 128 - num_layers: 1 - vis_encode_type: simple - memory: - sequence_length: 32 - memory_size: 128 - reward_signals: - extrinsic: - gamma: 0.99 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 3000000 - time_horizon: 64 - summary_freq: 60000 - threaded: true diff --git a/config/sac/VisualPyramids.yaml b/config/sac/VisualPyramids.yaml deleted file mode 100644 index c30eece10c..0000000000 --- a/config/sac/VisualPyramids.yaml +++ /dev/null @@ -1,35 +0,0 @@ -behaviors: - VisualPyramids: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 64 - buffer_size: 500000 - buffer_init_steps: 1000 - tau: 0.01 - steps_per_update: 10.0 - save_replay_buffer: false - init_entcoef: 0.01 - reward_signal_steps_per_update: 10.0 - network_settings: - normalize: false - hidden_units: 256 - num_layers: 1 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.99 - strength: 2.0 - gail: - gamma: 0.99 - strength: 0.02 - learning_rate: 0.0003 - use_actions: true - use_vail: false - demo_path: Project/Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo - keep_checkpoints: 5 - max_steps: 10000000 - time_horizon: 128 - summary_freq: 10000 - threaded: true diff --git a/config/sac/WalkerStatic.yaml b/config/sac/Walker.yaml similarity index 97% rename from config/sac/WalkerStatic.yaml rename to config/sac/Walker.yaml index 2274054260..6faae63097 100644 --- a/config/sac/WalkerStatic.yaml +++ b/config/sac/Walker.yaml @@ -1,5 +1,5 @@ behaviors: - WalkerStatic: + Walker: trainer_type: sac hyperparameters: learning_rate: 0.0003 diff --git a/config/sac/WalkerDynamic.yaml b/config/sac/WalkerDynamic.yaml deleted file mode 100644 index 097aee7ef1..0000000000 --- a/config/sac/WalkerDynamic.yaml +++ /dev/null @@ -1,28 +0,0 @@ -behaviors: - WalkerDynamic: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 1024 - buffer_size: 2000000 - buffer_init_steps: 0 - tau: 0.005 - steps_per_update: 30.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 30.0 - network_settings: - normalize: true - hidden_units: 256 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 15000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/config/sac/CrawlerDynamic.yaml b/config/sac/Worm.yaml similarity index 97% rename from config/sac/CrawlerDynamic.yaml rename to config/sac/Worm.yaml index 9187328374..e24d53e531 100644 --- a/config/sac/CrawlerDynamic.yaml +++ b/config/sac/Worm.yaml @@ -1,5 +1,5 @@ behaviors: - CrawlerDynamic: + Worm: trainer_type: sac hyperparameters: learning_rate: 0.0003 diff --git a/config/sac/WormStatic.yaml b/config/sac/WormStatic.yaml deleted file mode 100644 index d40f220d21..0000000000 --- a/config/sac/WormStatic.yaml +++ /dev/null @@ -1,28 +0,0 @@ -behaviors: - WormStatic: - trainer_type: sac - hyperparameters: - learning_rate: 0.0003 - learning_rate_schedule: constant - batch_size: 256 - buffer_size: 500000 - buffer_init_steps: 2000 - tau: 0.005 - steps_per_update: 20.0 - save_replay_buffer: false - init_entcoef: 1.0 - reward_signal_steps_per_update: 20.0 - network_settings: - normalize: true - hidden_units: 512 - num_layers: 3 - vis_encode_type: simple - reward_signals: - extrinsic: - gamma: 0.995 - strength: 1.0 - keep_checkpoints: 5 - max_steps: 3000000 - time_horizon: 1000 - summary_freq: 30000 - threaded: true diff --git a/docs/Getting-Started.md b/docs/Getting-Started.md index f7486ef22f..c4ec5332ad 100644 --- a/docs/Getting-Started.md +++ b/docs/Getting-Started.md @@ -28,10 +28,10 @@ Let's get started! If you haven't already, follow the [installation instructions](Installation.md). Afterwards, open the Unity Project that contains all the example environments: -1. Launch Unity Hub -1. On the Projects dialog, choose the **Add** option at the top of the window. -1. Using the file dialog that opens, locate the `Project` folder within the - ML-Agents Toolkit and click **Open**. +1. Open the Package Manager Window by navigating to `Window -> Package Manager` + in the menu. +1. Navigate to the ML-Agents Package and click on it. +1. Find the `3D Ball` sample and click `Import`. 1. In the **Project** window, go to the `Assets/ML-Agents/Examples/3DBall/Scenes` folder and open the `3DBall` scene file. diff --git a/docs/Installation-Anaconda-Windows.md b/docs/Installation-Anaconda-Windows.md index 2fb39b0cce..e0fd898f9d 100644 --- a/docs/Installation-Anaconda-Windows.md +++ b/docs/Installation-Anaconda-Windows.md @@ -123,10 +123,10 @@ commands in an Anaconda Prompt _(if you open a new prompt, be sure to activate the ml-agents Conda environment by typing `activate ml-agents`)_: ```sh -git clone --branch release_13 https://github.com/Unity-Technologies/ml-agents.git +git clone --branch release_14 https://github.com/Unity-Technologies/ml-agents.git ``` -The `--branch release_13` option will switch to the tag of the latest stable +The `--branch release_14` option will switch to the tag of the latest stable release. Omitting that will get the `main` branch which is potentially unstable. @@ -151,7 +151,7 @@ config files in this directory when running `mlagents-learn`. Make sure you are connected to the Internet and then type in the Anaconda Prompt: ```console -pip install mlagents +python -m pip install mlagents==0.24.1 ``` This will complete the installation of all the required Python packages to run @@ -162,7 +162,7 @@ pip will get stuck when trying to read the cache of the package. If you see this, you can try: ```console -pip install mlagents --no-cache-dir +python -m pip install mlagents==0.24.1 --no-cache-dir ``` This `--no-cache-dir` tells the pip to disable the cache. diff --git a/docs/Installation.md b/docs/Installation.md index 1687ba8186..20a6244ca0 100644 --- a/docs/Installation.md +++ b/docs/Installation.md @@ -3,7 +3,8 @@ The ML-Agents Toolkit contains several components: - Unity package ([`com.unity.ml-agents`](../com.unity.ml-agents/)) contains the - Unity C# SDK that will be integrated into your Unity scene. + Unity C# SDK that will be integrated into your Unity project. This package contains + a sample to help you get started with ML-Agents. - Unity package ([`com.unity.ml-agents.extensions`](../com.unity.ml-agents.extensions/)) contains experimental C#/Unity components that are not yet ready to be part @@ -59,19 +60,21 @@ packages, but you may choose to clone the repository if you'd like download our example environments and training configurations to experiment with them (some of our tutorials / guides assume you have access to our example environments). +**NOTE:** There are samples shipped with the Unity Package. You only need to clone +the repository if you would like to explore more examples. + ```sh -git clone --branch release_13 https://github.com/Unity-Technologies/ml-agents.git +git clone --branch release_14 https://github.com/Unity-Technologies/ml-agents.git ``` -The `--branch release_13` option will switch to the tag of the latest stable -release. Omitting that will get the `main` branch which is potentially -unstable. +The `--branch release_14` option will switch to the tag of the latest stable +release. Omitting that will get the `main` branch which is potentially unstable. #### Advanced: Local Installation for Development You will need to clone the repository if you plan to modify or extend the ML-Agents Toolkit for your purposes. If you plan to contribute those changes -back, make sure to clone the `main` branch (by omitting `--branch release_13` +back, make sure to clone the `main` branch (by omitting `--branch release_14` from the command above). See our [Contributions Guidelines](../com.unity.ml-agents/CONTRIBUTING.md) for more information on contributing to the ML-Agents Toolkit. @@ -155,7 +158,7 @@ To install the `mlagents` Python package, activate your virtual environment and run from the command line: ```sh -pip3 install mlagents +python -m pip install mlagents==0.24.1 ``` Note that this will install `mlagents` from PyPi, _not_ from the cloned diff --git a/docs/Learning-Environment-Design-Agents.md b/docs/Learning-Environment-Design-Agents.md index 3e7f504d39..e1fd607843 100644 --- a/docs/Learning-Environment-Design-Agents.md +++ b/docs/Learning-Environment-Design-Agents.md @@ -29,7 +29,7 @@ - [Rewards Summary & Best Practices](#rewards-summary--best-practices) - [Agent Properties](#agent-properties) - [Destroying an Agent](#destroying-an-agent) -- [Defining Teams for Multi-agent Scenarios](#defining-teams-for-multi-agent-scenarios) +- [Defining Multi-agent Scenarios](#defining-multi-agent-scenarios) - [Recording Demonstrations](#recording-demonstrations) An agent is an entity that can observe its environment, decide on the best @@ -537,7 +537,7 @@ 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: +The `BufferSensorComponent` Editor inspector has 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 @@ -602,23 +602,21 @@ If you assign an element in the array as the speed of an Agent, for example, the training process learns to control the speed of the Agent through this parameter. -The [Reacher example](Learning-Environment-Examples.md#reacher) uses +The [3DBall example](Learning-Environment-Examples.md#3dball-3d-balance-ball) uses continuous actions with four control values. -![reacher](images/reacher.png) +![3DBall](images/balance.png) -These control values are applied as torques to the bodies making up the arm: +These control values are applied as rotation to the cube: ```csharp public override void OnActionReceived(ActionBuffers actionBuffers) { - var torqueX = Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f) * 150f; - var torqueZ = Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f) * 150f; - m_RbA.AddTorque(new Vector3(torqueX, 0f, torqueZ)); + var actionZ = 2f * Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f); + var actionX = 2f * Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f); - torqueX = Mathf.Clamp(actionBuffers.ContinuousActions[2], -1f, 1f) * 150f; - torqueZ = Mathf.Clamp(actionBuffers.ContinuousActions[3], -1f, 1f) * 150f; - m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ)); + gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ); + gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX); } ``` @@ -904,7 +902,9 @@ is always at least one Agent training at all times by either spawning a new Agent every time one is destroyed or by re-spawning new Agents when the whole environment resets. -## Defining Teams for Multi-agent Scenarios +## Defining Multi-agent Scenarios + +### Teams for Adversarial Scenarios Self-play is triggered by including the self-play hyperparameter hierarchy in the [trainer configuration](Training-ML-Agents.md#training-configurations). To @@ -931,6 +931,101 @@ provide examples of symmetric games. To train an asymmetric game, specify trainer configurations for each of your behavior names and include the self-play hyperparameter hierarchy in both. +### Groups for Cooperative Scenarios + +Cooperative behavior in ML-Agents can be enabled by instantiating a `SimpleMultiAgentGroup`, +typically in an environment controller or similar script, and adding agents to it +using the `RegisterAgent(Agent agent)` method. Note that all agents added to the same `SimpleMultiAgentGroup` +must have the same behavior name and Behavior Parameters. Using `SimpleMultiAgentGroup` enables the +agents within a group to learn how to work together to achieve a common goal (i.e., +maximize a group-given reward), even if one or more of the group members are removed +before the episode ends. You can then use this group to add/set rewards, end or interrupt episodes +at a group level using the `AddGroupReward()`, `SetGroupReward()`, `EndGroupEpisode()`, and +`GroupEpisodeInterrupted()` methods. For example: + +```csharp +// Create a Multi Agent Group in Start() or Initialize() +m_AgentGroup = new SimpleMultiAgentGroup(); + +// Register agents in group at the beginning of an episode +for (var agent in AgentList) +{ + m_AgentGroup.RegisterAgent(agent); +} + +// if the team scores a goal +m_AgentGroup.AddGroupReward(rewardForGoal); + +// If the goal is reached and the episode is over +m_AgentGroup.EndGroupEpisode(); +ResetScene(); + +// If time ran out and we need to interrupt the episode +m_AgentGroup.GroupEpisodeInterrupted(); +ResetScene(); +``` + +Multi Agent Groups should be used with the MA-POCA trainer, which is explicitly designed to train +cooperative environments. This can be enabled by using the `poca` trainer - see the +[training configurations](Training-Configuration-File.md) doc for more information on +configuring MA-POCA. When using MA-POCA, agents which are deactivated or removed from the Scene +during the episode will still learn to contribute to the group's long term rewards, even +if they are not active in the scene to experience them. + +**NOTE**: Groups differ from Teams (for competitive settings) in the following way - Agents +working together should be added to the same Group, while agents playing against each other +should be given different Team Ids. If in the Scene there is one playing field and two teams, +there should be two Groups, one for each team, and each team should be assigned a different +Team Id. If this playing field is duplicated many times in the Scene (e.g. for training +speedup), there should be two Groups _per playing field_, and two unique Team Ids +_for the entire Scene_. In environments with both Groups and Team Ids configured, MA-POCA and +self-play can be used together for training. In the diagram below, there are two agents on each team, +and two playing fields where teams are pitted against each other. All the blue agents should share a Team Id +(and the orange ones a different ID), and there should be four group managers, one per pair of agents. + +

+ Group Manager vs Team Id +

+ +Please see the [SoccerTwos](Learning-Environment-Examples.md#soccer-twos) environment for an example. + +#### Cooperative Behaviors Notes and Best Practices +* An agent can only be registered to one MultiAgentGroup at a time. If you want to re-assign an +agent from one group to another, you have to unregister it from the current group first. + +* Agents with different behavior names in the same group are not supported. + +* Agents within groups should always set the `Max Steps` parameter in the Agent script to 0. +Instead, handle Max Steps using the MultiAgentGroup by ending the episode for the entire +Group using `GroupEpisodeInterrupted()`. + +* `EndGroupEpisode` and `GroupEpisodeInterrupted` do the same job in the game, but has +slightly different effect on the training. If the episode is completed, you would want to call +`EndGroupEpisode`. But if the episode is not over but it has been running for enough steps, i.e. +reaching max step, you would call `GroupEpisodeInterrupted`. + +* If an agent finished earlier, e.g. completed tasks/be removed/be killed in the game, do not call +`EndEpisode()` on the Agent. Instead, disable the agent and re-enable it when the next episode starts, +or destroy the agent entirely. This is because calling `EndEpisode()` will call `OnEpisodeBegin()`, which +will reset the agent immediately. While it is possible to call `EndEpisode()` in this way, it is usually not the +desired behavior when training groups of agents. + +* If an agent that was disabled in a scene needs to be re-enabled, it must be re-registered to the MultiAgentGroup. + +* Group rewards are meant to reinforce agents to act in the group's best interest instead of +individual ones, and are treated differently than individual agent rewards during +training. So calling `AddGroupReward()` is not equivalent to calling agent.AddReward() on each agent +in the group. + +* You can still add incremental rewards to agents using `Agent.AddReward()` if they are +in a Group. These rewards will only be given to those agents and are received when the +Agent is active. + +* Environments which use Multi Agent Groups can be trained using PPO or SAC, but agents will +not be able to learn from group rewards after deactivation/removal, nor will they behave as cooperatively. + ## Recording Demonstrations In order to record demonstrations from an agent, add the diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md index 179c828f51..7056b3c6ff 100644 --- a/docs/Learning-Environment-Examples.md +++ b/docs/Learning-Environment-Examples.md @@ -105,38 +105,6 @@ you would like to contribute environments, please see our number of goals. - Benchmark Mean Reward: 0.8 -## Tennis - -![Tennis](images/tennis.png) - -- Set-up: Two-player game where agents control rackets to hit a ball over the - net. -- Goal: The agents must hit the ball so that the opponent cannot hit a valid - return. -- Agents: The environment contains two agent with same Behavior Parameters. - After training you can set the `Behavior Type` to `Heuristic Only` on one of - the Agent's Behavior Parameters to play against your trained model. -- Agent Reward Function (independent): - - +1.0 To the agent that wins the point. An agent wins a point by preventing - the opponent from hitting a valid return. - - -1.0 To the agent who loses the point. -- Behavior Parameters: - - Vector Observation space: 9 variables corresponding to position, velocity - and orientation of ball and racket. - - Actions: 3 continuous actions, corresponding to movement - toward net or away from net, jumping and rotation. - - Visual Observations: None -- Float Properties: Three - - gravity: Magnitude of gravity - - Default: 9.81 - - Recommended Minimum: 6 - - Recommended Maximum: 20 - - scale: Specifies the scale of the ball in the 3 dimensions (equal across the - three dimensions) - - Default: .5 - - Recommended Minimum: 0.2 - - Recommended Maximum: 5 - ## Push Block ![Push](images/push.png) @@ -153,9 +121,6 @@ you would like to contribute environments, please see our block). - Actions: 1 discrete action branch with 7 actions, corresponding to turn clockwise and counterclockwise, move along four different face directions, or do nothing. - - Visual Observations (Optional): One first-person camera. Use - `VisualPushBlock` scene. **The visual observation version of this - environment does not train with the provided default training parameters.** - Float Properties: Four - block_scale: Scale of the block along the x and z dimensions - Default: 2 @@ -203,56 +168,12 @@ you would like to contribute environments, please see our - Float Properties: Four - Benchmark Mean Reward (Big & Small Wall): 0.8 -## Reacher - -![Reacher](images/reacher.png) - -- Set-up: Double-jointed arm which can move to target locations. -- Goal: The agents must move its hand to the goal location, and keep it there. -- Agents: The environment contains 10 agent with same Behavior Parameters. -- Agent Reward Function (independent): - - +0.1 Each step agent's hand is in goal location. -- Behavior Parameters: - - Vector Observation space: 26 variables corresponding to position, rotation, - velocity, and angular velocities of the two arm rigid bodies. - - Actions: 4 continuous actions, corresponding to torque - applicable to two joints. - - Visual Observations: None. -- Float Properties: Five - - goal_size: radius of the goal zone - - Default: 5 - - Recommended Minimum: 1 - - Recommended Maximum: 10 - - goal_speed: speed of the goal zone around the arm (in radians) - - Default: 1 - - Recommended Minimum: 0.2 - - Recommended Maximum: 4 - - gravity - - Default: 9.81 - - Recommended Minimum: 4 - - Recommended Maximum: 20 - - deviation: Magnitude of sinusoidal (cosine) deviation of the goal along the - vertical dimension - - Default: 0 - - Recommended Minimum: 0 - - Recommended Maximum: 5 - - deviation_freq: Frequency of the cosine deviation of the goal along the - vertical dimension - - Default: 0 - - Recommended Minimum: 0 - - Recommended Maximum: 3 -- Benchmark Mean Reward: 30 - ## Crawler ![Crawler](images/crawler.png) - Set-up: A creature with 4 arms and 4 forearms. - Goal: The agents must move its body toward the goal direction without falling. - - `CrawlerDynamicTarget`- Goal direction is randomized. - - `CrawlerDynamicVariableSpeed`- Goal direction and walking speed are randomized. - - `CrawlerStaticTarget` - Goal direction is always forward. - - `CrawlerStaticVariableSpeed`- Goal direction is always forward. Walking speed is randomized - Agents: The environment contains 10 agents with same Behavior Parameters. - Agent Reward Function (independent): The reward function is now geometric meaning the reward each step is a product @@ -268,10 +189,7 @@ you would like to contribute environments, please see our rotations for joints. - Visual Observations: None - Float Properties: None -- Benchmark Mean Reward for `CrawlerDynamicTarget`: 2000 -- Benchmark Mean Reward for `CrawlerDynamicVariableSpeed`: 3000 -- Benchmark Mean Reward for `CrawlerStaticTarget`: 4000 -- Benchmark Mean Reward for `CrawlerStaticVariableSpeed`: 4000 +- Benchmark Mean Reward: 3000 ## Worm @@ -279,8 +197,6 @@ you would like to contribute environments, please see our - Set-up: A worm with a head and 3 body segments. - Goal: The agents must move its body toward the goal direction. - - `WormStaticTarget` - Goal direction is always forward. - - `WormDynamicTarget`- Goal direction is randomized. - Agents: The environment contains 10 agents with same Behavior Parameters. - Agent Reward Function (independent): The reward function is now geometric meaning the reward each step is a product @@ -296,8 +212,7 @@ you would like to contribute environments, please see our rotations for joints. - Visual Observations: None - Float Properties: None -- Benchmark Mean Reward for `WormStaticTarget`: 1200 -- Benchmark Mean Reward for `WormDynamicTarget`: 800 +- Benchmark Mean Reward: 800 ## Food Collector @@ -312,9 +227,8 @@ you would like to contribute environments, please see our - -1 for interaction with red spheres - Behavior Parameters: - Vector Observation space: 53 corresponding to velocity of agent (2), whether - agent is frozen and/or shot its laser (2), plus ray-based perception of - objects around agent's forward direction (49; 7 raycast angles with 7 - measurements for each). + agent is frozen and/or shot its laser (2), plus grid based perception of + objects around agent's forward direction (40 by 40 with 6 different categories). - Actions: - 3 continuous actions correspond to Forward Motion, Side Motion and Rotation - 1 discrete acion branch for Laser with 2 possible actions corresponding to @@ -353,39 +267,11 @@ you would like to contribute environments, please see our objects, goals, and walls. - Actions: 1 discrete action Branch, with 4 actions corresponding to agent rotation and forward/backward movement. - - Visual Observations (Optional): First-person view for the agent. Use - `VisualHallway` scene. **The visual observation version of this environment - does not train with the provided default training parameters.** - Float Properties: None - Benchmark Mean Reward: 0.7 - To train this environment, you can enable curiosity by adding the `curiosity` reward signal in `config/ppo/Hallway.yaml` -## Bouncer - -![Bouncer](images/bouncer.png) - -- Set-up: Environment where the agent needs on-demand decision making. The agent - must decide how perform its next bounce only when it touches the ground. -- Goal: Catch the floating green cube. Only has a limited number of jumps. -- Agents: The environment contains one agent. -- Agent Reward Function (independent): - - +1 For catching the green cube. - - -1 For bouncing out of bounds. - - -0.05 Times the action squared. Energy expenditure penalty. -- Behavior Parameters: - - Vector Observation space: 6 corresponding to local position of agent and - green cube. - - Actions: 3 continuous actions corresponding to agent force applied for - the jump. - - Visual Observations: None -- Float Properties: Two - - target_scale: The scale of the green cube in the 3 dimensions - - Default: 150 - - Recommended Minimum: 50 - - Recommended Maximum: 250 -- Benchmark Mean Reward: 10 - ## Soccer Twos ![SoccerTwos](images/soccer.png) @@ -394,7 +280,7 @@ you would like to contribute environments, please see our - Goal: - Get the ball into the opponent's goal while preventing the ball from entering own goal. -- Agents: The environment contains four agents, with the same Behavior +- Agents: The environment contains two different Multi Agent Groups with two agents in each. Parameters : SoccerTwos. - Agent Reward Function (dependent): - (1 - `accumulated time penalty`) When ball enters opponent's goal @@ -429,7 +315,7 @@ you would like to contribute environments, please see our - Goal: - Striker: Get the ball into the opponent's goal. - Goalie: Keep the ball out of the goal. -- Agents: The environment contains three agents. Two Strikers and one Goalie. +- Agents: The environment contains two different Multi Agent Groups. One with two Strikers and the other one Goalie. Behavior Parameters : Striker, Goalie. - Striker Agent Reward Function (dependent): - +1 When ball enters opponent's goal. @@ -470,11 +356,6 @@ you would like to contribute environments, please see our correspond to articulation of the following body-parts: hips, chest, spine, head, thighs, shins, feet, arms, forearms and hands. - Goal: The agents must move its body toward the goal direction without falling. - - `WalkerDynamic`- Goal direction is randomized. - - `WalkerDynamicVariableSpeed`- Goal direction and walking speed are randomized. - - `WalkerStatic` - Goal direction is always forward. - - `WalkerStaticVariableSpeed` - Goal direction is always forward. Walking - speed is randomized - Agents: The environment contains 10 independent agents with same Behavior Parameters. - Agent Reward Function (independent): @@ -506,11 +387,7 @@ you would like to contribute environments, please see our - Default: 8 - Recommended Minimum: 3 - Recommended Maximum: 20 -- Benchmark Mean Reward for `WalkerDynamic`: 2500 -- Benchmark Mean Reward for `WalkerDynamicVariableSpeed`: 2500 -- Benchmark Mean Reward for `WalkerStatic`: 3500 -- Benchmark Mean Reward for `WalkerStaticVariableSpeed`: 3500 - +- Benchmark Mean Reward : 2500 ## Pyramids @@ -530,9 +407,6 @@ you would like to contribute environments, please see our state. - Actions: 1 discrete action branch, with 4 actions corresponding to agent rotation and forward/backward movement. - - Visual Observations (Optional): First-person camera per-agent. Us - `VisualPyramids` scene. **The visual observation version of this environment - does not train with the provided default training parameters.** - Float Properties: None - Benchmark Mean Reward: 1.75 @@ -582,3 +456,23 @@ drop down. New pieces are spawned randomly at the top, with a chance of being - Recommended Minimum: 1 - Recommended Maximum: 20 - Benchmark Mean Reward: Depends on the number of tiles. + +## Cooperative Push Block +![CoopPushBlock](images/cooperative_pushblock.png) + +- Set-up: Similar to Push Block, the agents are in an area with blocks that need +to be pushed into a goal. Small blocks can be pushed by one agents and are worth ++1 value, medium blocks require two agents to push in and are worth +2, and large +blocks require all 3 agents to push and are worth +3. +- Goal: Push all blocks into the goal. +- Agents: The environment contains three Agents in a Multi Agent Group. +- Agent Reward Function: + - -0.0001 Existential penalty, as a group reward. + - +1, +2, or +3 for pushing in a block, added as a group reward. +- Behavior Parameters: + - Observation space: A single Grid Sensor with separate tags for each block size, + the goal, the walls, and other agents. + - Actions: 1 discrete action branch with 7 actions, corresponding to turn clockwise + and counterclockwise, move along four different face directions, or do nothing. +- Float Properties: None +- Benchmark Mean Reward: 11 (Group Reward) diff --git a/docs/ML-Agents-Overview.md b/docs/ML-Agents-Overview.md index a2b9b03313..16c99af394 100644 --- a/docs/ML-Agents-Overview.md +++ b/docs/ML-Agents-Overview.md @@ -553,7 +553,7 @@ In addition to the three environment-agnostic training methods introduced in the previous section, the ML-Agents Toolkit provides additional methods that can aid in training behaviors for specific types of environments. -### Training in Multi-Agent Environments with Self-Play +### Training in Competitive Multi-Agent Environments with Self-Play ML-Agents provides the functionality to train both symmetric and asymmetric adversarial games with @@ -588,6 +588,37 @@ our [blog post on self-play](https://blogs.unity3d.com/2020/02/28/training-intelligent-adversaries-using-self-play-with-ml-agents/) for additional information. +### Training In Cooperative Multi-Agent Environments with MA-POCA + +![PushBlock with Agents Working Together](images/cooperative_pushblock.png) + +ML-Agents provides the functionality for training cooperative behaviors - i.e., +groups of agents working towards a common goal, where the success of the individual +is linked to the success of the whole group. In such a scenario, agents typically receive +rewards as a group. For instance, if a team of agents wins a game against an opposing +team, everyone is rewarded - even agents who did not directly contribute to the win. This +makes learning what to do as an individual difficult - you may get a win +for doing nothing, and a loss for doing your best. + +In ML-Agents, we provide MA-POCA (MultiAgent POsthumous Credit Assignment), which +is a novel multi-agent trainer that trains a _centralized critic_, a neural network +that acts as a "coach" for a whole group of agents. You can then give rewards to the team +as a whole, and the agents will learn how best to contribute to achieving that reward. +Agents can _also_ be given rewards individually, and the team will work together to help the +individual achieve those goals. During an episode, agents can be added or removed from the group, +such as when agents spawn or die in a game. If agents are removed mid-episode (e.g., if teammates die +or are removed from the game), they will still learn whether their actions contributed +to the team winning later, enabling agents to take group-beneficial actions even if +they result in the individual being removed from the game (i.e., self-sacrifice). +MA-POCA can also be combined with self-play to train teams of agents to play against each other. + +To learn more about enabling cooperative behaviors for agents in an ML-Agents environment, +check out [this page](Learning-Environment-Design-Agents.md#cooperative-scenarios). + +For further reading, MA-POCA builds on previous work in multi-agent cooperative learning +([Lowe et al.](https://arxiv.org/abs/1706.02275), [Foerster et al.](https://arxiv.org/pdf/1705.08926.pdf), +among others) to enable the above use-cases. + ### Solving Complex Tasks using Curriculum Learning Curriculum learning is a way of training a machine learning model where more diff --git a/docs/Training-Configuration-File.md b/docs/Training-Configuration-File.md index d9a691337a..4c883ec43f 100644 --- a/docs/Training-Configuration-File.md +++ b/docs/Training-Configuration-File.md @@ -21,13 +21,13 @@ ## Common Trainer Configurations One of the first decisions you need to make regarding your training run is which -trainer to use: PPO or SAC. There are some training configurations that are +trainer to use: PPO, SAC, or POCA. There are some training configurations that are common to both trainers (which we review now) and others that depend on the choice of the trainer (which we review on subsequent sections). | **Setting** | **Description** | | :----------------------- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `trainer_type` | (default = `ppo`) The type of trainer to use: `ppo` or `sac` | +| `trainer_type` | (default = `ppo`) The type of trainer to use: `ppo`, `sac`, or `poca`. | | `summary_freq` | (default = `50000`) Number of experiences that needs to be collected before generating and displaying training statistics. This determines the granularity of the graphs in Tensorboard. | | `time_horizon` | (default = `64`) How many steps of experience to collect per-agent before adding it to the experience buffer. When this limit is reached before the end of an episode, a value estimate is used to predict the overall expected reward from the agent's current state. As such, this parameter trades off between a less biased, but higher variance estimate (long time horizon) and more biased, but less varied estimate (short time horizon). In cases where there are frequent rewards within an episode, or episodes are prohibitively large, a smaller number can be more ideal. This number should be large enough to capture all the important behavior within a sequence of an agent's actions.

Typical range: `32` - `2048` | | `max_steps` | (default = `500000`) Total number of steps (i.e., observation collected and action taken) that must be taken in the environment (or across all environments if using multiple in parallel) before ending the training process. If you have multiple agents with the same behavior name within your environment, all steps taken by those agents will contribute to the same `max_steps` count.

Typical range: `5e5` - `1e7` | @@ -42,7 +42,7 @@ choice of the trainer (which we review on subsequent sections). | `network_settings -> hidden_units` | (default = `128`) Number of units in the hidden layers of the neural network. Correspond to how many units are in each fully connected layer of the neural network. For simple problems where the correct action is a straightforward combination of the observation inputs, this should be small. For problems where the action is a very complex interaction between the observation variables, this should be larger.

Typical range: `32` - `512` | | `network_settings -> num_layers` | (default = `2`) The number of hidden layers in the neural network. Corresponds to how many hidden layers are present after the observation input, or after the CNN encoding of the visual observation. For simple problems, fewer layers are likely to train faster and more efficiently. More layers may be necessary for more complex control problems.

Typical range: `1` - `3` | | `network_settings -> normalize` | (default = `false`) Whether normalization is applied to the vector observation inputs. This normalization is based on the running average and variance of the vector observation. Normalization can be helpful in cases with complex continuous control problems, but may be harmful with simpler discrete control problems. | -| `network_settings -> vis_encoder_type` | (default = `simple`) Encoder type for encoding visual observations.

`simple` (default) uses a simple encoder which consists of two convolutional layers, `nature_cnn` uses the CNN implementation proposed by [Mnih et al.](https://www.nature.com/articles/nature14236), consisting of three convolutional layers, and `resnet` uses the [IMPALA Resnet](https://arxiv.org/abs/1802.01561) consisting of three stacked layers, each with two residual blocks, making a much larger network than the other two. `match3` is a smaller CNN ([Gudmundsoon et al.](https://www.researchgate.net/publication/328307928_Human-Like_Playtesting_with_Deep_Learning)) that is optimized for board games, and can be used down to visual observation sizes of 5x5. | +| `network_settings -> vis_encode_type` | (default = `simple`) Encoder type for encoding visual observations.

`simple` (default) uses a simple encoder which consists of two convolutional layers, `nature_cnn` uses the CNN implementation proposed by [Mnih et al.](https://www.nature.com/articles/nature14236), consisting of three convolutional layers, and `resnet` uses the [IMPALA Resnet](https://arxiv.org/abs/1802.01561) consisting of three stacked layers, each with two residual blocks, making a much larger network than the other two. `match3` is a smaller CNN ([Gudmundsoon et al.](https://www.researchgate.net/publication/328307928_Human-Like_Playtesting_with_Deep_Learning)) that is optimized for board games, and can be used down to visual observation sizes of 5x5. | ## Trainer-specific Configurations @@ -72,6 +72,12 @@ the `trainer` setting above). | `hyperparameters -> steps_per_update` | (default = `1`) Average ratio of agent steps (actions) taken to updates made of the agent's policy. In SAC, a single "update" corresponds to grabbing a batch of size `batch_size` from the experience replay buffer, and using this mini batch to update the models. Note that it is not guaranteed that after exactly `steps_per_update` steps an update will be made, only that the ratio will hold true over many steps. Typically, `steps_per_update` should be greater than or equal to 1. Note that setting `steps_per_update` lower will improve sample efficiency (reduce the number of steps required to train) but increase the CPU time spent performing updates. For most environments where steps are fairly fast (e.g. our example environments) `steps_per_update` equal to the number of agents in the scene is a good balance. For slow environments (steps take 0.1 seconds or more) reducing `steps_per_update` may improve training speed. We can also change `steps_per_update` to lower than 1 to update more often than once per step, though this will usually result in a slowdown unless the environment is very slow.

Typical range: `1` - `20` | | `hyperparameters -> reward_signal_num_update` | (default = `steps_per_update`) Number of steps per mini batch sampled and used for updating the reward signals. By default, we update the reward signals once every time the main policy is updated. However, to imitate the training procedure in certain imitation learning papers (e.g. [Kostrikov et. al](http://arxiv.org/abs/1809.02925), [Blondé et. al](http://arxiv.org/abs/1809.02064)), we may want to update the reward signal (GAIL) M times for every update of the policy. We can change `steps_per_update` of SAC to N, as well as `reward_signal_steps_per_update` under `reward_signals` to N / M to accomplish this. By default, `reward_signal_steps_per_update` is set to `steps_per_update`. | +### MA-POCA-specific Configurations +MA-POCA uses the same configurations as PPO, and there are no additional POCA-specific parameters. + +**NOTE**: Reward signals other than Extrinsic Rewards have not been extensively tested with MA-POCA, +though they can still be added and used for training on a your-mileage-may-vary basis. + ## Reward Signals The `reward_signals` section enables the specification of settings for both diff --git a/docs/Training-ML-Agents.md b/docs/Training-ML-Agents.md index c6811d7fd7..024cc9e177 100644 --- a/docs/Training-ML-Agents.md +++ b/docs/Training-ML-Agents.md @@ -268,7 +268,7 @@ behaviors: # Configuration of the neural network (common to PPO/SAC) network_settings: - vis_encoder_type: simple + vis_encode_type: simple normalize: false hidden_units: 128 num_layers: 2 diff --git a/docs/Training-on-Amazon-Web-Service.md b/docs/Training-on-Amazon-Web-Service.md index 314f57c99f..cd879c4de7 100644 --- a/docs/Training-on-Amazon-Web-Service.md +++ b/docs/Training-on-Amazon-Web-Service.md @@ -69,7 +69,7 @@ After launching your EC2 instance using the ami and ssh into it: 2. Clone the ML-Agents repo and install the required Python packages ```sh - git clone --branch release_13 https://github.com/Unity-Technologies/ml-agents.git + git clone --branch release_14 https://github.com/Unity-Technologies/ml-agents.git cd ml-agents/ml-agents/ pip3 install -e . ``` diff --git a/docs/Training-on-Microsoft-Azure.md b/docs/Training-on-Microsoft-Azure.md index 9589e2e99b..5490f3ac4b 100644 --- a/docs/Training-on-Microsoft-Azure.md +++ b/docs/Training-on-Microsoft-Azure.md @@ -33,7 +33,7 @@ view the documentation for doing so [here](#custom-instances). instance, and set it as the working directory. 2. Install the required packages: Torch: `pip3 install torch==1.7.0 -f https://download.pytorch.org/whl/torch_stable.html` and - MLAgents: `pip3 install mlagents` + MLAgents: `python -m pip install mlagents==0.24.1` ## Testing diff --git a/docs/Unity-Inference-Engine.md b/docs/Unity-Inference-Engine.md index 747a0d2f48..1799112320 100644 --- a/docs/Unity-Inference-Engine.md +++ b/docs/Unity-Inference-Engine.md @@ -35,9 +35,9 @@ The ML-Agents Toolkit only supports the models created with our trainers. Model loading expects certain conventions for constants and tensor names. While it is possible to construct a model that follows these conventions, we don't provide any additional help for this. More details can be found in -[TensorNames.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/com.unity.ml-agents/Runtime/Inference/TensorNames.cs) +[TensorNames.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/com.unity.ml-agents/Runtime/Inference/TensorNames.cs) and -[BarracudaModelParamLoader.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs). +[BarracudaModelParamLoader.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs). If you wish to run inference on an externally trained model, you should use Barracuda directly, instead of trying to run it through ML-Agents. diff --git a/docs/images/bouncer.png b/docs/images/bouncer.png deleted file mode 100644 index 453c961e37..0000000000 Binary files a/docs/images/bouncer.png and /dev/null differ diff --git a/docs/images/cooperative_pushblock.png b/docs/images/cooperative_pushblock.png new file mode 100644 index 0000000000..71e9efb51e Binary files /dev/null and b/docs/images/cooperative_pushblock.png differ diff --git a/docs/images/example-envs.png b/docs/images/example-envs.png index fad8e9f7f4..1e4c66cca2 100644 Binary files a/docs/images/example-envs.png and b/docs/images/example-envs.png differ diff --git a/docs/images/groupmanager_teamid.png b/docs/images/groupmanager_teamid.png new file mode 100644 index 0000000000..ff064b95e3 Binary files /dev/null and b/docs/images/groupmanager_teamid.png differ diff --git a/docs/images/reacher.png b/docs/images/reacher.png deleted file mode 100644 index f5b3bbdefd..0000000000 Binary files a/docs/images/reacher.png and /dev/null differ diff --git a/docs/images/tennis.png b/docs/images/tennis.png deleted file mode 100644 index a16310c9a1..0000000000 Binary files a/docs/images/tennis.png and /dev/null differ diff --git a/gym-unity/gym_unity/__init__.py b/gym-unity/gym_unity/__init__.py index 01b6af0ef3..9dfb0e107b 100644 --- a/gym-unity/gym_unity/__init__.py +++ b/gym-unity/gym_unity/__init__.py @@ -1,5 +1,5 @@ # Version of the library that will be used to upload to pypi -__version__ = "0.25.0.dev0" +__version__ = "0.26.0.dev0" # Git tag that will be checked to determine whether to trigger upload to pypi __release_tag__ = None diff --git a/ml-agents-envs/README.md b/ml-agents-envs/README.md index 1ef668f61d..bcf369b9bb 100644 --- a/ml-agents-envs/README.md +++ b/ml-agents-envs/README.md @@ -13,7 +13,7 @@ communication. Install the `mlagents_envs` package with: ```sh -pip3 install mlagents_envs +python -m pip install mlagents_envs==0.24.1 ``` ## Usage & More Information diff --git a/ml-agents-envs/mlagents_envs/__init__.py b/ml-agents-envs/mlagents_envs/__init__.py index 01b6af0ef3..9dfb0e107b 100644 --- a/ml-agents-envs/mlagents_envs/__init__.py +++ b/ml-agents-envs/mlagents_envs/__init__.py @@ -1,5 +1,5 @@ # Version of the library that will be used to upload to pypi -__version__ = "0.25.0.dev0" +__version__ = "0.26.0.dev0" # Git tag that will be checked to determine whether to trigger upload to pypi __release_tag__ = None diff --git a/ml-agents-envs/mlagents_envs/base_env.py b/ml-agents-envs/mlagents_envs/base_env.py index fd98546418..d80f752b71 100644 --- a/ml-agents-envs/mlagents_envs/base_env.py +++ b/ml-agents-envs/mlagents_envs/base_env.py @@ -34,6 +34,7 @@ from mlagents_envs.exception import UnityActionException AgentId = int +GroupId = int BehaviorName = str @@ -172,7 +173,7 @@ class TerminalStep(NamedTuple): reward: float interrupted: bool agent_id: AgentId - group_id: int + group_id: GroupId group_reward: float @@ -506,6 +507,10 @@ class ObservationSpec(NamedTuple): dimension_property: Tuple[DimensionProperty, ...] observation_type: ObservationType + # Optional name. For observations coming from com.unity.ml-agents, this + # will be the ISensor name. + name: str + class BehaviorSpec(NamedTuple): """ 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 8f765fa5f8..35b8fbdef1 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\"\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') + serialized_pb=_b('\n5mlagents_envs/communicator_objects/capabilities.proto\x12\x14\x63ommunicator_objects\"\xec\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\x12\x18\n\x10multiAgentGroups\x18\x07 \x01(\x08\x42%\xaa\x02\"Unity.MLAgents.CommunicatorObjectsb\x06proto3') ) @@ -74,6 +74,13 @@ message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, options=None, file=DESCRIPTOR), + _descriptor.FieldDescriptor( + name='multiAgentGroups', full_name='communicator_objects.UnityRLCapabilitiesProto.multiAgentGroups', index=6, + number=7, 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=[ ], @@ -87,7 +94,7 @@ oneofs=[ ], serialized_start=80, - serialized_end=290, + serialized_end=316, ) 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 ae49d4d438..1c6a1f7030 100644 --- a/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.pyi +++ b/ml-agents-envs/mlagents_envs/communicator_objects/capabilities_pb2.pyi @@ -31,6 +31,7 @@ class UnityRLCapabilitiesProto(google___protobuf___message___Message): hybridActions = ... # type: builtin___bool trainingAnalytics = ... # type: builtin___bool variableLengthObservation = ... # type: builtin___bool + multiAgentGroups = ... # type: builtin___bool def __init__(self, *, @@ -40,12 +41,13 @@ class UnityRLCapabilitiesProto(google___protobuf___message___Message): hybridActions : typing___Optional[builtin___bool] = None, trainingAnalytics : typing___Optional[builtin___bool] = None, variableLengthObservation : typing___Optional[builtin___bool] = None, + multiAgentGroups : 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",u"variableLengthObservation"]) -> None: ... + def ClearField(self, field_name: typing_extensions___Literal[u"baseRLCapabilities",u"compressedChannelMapping",u"concatenatedPngObservations",u"hybridActions",u"multiAgentGroups",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",u"variableLengthObservation",b"variableLengthObservation"]) -> 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"multiAgentGroups",b"multiAgentGroups",u"trainingAnalytics",b"trainingAnalytics",u"variableLengthObservation",b"variableLengthObservation"]) -> None: ... diff --git a/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.py b/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.py index 5bc26d90a5..2acc6959db 100644 --- a/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.py +++ b/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.py @@ -20,7 +20,7 @@ name='mlagents_envs/communicator_objects/observation.proto', package='communicator_objects', syntax='proto3', - serialized_pb=_b('\n4mlagents_envs/communicator_objects/observation.proto\x12\x14\x63ommunicator_objects\"\x81\x03\n\x10ObservationProto\x12\r\n\x05shape\x18\x01 \x03(\x05\x12\x44\n\x10\x63ompression_type\x18\x02 \x01(\x0e\x32*.communicator_objects.CompressionTypeProto\x12\x19\n\x0f\x63ompressed_data\x18\x03 \x01(\x0cH\x00\x12\x46\n\nfloat_data\x18\x04 \x01(\x0b\x32\x30.communicator_objects.ObservationProto.FloatDataH\x00\x12\"\n\x1a\x63ompressed_channel_mapping\x18\x05 \x03(\x05\x12\x1c\n\x14\x64imension_properties\x18\x06 \x03(\x05\x12\x44\n\x10observation_type\x18\x07 \x01(\x0e\x32*.communicator_objects.ObservationTypeProto\x1a\x19\n\tFloatData\x12\x0c\n\x04\x64\x61ta\x18\x01 \x03(\x02\x42\x12\n\x10observation_data*)\n\x14\x43ompressionTypeProto\x12\x08\n\x04NONE\x10\x00\x12\x07\n\x03PNG\x10\x01*F\n\x14ObservationTypeProto\x12\x0b\n\x07\x44\x45\x46\x41ULT\x10\x00\x12\x08\n\x04GOAL\x10\x01\x12\n\n\x06REWARD\x10\x02\x12\x0b\n\x07MESSAGE\x10\x03\x42%\xaa\x02\"Unity.MLAgents.CommunicatorObjectsb\x06proto3') + serialized_pb=_b('\n4mlagents_envs/communicator_objects/observation.proto\x12\x14\x63ommunicator_objects\"\x8f\x03\n\x10ObservationProto\x12\r\n\x05shape\x18\x01 \x03(\x05\x12\x44\n\x10\x63ompression_type\x18\x02 \x01(\x0e\x32*.communicator_objects.CompressionTypeProto\x12\x19\n\x0f\x63ompressed_data\x18\x03 \x01(\x0cH\x00\x12\x46\n\nfloat_data\x18\x04 \x01(\x0b\x32\x30.communicator_objects.ObservationProto.FloatDataH\x00\x12\"\n\x1a\x63ompressed_channel_mapping\x18\x05 \x03(\x05\x12\x1c\n\x14\x64imension_properties\x18\x06 \x03(\x05\x12\x44\n\x10observation_type\x18\x07 \x01(\x0e\x32*.communicator_objects.ObservationTypeProto\x12\x0c\n\x04name\x18\x08 \x01(\t\x1a\x19\n\tFloatData\x12\x0c\n\x04\x64\x61ta\x18\x01 \x03(\x02\x42\x12\n\x10observation_data*)\n\x14\x43ompressionTypeProto\x12\x08\n\x04NONE\x10\x00\x12\x07\n\x03PNG\x10\x01*F\n\x14ObservationTypeProto\x12\x0b\n\x07\x44\x45\x46\x41ULT\x10\x00\x12\x08\n\x04GOAL\x10\x01\x12\n\n\x06REWARD\x10\x02\x12\x0b\n\x07MESSAGE\x10\x03\x42%\xaa\x02\"Unity.MLAgents.CommunicatorObjectsb\x06proto3') ) _COMPRESSIONTYPEPROTO = _descriptor.EnumDescriptor( @@ -40,8 +40,8 @@ ], containing_type=None, options=None, - serialized_start=466, - serialized_end=507, + serialized_start=480, + serialized_end=521, ) _sym_db.RegisterEnumDescriptor(_COMPRESSIONTYPEPROTO) @@ -71,8 +71,8 @@ ], containing_type=None, options=None, - serialized_start=509, - serialized_end=579, + serialized_start=523, + serialized_end=593, ) _sym_db.RegisterEnumDescriptor(_OBSERVATIONTYPEPROTO) @@ -112,8 +112,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=419, - serialized_end=444, + serialized_start=433, + serialized_end=458, ) _OBSERVATIONPROTO = _descriptor.Descriptor( @@ -172,6 +172,13 @@ message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, options=None, file=DESCRIPTOR), + _descriptor.FieldDescriptor( + name='name', full_name='communicator_objects.ObservationProto.name', index=7, + number=8, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=_b("").decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + options=None, file=DESCRIPTOR), ], extensions=[ ], @@ -188,7 +195,7 @@ index=0, containing_type=None, fields=[]), ], serialized_start=79, - serialized_end=464, + serialized_end=478, ) _OBSERVATIONPROTO_FLOATDATA.containing_type = _OBSERVATIONPROTO diff --git a/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.pyi b/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.pyi index 20df20ad8d..0afb9cd458 100644 --- a/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.pyi +++ b/ml-agents-envs/mlagents_envs/communicator_objects/observation_pb2.pyi @@ -17,6 +17,7 @@ from typing import ( Iterable as typing___Iterable, List as typing___List, Optional as typing___Optional, + Text as typing___Text, Tuple as typing___Tuple, cast as typing___cast, ) @@ -96,6 +97,7 @@ class ObservationProto(google___protobuf___message___Message): compressed_channel_mapping = ... # type: google___protobuf___internal___containers___RepeatedScalarFieldContainer[builtin___int] dimension_properties = ... # type: google___protobuf___internal___containers___RepeatedScalarFieldContainer[builtin___int] observation_type = ... # type: ObservationTypeProto + name = ... # type: typing___Text @property def float_data(self) -> ObservationProto.FloatData: ... @@ -109,6 +111,7 @@ class ObservationProto(google___protobuf___message___Message): compressed_channel_mapping : typing___Optional[typing___Iterable[builtin___int]] = None, dimension_properties : typing___Optional[typing___Iterable[builtin___int]] = None, observation_type : typing___Optional[ObservationTypeProto] = None, + name : typing___Optional[typing___Text] = None, ) -> None: ... @classmethod def FromString(cls, s: builtin___bytes) -> ObservationProto: ... @@ -116,8 +119,8 @@ class ObservationProto(google___protobuf___message___Message): def CopyFrom(self, other_msg: google___protobuf___message___Message) -> None: ... if sys.version_info >= (3,): def HasField(self, field_name: typing_extensions___Literal[u"compressed_data",u"float_data",u"observation_data"]) -> builtin___bool: ... - def ClearField(self, field_name: typing_extensions___Literal[u"compressed_channel_mapping",u"compressed_data",u"compression_type",u"dimension_properties",u"float_data",u"observation_data",u"observation_type",u"shape"]) -> None: ... + def ClearField(self, field_name: typing_extensions___Literal[u"compressed_channel_mapping",u"compressed_data",u"compression_type",u"dimension_properties",u"float_data",u"name",u"observation_data",u"observation_type",u"shape"]) -> None: ... else: def HasField(self, field_name: typing_extensions___Literal[u"compressed_data",b"compressed_data",u"float_data",b"float_data",u"observation_data",b"observation_data"]) -> builtin___bool: ... - def ClearField(self, field_name: typing_extensions___Literal[u"compressed_channel_mapping",b"compressed_channel_mapping",u"compressed_data",b"compressed_data",u"compression_type",b"compression_type",u"dimension_properties",b"dimension_properties",u"float_data",b"float_data",u"observation_data",b"observation_data",u"observation_type",b"observation_type",u"shape",b"shape"]) -> None: ... + def ClearField(self, field_name: typing_extensions___Literal[u"compressed_channel_mapping",b"compressed_channel_mapping",u"compressed_data",b"compressed_data",u"compression_type",b"compression_type",u"dimension_properties",b"dimension_properties",u"float_data",b"float_data",u"name",b"name",u"observation_data",b"observation_data",u"observation_type",b"observation_type",u"shape",b"shape"]) -> None: ... def WhichOneof(self, oneof_group: typing_extensions___Literal[u"observation_data",b"observation_data"]) -> typing_extensions___Literal["compressed_data","float_data"]: ... diff --git a/ml-agents-envs/mlagents_envs/environment.py b/ml-agents-envs/mlagents_envs/environment.py index 1411d9180f..633f298bb4 100644 --- a/ml-agents-envs/mlagents_envs/environment.py +++ b/ml-agents-envs/mlagents_envs/environment.py @@ -63,7 +63,7 @@ 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. - # * 1.5.0 - support variable length observation training. + # * 1.5.0 - support variable length observation training and multi-agent groups. API_VERSION = "1.5.0" # Default port that the editor listens on. If an environment executable @@ -124,6 +124,7 @@ def _get_capabilities_proto() -> UnityRLCapabilitiesProto: capabilities.hybridActions = True capabilities.trainingAnalytics = True capabilities.variableLengthObservation = True + capabilities.multiAgentGroups = 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 a051f58da2..5ea4db76cd 100644 --- a/ml-agents-envs/mlagents_envs/rpc_utils.py +++ b/ml-agents-envs/mlagents_envs/rpc_utils.py @@ -37,11 +37,14 @@ def behavior_spec_from_proto( for obs in agent_info.observations: observation_specs.append( ObservationSpec( - tuple(obs.shape), - tuple(DimensionProperty(dim) for dim in obs.dimension_properties) + name=obs.name, + shape=tuple(obs.shape), + observation_type=ObservationType(obs.observation_type), + dimension_property=tuple( + DimensionProperty(dim) for dim in obs.dimension_properties + ) if len(obs.dimension_properties) > 0 else (DimensionProperty.UNSPECIFIED,) * len(obs.shape), - ObservationType(obs.observation_type), ) ) @@ -187,6 +190,26 @@ def _process_images_num_channels(image_arrays, expected_channels): return img +def _check_observations_match_spec( + obs_index: int, + observation_spec: ObservationSpec, + agent_info_list: Collection[AgentInfoProto], +) -> None: + """ + Check that all the observations match the expected size. + This gives a nicer error than a cryptic numpy error later. + """ + expected_obs_shape = tuple(observation_spec.shape) + for agent_info in agent_info_list: + agent_obs_shape = tuple(agent_info.observations[obs_index].shape) + if expected_obs_shape != agent_obs_shape: + raise UnityObservationException( + f"Observation at index={obs_index} for agent with " + f"id={agent_info.id} didn't match the ObservationSpec. " + f"Expected shape {expected_obs_shape} but got {agent_obs_shape}." + ) + + @timed def _observation_to_np_array( obs: ObservationProto, expected_shape: Optional[Iterable[int]] = None @@ -223,16 +246,23 @@ def _observation_to_np_array( @timed def _process_maybe_compressed_observation( obs_index: int, - shape: Tuple[int, int, int], + observation_spec: ObservationSpec, agent_info_list: Collection[AgentInfoProto], ) -> np.ndarray: + shape = cast(Tuple[int, int, int], observation_spec.shape) if len(agent_info_list) == 0: 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) - for agent_obs in agent_info_list - ] + try: + batched_visual = [ + _observation_to_np_array(agent_obs.observations[obs_index], shape) + for agent_obs in agent_info_list + ] + except ValueError: + # Try to get a more useful error message + _check_observations_match_spec(obs_index, observation_spec, agent_info_list) + # If that didn't raise anything, raise the original error + raise return np.array(batched_visual, dtype=np.float32) @@ -258,17 +288,25 @@ def _raise_on_nan_and_inf(data: np.array, source: str) -> np.array: @timed def _process_rank_one_or_two_observation( - obs_index: int, shape: Tuple[int, ...], agent_info_list: Collection[AgentInfoProto] + obs_index: int, + observation_spec: ObservationSpec, + agent_info_list: Collection[AgentInfoProto], ) -> np.ndarray: if len(agent_info_list) == 0: - return np.zeros((0,) + shape, dtype=np.float32) - np_obs = np.array( - [ - agent_obs.observations[obs_index].float_data.data - for agent_obs in agent_info_list - ], - dtype=np.float32, - ).reshape((len(agent_info_list),) + shape) + return np.zeros((0,) + observation_spec.shape, dtype=np.float32) + try: + np_obs = np.array( + [ + agent_obs.observations[obs_index].float_data.data + for agent_obs in agent_info_list + ], + dtype=np.float32, + ).reshape((len(agent_info_list),) + observation_spec.shape) + except ValueError: + # Try to get a more useful error message + _check_observations_match_spec(obs_index, observation_spec, agent_info_list) + # If that didn't raise anything, raise the original error + raise _raise_on_nan_and_inf(np_obs, "observations") return np_obs @@ -285,29 +323,28 @@ def steps_from_proto( ] decision_obs_list: List[np.ndarray] = [] terminal_obs_list: List[np.ndarray] = [] - for obs_index, observation_specs in enumerate(behavior_spec.observation_specs): - is_visual = len(observation_specs.shape) == 3 + for obs_index, observation_spec in enumerate(behavior_spec.observation_specs): + is_visual = len(observation_spec.shape) == 3 if is_visual: - obs_shape = cast(Tuple[int, int, int], observation_specs.shape) decision_obs_list.append( _process_maybe_compressed_observation( - obs_index, obs_shape, decision_agent_info_list + obs_index, observation_spec, decision_agent_info_list ) ) terminal_obs_list.append( _process_maybe_compressed_observation( - obs_index, obs_shape, terminal_agent_info_list + obs_index, observation_spec, terminal_agent_info_list ) ) else: decision_obs_list.append( _process_rank_one_or_two_observation( - obs_index, observation_specs.shape, decision_agent_info_list + obs_index, observation_spec, decision_agent_info_list ) ) terminal_obs_list.append( _process_rank_one_or_two_observation( - obs_index, observation_specs.shape, terminal_agent_info_list + obs_index, observation_spec, terminal_agent_info_list ) ) decision_rewards = np.array( diff --git a/ml-agents-envs/mlagents_envs/tests/test_envs.py b/ml-agents-envs/mlagents_envs/tests/test_envs.py index 43e3a67561..138ac6d983 100755 --- a/ml-agents-envs/mlagents_envs/tests/test_envs.py +++ b/ml-agents-envs/mlagents_envs/tests/test_envs.py @@ -45,6 +45,7 @@ def test_port_defaults( ) env = UnityEnvironment(file_name=file_name, worker_id=0, base_port=base_port) assert expected == env._port + env.close() @mock.patch("mlagents_envs.env_utils.launch_executable") @@ -57,6 +58,7 @@ def test_log_file_path_is_set(mock_communicator, mock_launcher): args = env._executable_args() log_file_index = args.index("-logFile") assert args[log_file_index + 1] == "./some-log-folder-path/Player-0.log" + env.close() @mock.patch("mlagents_envs.env_utils.launch_executable") 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 ae664f2404..1d03b21f41 100644 --- a/ml-agents-envs/mlagents_envs/tests/test_rpc_utils.py +++ b/ml-agents-envs/mlagents_envs/tests/test_rpc_utils.py @@ -1,7 +1,7 @@ import io import numpy as np import pytest -from typing import List, Tuple +from typing import List, Tuple, Any from mlagents_envs.communicator_objects.agent_info_pb2 import AgentInfoProto from mlagents_envs.communicator_objects.observation_pb2 import ( @@ -137,13 +137,14 @@ def proto_from_steps( reward = decision_steps.reward[agent_id_index] done = False max_step_reached = False - agent_mask = None + agent_mask: Any = None if decision_steps.action_mask is not None: - agent_mask = [] # type: ignore + agent_mask = [] for _branch in decision_steps.action_mask: agent_mask = np.concatenate( (agent_mask, _branch[agent_id_index, :]), axis=0 ) + agent_mask = agent_mask.astype(np.bool).tolist() observations: List[ObservationProto] = [] for all_observations_of_type in decision_steps.obs: observation = all_observations_of_type[agent_id_index] @@ -161,7 +162,7 @@ def proto_from_steps( reward=reward, done=done, id=agent_id, - max_step_reached=max_step_reached, + max_step_reached=bool(max_step_reached), action_mask=agent_mask, observations=observations, ) @@ -190,7 +191,7 @@ def proto_from_steps( reward=reward, done=done, id=agent_id, - max_step_reached=max_step_reached, + max_step_reached=bool(max_step_reached), action_mask=None, observations=final_observations, ) @@ -264,17 +265,21 @@ def test_process_pixels_gray(): def test_vector_observation(): n_agents = 10 shapes = [(3,), (4,)] + obs_specs = create_observation_specs_with_shapes(shapes) list_proto = generate_list_agent_proto(n_agents, shapes) for obs_index, shape in enumerate(shapes): - arr = _process_rank_one_or_two_observation(obs_index, shape, list_proto) + arr = _process_rank_one_or_two_observation( + obs_index, obs_specs[obs_index], list_proto + ) assert list(arr.shape) == ([n_agents] + list(shape)) assert np.allclose(arr, 0.1, atol=0.01) def test_process_visual_observation(): - in_array_1 = np.random.rand(128, 64, 3) + shape = (128, 64, 3) + in_array_1 = np.random.rand(*shape) proto_obs_1 = generate_compressed_proto_obs(in_array_1) - in_array_2 = np.random.rand(128, 64, 3) + in_array_2 = np.random.rand(*shape) in_array_2_mapping = [0, 1, 2] proto_obs_2 = generate_compressed_proto_obs_with_mapping( in_array_2, in_array_2_mapping @@ -285,7 +290,8 @@ def test_process_visual_observation(): ap2 = AgentInfoProto() ap2.observations.extend([proto_obs_2]) ap_list = [ap1, ap2] - arr = _process_maybe_compressed_observation(0, (128, 64, 3), ap_list) + obs_spec = create_observation_specs_with_shapes([shape])[0] + arr = _process_maybe_compressed_observation(0, obs_spec, 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 +313,9 @@ def test_process_visual_observation_grayscale(): ap2 = AgentInfoProto() ap2.observations.extend([proto_obs_2]) ap_list = [ap1, ap2] - arr = _process_maybe_compressed_observation(0, (128, 64, 1), ap_list) + shape = (128, 64, 1) + obs_spec = create_observation_specs_with_shapes([shape])[0] + arr = _process_maybe_compressed_observation(0, obs_spec, 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 +332,10 @@ def test_process_visual_observation_padded_channels(): ap1 = AgentInfoProto() ap1.observations.extend([proto_obs_1]) ap_list = [ap1] - arr = _process_maybe_compressed_observation(0, (128, 64, 8), ap_list) + shape = (128, 64, 8) + obs_spec = create_observation_specs_with_shapes([shape])[0] + + arr = _process_maybe_compressed_observation(0, obs_spec, ap_list) assert list(arr.shape) == [1, 128, 64, 8] assert np.allclose(arr[0, :, :, :], expected_out_array_1, atol=0.01) @@ -335,8 +346,12 @@ def test_process_visual_observation_bad_shape(): ap1 = AgentInfoProto() ap1.observations.extend([proto_obs_1]) ap_list = [ap1] + + shape = (128, 42, 3) + obs_spec = create_observation_specs_with_shapes([shape])[0] + with pytest.raises(UnityObservationException): - _process_maybe_compressed_observation(0, (128, 42, 3), ap_list) + _process_maybe_compressed_observation(0, obs_spec, ap_list) def test_batched_step_result_from_proto(): @@ -369,6 +384,20 @@ def test_batched_step_result_from_proto(): assert terminal_steps.obs[1].shape[1] == shapes[1][0] +def test_mismatch_observations_raise_in_step_result_from_proto(): + n_agents = 10 + shapes = [(3,), (4,)] + spec = BehaviorSpec( + create_observation_specs_with_shapes(shapes), ActionSpec.create_continuous(3) + ) + ap_list = generate_list_agent_proto(n_agents, shapes) + # Hack an observation to be larger, we should get an exception + ap_list[0].observations[0].shape[0] += 1 + ap_list[0].observations[0].float_data.data.append(0.42) + with pytest.raises(UnityObservationException): + steps_from_proto(ap_list, spec) + + def test_action_masking_discrete(): n_agents = 10 shapes = [(3,), (4,)] diff --git a/ml-agents/README.md b/ml-agents/README.md index feac76a76c..44d0840139 100644 --- a/ml-agents/README.md +++ b/ml-agents/README.md @@ -16,7 +16,7 @@ package. Install the `mlagents` package with: ```sh -pip3 install mlagents +python -m pip install mlagents==0.24.1 ``` ## Usage & More Information diff --git a/ml-agents/mlagents/trainers/__init__.py b/ml-agents/mlagents/trainers/__init__.py index 01b6af0ef3..9dfb0e107b 100644 --- a/ml-agents/mlagents/trainers/__init__.py +++ b/ml-agents/mlagents/trainers/__init__.py @@ -1,5 +1,5 @@ # Version of the library that will be used to upload to pypi -__version__ = "0.25.0.dev0" +__version__ = "0.26.0.dev0" # Git tag that will be checked to determine whether to trigger upload to pypi __release_tag__ = None diff --git a/ml-agents/mlagents/trainers/agent_processor.py b/ml-agents/mlagents/trainers/agent_processor.py index fb77df0795..37477b7f0e 100644 --- a/ml-agents/mlagents/trainers/agent_processor.py +++ b/ml-agents/mlagents/trainers/agent_processor.py @@ -1,4 +1,5 @@ import sys +import numpy as np from typing import List, Dict, TypeVar, Generic, Tuple, Any, Union from collections import defaultdict, Counter import queue @@ -14,12 +15,17 @@ StatsAggregationMethod, EnvironmentStats, ) -from mlagents.trainers.trajectory import Trajectory, AgentExperience +from mlagents.trainers.trajectory import AgentStatus, Trajectory, AgentExperience from mlagents.trainers.policy import Policy from mlagents.trainers.action_info import ActionInfo, ActionInfoOutputs from mlagents.trainers.torch.action_log_probs import LogProbsTuple from mlagents.trainers.stats import StatsReporter -from mlagents.trainers.behavior_id_utils import get_global_agent_id +from mlagents.trainers.behavior_id_utils import ( + get_global_agent_id, + get_global_group_id, + GlobalAgentId, + GlobalGroupId, +) T = TypeVar("T") @@ -47,20 +53,36 @@ def __init__( :param max_trajectory_length: Maximum length of a trajectory before it is added to the trainer. :param stats_category: The category under which to write the stats. Usually, this comes from the Trainer. """ - self.experience_buffers: Dict[str, List[AgentExperience]] = defaultdict(list) - self.last_step_result: Dict[str, Tuple[DecisionStep, int]] = {} + self._experience_buffers: Dict[ + GlobalAgentId, List[AgentExperience] + ] = defaultdict(list) + self._last_step_result: Dict[GlobalAgentId, Tuple[DecisionStep, int]] = {} + # current_group_obs is used to collect the current (i.e. the most recently seen) + # obs of all the agents in the same group, and assemble the group obs. + # It is a dictionary of GlobalGroupId to dictionaries of GlobalAgentId to observation. + self._current_group_obs: Dict[ + GlobalGroupId, Dict[GlobalAgentId, List[np.ndarray]] + ] = defaultdict(lambda: defaultdict(list)) + # group_status is used to collect the current, most recently seen + # group status of all the agents in the same group, and assemble the group's status. + # It is a dictionary of GlobalGroupId to dictionaries of GlobalAgentId to AgentStatus. + self._group_status: Dict[ + GlobalGroupId, Dict[GlobalAgentId, AgentStatus] + ] = defaultdict(lambda: defaultdict(None)) # last_take_action_outputs stores the action a_t taken before the current observation s_(t+1), while # grabbing previous_action from the policy grabs the action PRIOR to that, a_(t-1). - self.last_take_action_outputs: Dict[str, ActionInfoOutputs] = {} + self._last_take_action_outputs: Dict[GlobalAgentId, ActionInfoOutputs] = {} + + self._episode_steps: Counter = Counter() + self._episode_rewards: Dict[GlobalAgentId, float] = defaultdict(float) + self._stats_reporter = stats_reporter + self._max_trajectory_length = max_trajectory_length + self._trajectory_queues: List[AgentManagerQueue[Trajectory]] = [] + self._behavior_id = behavior_id + # Note: In the future this policy reference will be the policy of the env_manager and not the trainer. # We can in that case just grab the action from the policy rather than having it passed in. self.policy = policy - self.episode_steps: Counter = Counter() - self.episode_rewards: Dict[str, float] = defaultdict(float) - self.stats_reporter = stats_reporter - self.max_trajectory_length = max_trajectory_length - self.trajectory_queues: List[AgentManagerQueue[Trajectory]] = [] - self.behavior_id = behavior_id def add_experiences( self, @@ -78,55 +100,124 @@ def add_experiences( take_action_outputs = previous_action.outputs if take_action_outputs: for _entropy in take_action_outputs["entropy"]: - self.stats_reporter.add_stat("Policy/Entropy", _entropy) + self._stats_reporter.add_stat("Policy/Entropy", _entropy) # Make unique agent_ids that are global across workers action_global_agent_ids = [ get_global_agent_id(worker_id, ag_id) for ag_id in previous_action.agent_ids ] for global_id in action_global_agent_ids: - if global_id in self.last_step_result: # Don't store if agent just reset - self.last_take_action_outputs[global_id] = take_action_outputs + if global_id in self._last_step_result: # Don't store if agent just reset + self._last_take_action_outputs[global_id] = take_action_outputs - # Iterate over all the terminal steps + # Iterate over all the terminal steps, first gather all the group obs + # and then create the AgentExperiences/Trajectories. _add_to_group_status + # stores Group statuses in a common data structure self.group_status + for terminal_step in terminal_steps.values(): + self._add_group_status_and_obs(terminal_step, worker_id) for terminal_step in terminal_steps.values(): local_id = terminal_step.agent_id global_id = get_global_agent_id(worker_id, local_id) self._process_step( - terminal_step, global_id, terminal_steps.agent_id_to_index[local_id] + terminal_step, worker_id, terminal_steps.agent_id_to_index[local_id] ) - # Iterate over all the decision steps + # Clear the last seen group obs when agents die. + self._clear_group_status_and_obs(global_id) + + # Iterate over all the decision steps, first gather all the group obs + # and then create the trajectories. _add_to_group_status + # stores Group statuses in a common data structure self.group_status + for ongoing_step in decision_steps.values(): + self._add_group_status_and_obs(ongoing_step, worker_id) for ongoing_step in decision_steps.values(): local_id = ongoing_step.agent_id - global_id = get_global_agent_id(worker_id, local_id) self._process_step( - ongoing_step, global_id, decision_steps.agent_id_to_index[local_id] + ongoing_step, worker_id, decision_steps.agent_id_to_index[local_id] ) for _gid in action_global_agent_ids: # If the ID doesn't have a last step result, the agent just reset, # don't store the action. - if _gid in self.last_step_result: + if _gid in self._last_step_result: if "action" in take_action_outputs: self.policy.save_previous_action( [_gid], take_action_outputs["action"] ) + def _add_group_status_and_obs( + self, step: Union[TerminalStep, DecisionStep], worker_id: int + ) -> None: + """ + Takes a TerminalStep or DecisionStep and adds the information in it + to self.group_status. This information can then be retrieved + when constructing trajectories to get the status of group mates. Also stores the current + observation into current_group_obs, to be used to get the next group observations + for bootstrapping. + :param step: TerminalStep or DecisionStep + :param worker_id: Worker ID of this particular environment. Used to generate a + global group id. + """ + global_agent_id = get_global_agent_id(worker_id, step.agent_id) + stored_decision_step, idx = self._last_step_result.get( + global_agent_id, (None, None) + ) + stored_take_action_outputs = self._last_take_action_outputs.get( + global_agent_id, None + ) + if stored_decision_step is not None and stored_take_action_outputs is not None: + # 0, the default group_id, means that the agent doesn't belong to an agent group. + # If 0, don't add any groupmate information. + if step.group_id > 0: + global_group_id = get_global_group_id(worker_id, step.group_id) + stored_actions = stored_take_action_outputs["action"] + action_tuple = ActionTuple( + continuous=stored_actions.continuous[idx], + discrete=stored_actions.discrete[idx], + ) + group_status = AgentStatus( + obs=stored_decision_step.obs, + reward=step.reward, + action=action_tuple, + done=isinstance(step, TerminalStep), + ) + self._group_status[global_group_id][global_agent_id] = group_status + self._current_group_obs[global_group_id][global_agent_id] = step.obs + + def _clear_group_status_and_obs(self, global_id: GlobalAgentId) -> None: + """ + Clears an agent from self._group_status and self._current_group_obs. + """ + self._delete_in_nested_dict(self._current_group_obs, global_id) + self._delete_in_nested_dict(self._group_status, global_id) + + def _delete_in_nested_dict(self, nested_dict: Dict[str, Any], key: str) -> None: + for _manager_id in list(nested_dict.keys()): + _team_group = nested_dict[_manager_id] + self._safe_delete(_team_group, key) + if not _team_group: # if dict is empty + self._safe_delete(nested_dict, _manager_id) + def _process_step( - self, step: Union[TerminalStep, DecisionStep], global_id: str, index: int + self, step: Union[TerminalStep, DecisionStep], worker_id: int, index: int ) -> None: terminated = isinstance(step, TerminalStep) - stored_decision_step, idx = self.last_step_result.get(global_id, (None, None)) - stored_take_action_outputs = self.last_take_action_outputs.get(global_id, None) + global_agent_id = get_global_agent_id(worker_id, step.agent_id) + global_group_id = get_global_group_id(worker_id, step.group_id) + stored_decision_step, idx = self._last_step_result.get( + global_agent_id, (None, None) + ) + stored_take_action_outputs = self._last_take_action_outputs.get( + global_agent_id, None + ) if not terminated: # Index is needed to grab from last_take_action_outputs - self.last_step_result[global_id] = (step, index) + self._last_step_result[global_agent_id] = (step, index) # This state is the consequence of a past action if stored_decision_step is not None and stored_take_action_outputs is not None: obs = stored_decision_step.obs if self.policy.use_recurrent: - memory = self.policy.retrieve_previous_memories([global_id])[0, :] + memory = self.policy.retrieve_previous_memories([global_agent_id])[0, :] else: memory = None done = terminated # Since this is an ongoing step @@ -143,7 +234,14 @@ def _process_step( discrete=stored_action_probs.discrete[idx], ) action_mask = stored_decision_step.action_mask - prev_action = self.policy.retrieve_previous_action([global_id])[0, :] + prev_action = self.policy.retrieve_previous_action([global_agent_id])[0, :] + + # Assemble teammate_obs. If none saved, then it will be an empty list. + group_statuses = [] + for _id, _mate_status in self._group_status[global_group_id].items(): + if _id != global_agent_id: + group_statuses.append(_mate_status) + experience = AgentExperience( obs=obs, reward=step.reward, @@ -154,45 +252,54 @@ def _process_step( prev_action=prev_action, interrupted=interrupted, memory=memory, + group_status=group_statuses, + group_reward=step.group_reward, ) # Add the value outputs if needed - self.experience_buffers[global_id].append(experience) - self.episode_rewards[global_id] += step.reward + self._experience_buffers[global_agent_id].append(experience) + self._episode_rewards[global_agent_id] += step.reward if not terminated: - self.episode_steps[global_id] += 1 + self._episode_steps[global_agent_id] += 1 # Add a trajectory segment to the buffer if terminal or the length has reached the time horizon if ( - len(self.experience_buffers[global_id]) >= self.max_trajectory_length + len(self._experience_buffers[global_agent_id]) + >= self._max_trajectory_length or terminated ): - # Make next AgentExperience next_obs = step.obs + next_group_obs = [] + for _id, _obs in self._current_group_obs[global_group_id].items(): + if _id != global_agent_id: + next_group_obs.append(_obs) + trajectory = Trajectory( - steps=self.experience_buffers[global_id], - agent_id=global_id, + steps=self._experience_buffers[global_agent_id], + agent_id=global_agent_id, next_obs=next_obs, - behavior_id=self.behavior_id, + next_group_obs=next_group_obs, + behavior_id=self._behavior_id, ) - for traj_queue in self.trajectory_queues: + for traj_queue in self._trajectory_queues: traj_queue.put(trajectory) - self.experience_buffers[global_id] = [] + self._experience_buffers[global_agent_id] = [] if terminated: # Record episode length. - self.stats_reporter.add_stat( - "Environment/Episode Length", self.episode_steps.get(global_id, 0) + self._stats_reporter.add_stat( + "Environment/Episode Length", + self._episode_steps.get(global_agent_id, 0), ) - self._clean_agent_data(global_id) + self._clean_agent_data(global_agent_id) - def _clean_agent_data(self, global_id: str) -> None: + def _clean_agent_data(self, global_id: GlobalAgentId) -> None: """ Removes the data for an Agent. """ - self._safe_delete(self.experience_buffers, global_id) - self._safe_delete(self.last_take_action_outputs, global_id) - self._safe_delete(self.last_step_result, global_id) - self._safe_delete(self.episode_steps, global_id) - self._safe_delete(self.episode_rewards, global_id) + self._safe_delete(self._experience_buffers, global_id) + self._safe_delete(self._last_take_action_outputs, global_id) + self._safe_delete(self._last_step_result, global_id) + self._safe_delete(self._episode_steps, global_id) + self._safe_delete(self._episode_rewards, global_id) self.policy.remove_previous_action([global_id]) self.policy.remove_memories([global_id]) @@ -212,14 +319,14 @@ def publish_trajectory_queue( assembles a Trajectory :param trajectory_queue: Trajectory queue to publish to. """ - self.trajectory_queues.append(trajectory_queue) + self._trajectory_queues.append(trajectory_queue) def end_episode(self) -> None: """ Ends the episode, terminating the current trajectory and stopping stats collection for that episode. Used for forceful reset (e.g. in curriculum or generalization training.) """ - all_gids = list(self.experience_buffers.keys()) # Need to make copy + all_gids = list(self._experience_buffers.keys()) # Need to make copy for _gid in all_gids: self._clean_agent_data(_gid) @@ -304,12 +411,12 @@ def __init__( super().__init__(policy, behavior_id, stats_reporter, max_trajectory_length) trajectory_queue_len = 20 if threaded else 0 self.trajectory_queue: AgentManagerQueue[Trajectory] = AgentManagerQueue( - self.behavior_id, maxlen=trajectory_queue_len + self._behavior_id, maxlen=trajectory_queue_len ) # NOTE: we make policy queues of infinite length to avoid lockups of the trainers. # In the environment manager, we make sure to empty the policy queue before continuing to produce steps. self.policy_queue: AgentManagerQueue[Policy] = AgentManagerQueue( - self.behavior_id, maxlen=0 + self._behavior_id, maxlen=0 ) self.publish_trajectory_queue(self.trajectory_queue) @@ -328,11 +435,11 @@ def record_environment_stats( for stat_name, value_list in env_stats.items(): for val, agg_type in value_list: if agg_type == StatsAggregationMethod.AVERAGE: - self.stats_reporter.add_stat(stat_name, val, agg_type) + self._stats_reporter.add_stat(stat_name, val, agg_type) elif agg_type == StatsAggregationMethod.SUM: - self.stats_reporter.add_stat(stat_name, val, agg_type) + self._stats_reporter.add_stat(stat_name, val, agg_type) elif agg_type == StatsAggregationMethod.MOST_RECENT: # In order to prevent conflicts between multiple environments, # only stats from the first environment are recorded. if worker_id == 0: - self.stats_reporter.set_stat(stat_name, val) + self._stats_reporter.set_stat(stat_name, val) diff --git a/ml-agents/mlagents/trainers/behavior_id_utils.py b/ml-agents/mlagents/trainers/behavior_id_utils.py index 78a3a6ed1c..a9a0b5a9e7 100644 --- a/ml-agents/mlagents/trainers/behavior_id_utils.py +++ b/ml-agents/mlagents/trainers/behavior_id_utils.py @@ -1,5 +1,9 @@ from typing import NamedTuple from urllib.parse import urlparse, parse_qs +from mlagents_envs.base_env import AgentId, GroupId + +GlobalGroupId = str +GlobalAgentId = str class BehaviorIdentifiers(NamedTuple): @@ -46,8 +50,15 @@ def create_name_behavior_id(name: str, team_id: int) -> str: return name + "?team=" + str(team_id) -def get_global_agent_id(worker_id: int, agent_id: int) -> str: +def get_global_agent_id(worker_id: int, agent_id: AgentId) -> GlobalAgentId: """ Create an agent id that is unique across environment workers using the worker_id. """ - return f"${worker_id}-{agent_id}" + return f"agent_{worker_id}-{agent_id}" + + +def get_global_group_id(worker_id: int, group_id: GroupId) -> GlobalGroupId: + """ + Create a group id that is unique across environment workers when using the worker_id. + """ + return f"group_{worker_id}-{group_id}" diff --git a/ml-agents/mlagents/trainers/buffer.py b/ml-agents/mlagents/trainers/buffer.py index 302fe418a0..0fd5cdaa3e 100644 --- a/ml-agents/mlagents/trainers/buffer.py +++ b/ml-agents/mlagents/trainers/buffer.py @@ -9,6 +9,10 @@ from mlagents_envs.exception import UnityException +# Elements in the buffer can be np.ndarray, or in the case of teammate obs, actions, rewards, +# a List of np.ndarray. This is done so that we don't have duplicated np.ndarrays, only references. +BufferEntry = Union[np.ndarray, List[np.ndarray]] + class BufferException(UnityException): """ @@ -21,24 +25,38 @@ class BufferException(UnityException): class BufferKey(enum.Enum): ACTION_MASK = "action_mask" CONTINUOUS_ACTION = "continuous_action" + NEXT_CONT_ACTION = "next_continuous_action" CONTINUOUS_LOG_PROBS = "continuous_log_probs" DISCRETE_ACTION = "discrete_action" + NEXT_DISC_ACTION = "next_discrete_action" DISCRETE_LOG_PROBS = "discrete_log_probs" DONE = "done" ENVIRONMENT_REWARDS = "environment_rewards" MASKS = "masks" MEMORY = "memory" CRITIC_MEMORY = "critic_memory" + BASELINE_MEMORY = "poca_baseline_memory" PREV_ACTION = "prev_action" ADVANTAGES = "advantages" DISCOUNTED_RETURNS = "discounted_returns" + GROUP_DONES = "group_dones" + GROUPMATE_REWARDS = "groupmate_reward" + GROUP_REWARD = "group_reward" + GROUP_CONTINUOUS_ACTION = "group_continuous_action" + GROUP_DISCRETE_ACTION = "group_discrete_aaction" + GROUP_NEXT_CONT_ACTION = "group_next_cont_action" + GROUP_NEXT_DISC_ACTION = "group_next_disc_action" + class ObservationKeyPrefix(enum.Enum): OBSERVATION = "obs" NEXT_OBSERVATION = "next_obs" + GROUP_OBSERVATION = "group_obs" + NEXT_GROUP_OBSERVATION = "next_group_obs" + class RewardSignalKeyPrefix(enum.Enum): # Reward signals @@ -46,6 +64,7 @@ class RewardSignalKeyPrefix(enum.Enum): VALUE_ESTIMATES = "value_estimates" RETURNS = "returns" ADVANTAGE = "advantage" + BASELINES = "baselines" AgentBufferKey = Union[ @@ -70,21 +89,39 @@ def returns_key(name: str) -> AgentBufferKey: def advantage_key(name: str) -> AgentBufferKey: return RewardSignalKeyPrefix.ADVANTAGE, name + @staticmethod + def baseline_estimates_key(name: str) -> AgentBufferKey: + return RewardSignalKeyPrefix.BASELINES, name + class AgentBufferField(list): """ - AgentBufferField is a list of numpy arrays. When an agent collects a field, you can add it to its - AgentBufferField with the append method. + AgentBufferField is a list of numpy arrays, or List[np.ndarray] for group entries. + When an agent collects a field, you can add it to its AgentBufferField with the append method. """ - def __init__(self): + def __init__(self, *args, **kwargs): self.padding_value = 0 - super().__init__() + super().__init__(*args, **kwargs) - def __str__(self): - return str(np.array(self).shape) + def __str__(self) -> str: + return f"AgentBufferField: {super().__str__()}" + + def __getitem__(self, index): + return_data = super().__getitem__(index) + if isinstance(return_data, list): + return AgentBufferField(return_data) + else: + return return_data + + @property + def contains_lists(self) -> bool: + """ + Checks whether this AgentBufferField contains List[np.ndarray]. + """ + return len(self) > 0 and isinstance(self[0], list) - def append(self, element: np.ndarray, padding_value: float = 0.0) -> None: + def append(self, element: BufferEntry, padding_value: float = 0.0) -> None: """ Adds an element to this list. Also lets you change the padding type, so that it can be set on append (e.g. action_masks should @@ -95,31 +132,20 @@ def append(self, element: np.ndarray, padding_value: float = 0.0) -> None: super().append(element) self.padding_value = padding_value - def extend(self, data: np.ndarray) -> None: - """ - Adds a list of np.arrays to the end of the list of np.arrays. - :param data: The np.array list to append. - """ - self += list(np.array(data, dtype=np.float32)) - - def set(self, data): + def set(self, data: List[BufferEntry]) -> None: """ - Sets the list of np.array to the input data - :param data: The np.array list to be set. + Sets the list of BufferEntry to the input data + :param data: The BufferEntry list to be set. """ - # Make sure we convert incoming data to float32 if it's a float - dtype = None - if data is not None and len(data) and isinstance(data[0], float): - dtype = np.float32 self[:] = [] - self[:] = list(np.array(data, dtype=dtype)) + self[:] = data def get_batch( self, batch_size: int = None, training_length: Optional[int] = 1, sequential: bool = True, - ) -> np.ndarray: + ) -> List[BufferEntry]: """ Retrieve the last batch_size elements of length training_length from the list of np.array @@ -149,14 +175,15 @@ def get_batch( " too large given the current number of data points." ) if batch_size * training_length > len(self): - padding = np.array(self[-1], dtype=np.float32) * self.padding_value - return np.array( - [padding] * (training_length - leftover) + self[:], dtype=np.float32 - ) + if self.contains_lists: + padding = [] + else: + # We want to duplicate the last value in the array, multiplied by the padding_value. + padding = np.array(self[-1], dtype=np.float32) * self.padding_value + return [padding] * (training_length - leftover) + self[:] + else: - return np.array( - self[len(self) - batch_size * training_length :], dtype=np.float32 - ) + return self[len(self) - batch_size * training_length :] else: # The sequences will have overlapping elements if batch_size is None: @@ -172,7 +199,7 @@ def get_batch( tmp_list: List[np.ndarray] = [] for end in range(len(self) - batch_size + 1, len(self) + 1): tmp_list += self[end - training_length : end] - return np.array(tmp_list, dtype=np.float32) + return tmp_list def reset_field(self) -> None: """ @@ -180,6 +207,44 @@ def reset_field(self) -> None: """ self[:] = [] + def padded_to_batch( + self, pad_value: np.float = 0, dtype: np.dtype = np.float32 + ) -> Union[np.ndarray, List[np.ndarray]]: + """ + Converts this AgentBufferField (which is a List[BufferEntry]) into a numpy array + with first dimension equal to the length of this AgentBufferField. If this AgentBufferField + contains a List[List[BufferEntry]] (i.e., in the case of group observations), return a List + containing numpy arrays or tensors, of length equal to the maximum length of an entry. Missing + For entries with less than that length, the array will be padded with pad_value. + :param pad_value: Value to pad List AgentBufferFields, when there are less than the maximum + number of agents present. + :param dtype: Dtype of output numpy array. + :return: Numpy array or List of numpy arrays representing this AgentBufferField, where the first + dimension is equal to the length of the AgentBufferField. + """ + if len(self) > 0 and not isinstance(self[0], list): + return np.asanyarray(self, dtype=dtype) + + shape = None + for _entry in self: + # _entry could be an empty list if there are no group agents in this + # step. Find the first non-empty list and use that shape. + if _entry: + shape = _entry[0].shape + break + # If there were no groupmate agents in the entire batch, return an empty List. + if shape is None: + return [] + + # Convert to numpy array while padding with 0's + new_list = list( + map( + lambda x: np.asanyarray(x, dtype=dtype), + itertools.zip_longest(*self, fillvalue=np.full(shape, pad_value)), + ) + ) + return new_list + class AgentBuffer(MutableMapping): """ diff --git a/ml-agents/mlagents/trainers/ghost/trainer.py b/ml-agents/mlagents/trainers/ghost/trainer.py index 82b1a82eb5..cd08ee24f0 100644 --- a/ml-agents/mlagents/trainers/ghost/trainer.py +++ b/ml-agents/mlagents/trainers/ghost/trainer.py @@ -192,7 +192,9 @@ def _process_trajectory(self, trajectory: Trajectory) -> None: """ if trajectory.done_reached: # Assumption is that final reward is >0/0/<0 for win/draw/loss - final_reward = trajectory.steps[-1].reward + final_reward = ( + trajectory.steps[-1].reward + trajectory.steps[-1].group_reward + ) result = 0.5 if final_reward > 0: result = 1.0 diff --git a/ml-agents/mlagents/trainers/optimizer/torch_optimizer.py b/ml-agents/mlagents/trainers/optimizer/torch_optimizer.py index 7ce18ac1bc..8609482b4c 100644 --- a/ml-agents/mlagents/trainers/optimizer/torch_optimizer.py +++ b/ml-agents/mlagents/trainers/optimizer/torch_optimizer.py @@ -10,7 +10,11 @@ from mlagents.trainers.policy.torch_policy import TorchPolicy from mlagents.trainers.optimizer import Optimizer -from mlagents.trainers.settings import TrainerSettings +from mlagents.trainers.settings import ( + TrainerSettings, + RewardSignalSettings, + RewardSignalType, +) from mlagents.trainers.torch.utils import ModelUtils @@ -44,7 +48,9 @@ def critic(self): def update(self, batch: AgentBuffer, num_sequences: int) -> Dict[str, float]: pass - def create_reward_signals(self, reward_signal_configs): + def create_reward_signals( + self, reward_signal_configs: Dict[RewardSignalType, RewardSignalSettings] + ) -> None: """ Create reward signals :param reward_signal_configs: Reward signal config. @@ -56,7 +62,7 @@ def create_reward_signals(self, reward_signal_configs): ) def _evaluate_by_sequence( - self, tensor_obs: List[torch.Tensor], initial_memory: np.ndarray + self, tensor_obs: List[torch.Tensor], initial_memory: torch.Tensor ) -> Tuple[Dict[str, torch.Tensor], AgentBufferField, torch.Tensor]: """ Evaluate a trajectory sequence-by-sequence, assembling the result. This enables us to get the @@ -78,10 +84,8 @@ def _evaluate_by_sequence( # Compute values for the potentially truncated initial sequence seq_obs = [] - first_seq_len = self.policy.sequence_length + first_seq_len = leftover if leftover > 0 else self.policy.sequence_length for _obs in tensor_obs: - if leftover > 0: - first_seq_len = leftover first_seq_obs = _obs[0:first_seq_len] seq_obs.append(first_seq_obs) @@ -106,13 +110,13 @@ def _evaluate_by_sequence( seq_obs = [] for _ in range(self.policy.sequence_length): all_next_memories.append(ModelUtils.to_numpy(_mem.squeeze())) + start = seq_num * self.policy.sequence_length - ( + self.policy.sequence_length - leftover + ) + end = (seq_num + 1) * self.policy.sequence_length - ( + self.policy.sequence_length - leftover + ) for _obs in tensor_obs: - start = seq_num * self.policy.sequence_length - ( - self.policy.sequence_length - leftover - ) - end = (seq_num + 1) * self.policy.sequence_length - ( - self.policy.sequence_length - leftover - ) seq_obs.append(_obs[start:end]) values, _mem = self.critic.critic_pass( seq_obs, _mem, sequence_length=self.policy.sequence_length @@ -166,18 +170,21 @@ def get_trajectory_value_estimates( # If we're using LSTM, we want to get all the intermediate memories. all_next_memories: Optional[AgentBufferField] = None - if self.policy.use_recurrent: - ( - value_estimates, - all_next_memories, - next_memory, - ) = self._evaluate_by_sequence(current_obs, memory) - else: - value_estimates, next_memory = self.critic.critic_pass( - current_obs, memory, sequence_length=batch.num_experiences - ) - # Store the memory for the next trajectory + # To prevent memory leak and improve performance, evaluate with no_grad. + with torch.no_grad(): + if self.policy.use_recurrent: + ( + value_estimates, + all_next_memories, + next_memory, + ) = self._evaluate_by_sequence(current_obs, memory) + else: + value_estimates, next_memory = self.critic.critic_pass( + current_obs, memory, sequence_length=batch.num_experiences + ) + + # Store the memory for the next trajectory. This should NOT have a gradient. self.critic_memory_dict[agent_id] = next_memory next_value_estimate, _ = self.critic.critic_pass( diff --git a/ml-agents/mlagents/trainers/poca/__init__.py b/ml-agents/mlagents/trainers/poca/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/ml-agents/mlagents/trainers/poca/optimizer_torch.py b/ml-agents/mlagents/trainers/poca/optimizer_torch.py new file mode 100644 index 0000000000..07ff16e1a2 --- /dev/null +++ b/ml-agents/mlagents/trainers/poca/optimizer_torch.py @@ -0,0 +1,674 @@ +from typing import Dict, cast, List, Tuple, Optional +from mlagents.trainers.torch.components.reward_providers.extrinsic_reward_provider import ( + ExtrinsicRewardProvider, +) +import numpy as np +import math +from mlagents.torch_utils import torch + +from mlagents.trainers.buffer import ( + AgentBuffer, + BufferKey, + RewardSignalUtil, + AgentBufferField, +) + +from mlagents_envs.timers import timed +from mlagents_envs.base_env import ObservationSpec, ActionSpec +from mlagents.trainers.policy.torch_policy import TorchPolicy +from mlagents.trainers.optimizer.torch_optimizer import TorchOptimizer +from mlagents.trainers.settings import ( + RewardSignalSettings, + RewardSignalType, + TrainerSettings, + POCASettings, +) +from mlagents.trainers.torch.networks import Critic, MultiAgentNetworkBody +from mlagents.trainers.torch.decoders import ValueHeads +from mlagents.trainers.torch.agent_action import AgentAction +from mlagents.trainers.torch.action_log_probs import ActionLogProbs +from mlagents.trainers.torch.utils import ModelUtils +from mlagents.trainers.trajectory import ObsUtil, GroupObsUtil +from mlagents.trainers.settings import NetworkSettings + +from mlagents_envs.logging_util import get_logger + +logger = get_logger(__name__) + + +class TorchPOCAOptimizer(TorchOptimizer): + class POCAValueNetwork(torch.nn.Module, Critic): + """ + The POCAValueNetwork uses the MultiAgentNetworkBody to compute the value + and POCA baseline for a variable number of agents in a group that all + share the same observation and action space. + """ + + def __init__( + self, + stream_names: List[str], + observation_specs: List[ObservationSpec], + network_settings: NetworkSettings, + action_spec: ActionSpec, + ): + torch.nn.Module.__init__(self) + self.network_body = MultiAgentNetworkBody( + observation_specs, network_settings, action_spec + ) + if network_settings.memory is not None: + encoding_size = network_settings.memory.memory_size // 2 + else: + encoding_size = network_settings.hidden_units + + self.value_heads = ValueHeads(stream_names, encoding_size, 1) + + @property + def memory_size(self) -> int: + return self.network_body.memory_size + + def update_normalization(self, buffer: AgentBuffer) -> None: + self.network_body.update_normalization(buffer) + + def baseline( + self, + obs_without_actions: List[torch.Tensor], + obs_with_actions: Tuple[List[List[torch.Tensor]], List[AgentAction]], + memories: Optional[torch.Tensor] = None, + sequence_length: int = 1, + ) -> Tuple[Dict[str, torch.Tensor], torch.Tensor]: + """ + The POCA baseline marginalizes the action of the agent associated with self_obs. + It calls the forward pass of the MultiAgentNetworkBody with the state action + pairs of groupmates but just the state of the agent in question. + :param obs_without_actions: The obs of the agent for which to compute the baseline. + :param obs_with_actions: Tuple of observations and actions for all groupmates. + :param memories: If using memory, a Tensor of initial memories. + :param sequence_length: If using memory, the sequence length. + + :return: A Tuple of Dict of reward stream to tensor and critic memories. + """ + (obs, actions) = obs_with_actions + encoding, memories = self.network_body( + obs_only=[obs_without_actions], + obs=obs, + actions=actions, + memories=memories, + sequence_length=sequence_length, + ) + value_outputs, critic_mem_out = self.forward( + encoding, memories, sequence_length + ) + return value_outputs, critic_mem_out + + def critic_pass( + self, + obs: List[List[torch.Tensor]], + memories: Optional[torch.Tensor] = None, + sequence_length: int = 1, + ) -> Tuple[Dict[str, torch.Tensor], torch.Tensor]: + """ + A centralized value function. It calls the forward pass of MultiAgentNetworkBody + with just the states of all agents. + :param obs: List of observations for all agents in group + :param memories: If using memory, a Tensor of initial memories. + :param sequence_length: If using memory, the sequence length. + :return: A Tuple of Dict of reward stream to tensor and critic memories. + """ + encoding, memories = self.network_body( + obs_only=obs, + obs=[], + actions=[], + memories=memories, + sequence_length=sequence_length, + ) + value_outputs, critic_mem_out = self.forward( + encoding, memories, sequence_length + ) + return value_outputs, critic_mem_out + + def forward( + self, + encoding: torch.Tensor, + memories: Optional[torch.Tensor] = None, + sequence_length: int = 1, + ) -> Tuple[torch.Tensor, torch.Tensor]: + + output = self.value_heads(encoding) + return output, memories + + def __init__(self, policy: TorchPolicy, trainer_settings: TrainerSettings): + """ + Takes a Policy and a Dict of trainer parameters and creates an Optimizer around the policy. + :param policy: A TorchPolicy object that will be updated by this POCA Optimizer. + :param trainer_params: Trainer parameters dictionary that specifies the + properties of the trainer. + """ + # Create the graph here to give more granular control of the TF graph to the Optimizer. + + super().__init__(policy, trainer_settings) + reward_signal_configs = trainer_settings.reward_signals + reward_signal_names = [key.value for key, _ in reward_signal_configs.items()] + + self._critic = TorchPOCAOptimizer.POCAValueNetwork( + reward_signal_names, + policy.behavior_spec.observation_specs, + network_settings=trainer_settings.network_settings, + action_spec=policy.behavior_spec.action_spec, + ) + + params = list(self.policy.actor.parameters()) + list(self.critic.parameters()) + self.hyperparameters: POCASettings = cast( + POCASettings, trainer_settings.hyperparameters + ) + self.decay_learning_rate = ModelUtils.DecayedValue( + self.hyperparameters.learning_rate_schedule, + self.hyperparameters.learning_rate, + 1e-10, + self.trainer_settings.max_steps, + ) + self.decay_epsilon = ModelUtils.DecayedValue( + self.hyperparameters.learning_rate_schedule, + self.hyperparameters.epsilon, + 0.1, + self.trainer_settings.max_steps, + ) + self.decay_beta = ModelUtils.DecayedValue( + self.hyperparameters.learning_rate_schedule, + self.hyperparameters.beta, + 1e-5, + self.trainer_settings.max_steps, + ) + + self.optimizer = torch.optim.Adam( + params, lr=self.trainer_settings.hyperparameters.learning_rate + ) + self.stats_name_to_update_name = { + "Losses/Value Loss": "value_loss", + "Losses/Policy Loss": "policy_loss", + } + + self.stream_names = list(self.reward_signals.keys()) + self.value_memory_dict: Dict[str, torch.Tensor] = {} + self.baseline_memory_dict: Dict[str, torch.Tensor] = {} + + def create_reward_signals( + self, reward_signal_configs: Dict[RewardSignalType, RewardSignalSettings] + ) -> None: + """ + Create reward signals. Override default to provide warnings for Curiosity and + GAIL, and make sure Extrinsic adds team rewards. + :param reward_signal_configs: Reward signal config. + """ + for reward_signal in reward_signal_configs.keys(): + if reward_signal != RewardSignalType.EXTRINSIC: + logger.warning( + f"Reward signal {reward_signal.value.capitalize()} is not supported with the POCA trainer; " + "results may be unexpected." + ) + super().create_reward_signals(reward_signal_configs) + # Make sure we add the groupmate rewards in POCA, so agents learn how to help each + # other achieve individual rewards as well + for reward_provider in self.reward_signals.values(): + if isinstance(reward_provider, ExtrinsicRewardProvider): + reward_provider.add_groupmate_rewards = True + + @property + def critic(self): + return self._critic + + @timed + def update(self, batch: AgentBuffer, num_sequences: int) -> Dict[str, float]: + """ + Performs update on model. + :param batch: Batch of experiences. + :param num_sequences: Number of sequences to process. + :return: Results of update. + """ + # Get decayed parameters + decay_lr = self.decay_learning_rate.get_value(self.policy.get_current_step()) + decay_eps = self.decay_epsilon.get_value(self.policy.get_current_step()) + decay_bet = self.decay_beta.get_value(self.policy.get_current_step()) + returns = {} + old_values = {} + old_baseline_values = {} + for name in self.reward_signals: + old_values[name] = ModelUtils.list_to_tensor( + batch[RewardSignalUtil.value_estimates_key(name)] + ) + returns[name] = ModelUtils.list_to_tensor( + batch[RewardSignalUtil.returns_key(name)] + ) + old_baseline_values[name] = ModelUtils.list_to_tensor( + batch[RewardSignalUtil.baseline_estimates_key(name)] + ) + + n_obs = len(self.policy.behavior_spec.observation_specs) + current_obs = ObsUtil.from_buffer(batch, n_obs) + # Convert to tensors + current_obs = [ModelUtils.list_to_tensor(obs) for obs in current_obs] + groupmate_obs = GroupObsUtil.from_buffer(batch, n_obs) + groupmate_obs = [ + [ModelUtils.list_to_tensor(obs) for obs in _groupmate_obs] + for _groupmate_obs in groupmate_obs + ] + + act_masks = ModelUtils.list_to_tensor(batch[BufferKey.ACTION_MASK]) + actions = AgentAction.from_buffer(batch) + groupmate_actions = AgentAction.group_from_buffer(batch) + + memories = [ + ModelUtils.list_to_tensor(batch[BufferKey.MEMORY][i]) + for i in range(0, len(batch[BufferKey.MEMORY]), self.policy.sequence_length) + ] + if len(memories) > 0: + memories = torch.stack(memories).unsqueeze(0) + value_memories = [ + ModelUtils.list_to_tensor(batch[BufferKey.CRITIC_MEMORY][i]) + for i in range( + 0, len(batch[BufferKey.CRITIC_MEMORY]), self.policy.sequence_length + ) + ] + + baseline_memories = [ + ModelUtils.list_to_tensor(batch[BufferKey.BASELINE_MEMORY][i]) + for i in range( + 0, len(batch[BufferKey.BASELINE_MEMORY]), self.policy.sequence_length + ) + ] + + if len(value_memories) > 0: + value_memories = torch.stack(value_memories).unsqueeze(0) + baseline_memories = torch.stack(baseline_memories).unsqueeze(0) + + log_probs, entropy = self.policy.evaluate_actions( + current_obs, + masks=act_masks, + actions=actions, + memories=memories, + seq_len=self.policy.sequence_length, + ) + all_obs = [current_obs] + groupmate_obs + values, _ = self.critic.critic_pass( + all_obs, + memories=value_memories, + sequence_length=self.policy.sequence_length, + ) + groupmate_obs_and_actions = (groupmate_obs, groupmate_actions) + baselines, _ = self.critic.baseline( + current_obs, + groupmate_obs_and_actions, + memories=baseline_memories, + sequence_length=self.policy.sequence_length, + ) + old_log_probs = ActionLogProbs.from_buffer(batch).flatten() + log_probs = log_probs.flatten() + loss_masks = ModelUtils.list_to_tensor(batch[BufferKey.MASKS], dtype=torch.bool) + + baseline_loss = ModelUtils.trust_region_value_loss( + baselines, old_baseline_values, returns, decay_eps, loss_masks + ) + value_loss = ModelUtils.trust_region_value_loss( + values, old_values, returns, decay_eps, loss_masks + ) + policy_loss = ModelUtils.trust_region_policy_loss( + ModelUtils.list_to_tensor(batch[BufferKey.ADVANTAGES]), + log_probs, + old_log_probs, + loss_masks, + decay_eps, + ) + loss = ( + policy_loss + + 0.5 * (value_loss + 0.5 * baseline_loss) + - decay_bet * ModelUtils.masked_mean(entropy, loss_masks) + ) + + # Set optimizer learning rate + ModelUtils.update_learning_rate(self.optimizer, decay_lr) + self.optimizer.zero_grad() + loss.backward() + + self.optimizer.step() + update_stats = { + # NOTE: abs() is not technically correct, but matches the behavior in TensorFlow. + # TODO: After PyTorch is default, change to something more correct. + "Losses/Policy Loss": torch.abs(policy_loss).item(), + "Losses/Value Loss": value_loss.item(), + "Losses/Baseline Loss": baseline_loss.item(), + "Policy/Learning Rate": decay_lr, + "Policy/Epsilon": decay_eps, + "Policy/Beta": decay_bet, + } + + for reward_provider in self.reward_signals.values(): + update_stats.update(reward_provider.update(batch)) + + return update_stats + + def get_modules(self): + modules = {"Optimizer:adam": self.optimizer, "Optimizer:critic": self._critic} + for reward_provider in self.reward_signals.values(): + modules.update(reward_provider.get_modules()) + return modules + + def _evaluate_by_sequence_team( + self, + self_obs: List[torch.Tensor], + obs: List[List[torch.Tensor]], + actions: List[AgentAction], + init_value_mem: torch.Tensor, + init_baseline_mem: torch.Tensor, + ) -> Tuple[ + Dict[str, torch.Tensor], + Dict[str, torch.Tensor], + AgentBufferField, + AgentBufferField, + torch.Tensor, + torch.Tensor, + ]: + """ + Evaluate a trajectory sequence-by-sequence, assembling the result. This enables us to get the + intermediate memories for the critic. + :param tensor_obs: A List of tensors of shape (trajectory_len, ) that are the agent's + observations for this trajectory. + :param initial_memory: The memory that preceeds this trajectory. Of shape (1,1,), i.e. + what is returned as the output of a MemoryModules. + :return: A Tuple of the value estimates as a Dict of [name, tensor], an AgentBufferField of the initial + memories to be used during value function update, and the final memory at the end of the trajectory. + """ + num_experiences = self_obs[0].shape[0] + all_next_value_mem = AgentBufferField() + all_next_baseline_mem = AgentBufferField() + # In the buffer, the 1st sequence are the ones that are padded. So if seq_len = 3 and + # trajectory is of length 10, the 1st sequence is [pad,pad,obs]. + # Compute the number of elements in this padded seq. + leftover = num_experiences % self.policy.sequence_length + + # Compute values for the potentially truncated initial sequence + + first_seq_len = leftover if leftover > 0 else self.policy.sequence_length + + self_seq_obs = [] + groupmate_seq_obs = [] + groupmate_seq_act = [] + seq_obs = [] + for _self_obs in self_obs: + first_seq_obs = _self_obs[0:first_seq_len] + seq_obs.append(first_seq_obs) + self_seq_obs.append(seq_obs) + + for groupmate_obs, groupmate_action in zip(obs, actions): + seq_obs = [] + for _obs in groupmate_obs: + first_seq_obs = _obs[0:first_seq_len] + seq_obs.append(first_seq_obs) + groupmate_seq_obs.append(seq_obs) + _act = groupmate_action.slice(0, first_seq_len) + groupmate_seq_act.append(_act) + + # For the first sequence, the initial memory should be the one at the + # beginning of this trajectory. + for _ in range(first_seq_len): + all_next_value_mem.append(ModelUtils.to_numpy(init_value_mem.squeeze())) + all_next_baseline_mem.append( + ModelUtils.to_numpy(init_baseline_mem.squeeze()) + ) + + all_seq_obs = self_seq_obs + groupmate_seq_obs + init_values, _value_mem = self.critic.critic_pass( + all_seq_obs, init_value_mem, sequence_length=first_seq_len + ) + all_values = { + signal_name: [init_values[signal_name]] + for signal_name in init_values.keys() + } + + groupmate_obs_and_actions = (groupmate_seq_obs, groupmate_seq_act) + init_baseline, _baseline_mem = self.critic.baseline( + self_seq_obs[0], + groupmate_obs_and_actions, + init_baseline_mem, + sequence_length=first_seq_len, + ) + all_baseline = { + signal_name: [init_baseline[signal_name]] + for signal_name in init_baseline.keys() + } + + # Evaluate other trajectories, carrying over _mem after each + # trajectory + for seq_num in range( + 1, math.ceil((num_experiences) / (self.policy.sequence_length)) + ): + for _ in range(self.policy.sequence_length): + all_next_value_mem.append(ModelUtils.to_numpy(_value_mem.squeeze())) + all_next_baseline_mem.append( + ModelUtils.to_numpy(_baseline_mem.squeeze()) + ) + + start = seq_num * self.policy.sequence_length - ( + self.policy.sequence_length - leftover + ) + end = (seq_num + 1) * self.policy.sequence_length - ( + self.policy.sequence_length - leftover + ) + + self_seq_obs = [] + groupmate_seq_obs = [] + groupmate_seq_act = [] + seq_obs = [] + for _self_obs in self_obs: + seq_obs.append(_obs[start:end]) + self_seq_obs.append(seq_obs) + + for groupmate_obs, team_action in zip(obs, actions): + seq_obs = [] + for (_obs,) in groupmate_obs: + first_seq_obs = _obs[start:end] + seq_obs.append(first_seq_obs) + groupmate_seq_obs.append(seq_obs) + _act = team_action.slice(start, end) + groupmate_seq_act.append(_act) + + all_seq_obs = self_seq_obs + groupmate_seq_obs + values, _value_mem = self.critic.critic_pass( + all_seq_obs, _value_mem, sequence_length=self.policy.sequence_length + ) + all_values = { + signal_name: [init_values[signal_name]] for signal_name in values.keys() + } + + groupmate_obs_and_actions = (groupmate_seq_obs, groupmate_seq_act) + baselines, _baseline_mem = self.critic.baseline( + self_seq_obs[0], + groupmate_obs_and_actions, + _baseline_mem, + sequence_length=first_seq_len, + ) + all_baseline = { + signal_name: [baselines[signal_name]] + for signal_name in baselines.keys() + } + # Create one tensor per reward signal + all_value_tensors = { + signal_name: torch.cat(value_list, dim=0) + for signal_name, value_list in all_values.items() + } + all_baseline_tensors = { + signal_name: torch.cat(baseline_list, dim=0) + for signal_name, baseline_list in all_baseline.items() + } + next_value_mem = _value_mem + next_baseline_mem = _baseline_mem + return ( + all_value_tensors, + all_baseline_tensors, + all_next_value_mem, + all_next_baseline_mem, + next_value_mem, + next_baseline_mem, + ) + + def get_trajectory_value_estimates( + self, + batch: AgentBuffer, + next_obs: List[np.ndarray], + done: bool, + agent_id: str = "", + ) -> Tuple[Dict[str, np.ndarray], Dict[str, float], Optional[AgentBufferField]]: + """ + Override base class method. Unused in the trainer, but needed to make sure class heirarchy is maintained. + Assume that there are no group obs. + """ + ( + value_estimates, + _, + next_value_estimates, + all_next_value_mem, + _, + ) = self.get_trajectory_and_baseline_value_estimates( + batch, next_obs, [], done, agent_id + ) + + return value_estimates, next_value_estimates, all_next_value_mem + + def get_trajectory_and_baseline_value_estimates( + self, + batch: AgentBuffer, + next_obs: List[np.ndarray], + next_groupmate_obs: List[List[np.ndarray]], + done: bool, + agent_id: str = "", + ) -> Tuple[ + Dict[str, np.ndarray], + Dict[str, np.ndarray], + Dict[str, float], + Optional[AgentBufferField], + Optional[AgentBufferField], + ]: + """ + Get value estimates, baseline estimates, and memories for a trajectory, in batch form. + :param batch: An AgentBuffer that consists of a trajectory. + :param next_obs: the next observation (after the trajectory). Used for boostrapping + if this is not a termiinal trajectory. + :param next_groupmate_obs: the next observations from other members of the group. + :param done: Set true if this is a terminal trajectory. + :param agent_id: Agent ID of the agent that this trajectory belongs to. + :returns: A Tuple of the Value Estimates as a Dict of [name, np.ndarray(trajectory_len)], + the baseline estimates as a Dict, the final value estimate as a Dict of [name, float], and + optionally (if using memories) an AgentBufferField of initial critic and baseline memories to be used + during update. + """ + + n_obs = len(self.policy.behavior_spec.observation_specs) + + current_obs = ObsUtil.from_buffer(batch, n_obs) + groupmate_obs = GroupObsUtil.from_buffer(batch, n_obs) + + current_obs = [ModelUtils.list_to_tensor(obs) for obs in current_obs] + groupmate_obs = [ + [ModelUtils.list_to_tensor(obs) for obs in _groupmate_obs] + for _groupmate_obs in groupmate_obs + ] + + groupmate_actions = AgentAction.group_from_buffer(batch) + + next_obs = [ModelUtils.list_to_tensor(obs) for obs in next_obs] + next_obs = [obs.unsqueeze(0) for obs in next_obs] + + next_groupmate_obs = [ + ModelUtils.list_to_tensor_list(_list_obs) + for _list_obs in next_groupmate_obs + ] + # Expand dimensions of next critic obs + next_groupmate_obs = [ + [_obs.unsqueeze(0) for _obs in _list_obs] + for _list_obs in next_groupmate_obs + ] + + if agent_id in self.value_memory_dict: + # The agent_id should always be in both since they are added together + _init_value_mem = self.value_memory_dict[agent_id] + _init_baseline_mem = self.baseline_memory_dict[agent_id] + else: + _init_value_mem = ( + torch.zeros((1, 1, self.critic.memory_size)) + if self.policy.use_recurrent + else None + ) + _init_baseline_mem = ( + torch.zeros((1, 1, self.critic.memory_size)) + if self.policy.use_recurrent + else None + ) + + all_obs = ( + [current_obs] + groupmate_obs + if groupmate_obs is not None + else [current_obs] + ) + all_next_value_mem: Optional[AgentBufferField] = None + all_next_baseline_mem: Optional[AgentBufferField] = None + with torch.no_grad(): + if self.policy.use_recurrent: + ( + value_estimates, + baseline_estimates, + all_next_value_mem, + all_next_baseline_mem, + next_value_mem, + next_baseline_mem, + ) = self._evaluate_by_sequence_team( + current_obs, + groupmate_obs, + groupmate_actions, + _init_value_mem, + _init_baseline_mem, + ) + else: + value_estimates, next_value_mem = self.critic.critic_pass( + all_obs, _init_value_mem, sequence_length=batch.num_experiences + ) + groupmate_obs_and_actions = (groupmate_obs, groupmate_actions) + baseline_estimates, next_baseline_mem = self.critic.baseline( + current_obs, + groupmate_obs_and_actions, + _init_baseline_mem, + sequence_length=batch.num_experiences, + ) + # Store the memory for the next trajectory + self.value_memory_dict[agent_id] = next_value_mem + self.baseline_memory_dict[agent_id] = next_baseline_mem + + all_next_obs = ( + [next_obs] + next_groupmate_obs + if next_groupmate_obs is not None + else [next_obs] + ) + + next_value_estimates, _ = self.critic.critic_pass( + all_next_obs, next_value_mem, sequence_length=1 + ) + + for name, estimate in baseline_estimates.items(): + baseline_estimates[name] = ModelUtils.to_numpy(estimate) + + for name, estimate in value_estimates.items(): + value_estimates[name] = ModelUtils.to_numpy(estimate) + + # the base line and V shpuld not be on the same done flag + for name, estimate in next_value_estimates.items(): + next_value_estimates[name] = ModelUtils.to_numpy(estimate) + + if done: + for k in next_value_estimates: + if not self.reward_signals[k].ignore_done: + next_value_estimates[k][-1] = 0.0 + + return ( + value_estimates, + baseline_estimates, + next_value_estimates, + all_next_value_mem, + all_next_baseline_mem, + ) diff --git a/ml-agents/mlagents/trainers/poca/trainer.py b/ml-agents/mlagents/trainers/poca/trainer.py new file mode 100644 index 0000000000..9ded567499 --- /dev/null +++ b/ml-agents/mlagents/trainers/poca/trainer.py @@ -0,0 +1,319 @@ +# # Unity ML-Agents Toolkit +# ## ML-Agents Learning (POCA) +# Contains an implementation of MA-POCA. + +from collections import defaultdict +from typing import cast, Dict + +import numpy as np + +from mlagents_envs.side_channel.stats_side_channel import StatsAggregationMethod +from mlagents_envs.logging_util import get_logger +from mlagents_envs.base_env import BehaviorSpec +from mlagents.trainers.buffer import BufferKey, RewardSignalUtil +from mlagents.trainers.trainer.rl_trainer import RLTrainer +from mlagents.trainers.policy import Policy +from mlagents.trainers.policy.torch_policy import TorchPolicy +from mlagents.trainers.poca.optimizer_torch import TorchPOCAOptimizer +from mlagents.trainers.trajectory import Trajectory +from mlagents.trainers.behavior_id_utils import BehaviorIdentifiers +from mlagents.trainers.settings import TrainerSettings, POCASettings + +logger = get_logger(__name__) + + +class POCATrainer(RLTrainer): + """The POCATrainer is an implementation of the MA-POCA algorithm.""" + + def __init__( + self, + behavior_name: str, + reward_buff_cap: int, + trainer_settings: TrainerSettings, + training: bool, + load: bool, + seed: int, + artifact_path: str, + ): + """ + Responsible for collecting experiences and training POCA model. + :param behavior_name: The name of the behavior associated with trainer config + :param reward_buff_cap: Max reward history to track in the reward buffer + :param trainer_settings: The parameters for the trainer. + :param training: Whether the trainer is set for training. + :param load: Whether the model should be loaded. + :param seed: The seed the model will be initialized with + :param artifact_path: The directory within which to store artifacts from this trainer. + """ + super().__init__( + behavior_name, + trainer_settings, + training, + load, + artifact_path, + reward_buff_cap, + ) + self.hyperparameters: POCASettings = cast( + POCASettings, self.trainer_settings.hyperparameters + ) + self.seed = seed + self.policy: TorchPolicy = None # type: ignore + self.collected_group_rewards: Dict[str, int] = defaultdict(lambda: 0) + + def _process_trajectory(self, trajectory: Trajectory) -> None: + """ + Takes a trajectory and processes it, putting it into the update buffer. + Processing involves calculating value and advantage targets for model updating step. + :param trajectory: The Trajectory tuple containing the steps to be processed. + """ + super()._process_trajectory(trajectory) + agent_id = trajectory.agent_id # All the agents should have the same ID + + agent_buffer_trajectory = trajectory.to_agentbuffer() + # Update the normalization + if self.is_training: + self.policy.update_normalization(agent_buffer_trajectory) + + # Get all value estimates + ( + value_estimates, + baseline_estimates, + value_next, + value_memories, + baseline_memories, + ) = self.optimizer.get_trajectory_and_baseline_value_estimates( + agent_buffer_trajectory, + trajectory.next_obs, + trajectory.next_group_obs, + trajectory.all_group_dones_reached + and trajectory.done_reached + and not trajectory.interrupted, + ) + + if value_memories is not None and baseline_memories is not None: + agent_buffer_trajectory[BufferKey.CRITIC_MEMORY].set(value_memories) + agent_buffer_trajectory[BufferKey.BASELINE_MEMORY].set(baseline_memories) + + for name, v in value_estimates.items(): + agent_buffer_trajectory[RewardSignalUtil.value_estimates_key(name)].extend( + v + ) + agent_buffer_trajectory[ + RewardSignalUtil.baseline_estimates_key(name) + ].extend(baseline_estimates[name]) + self._stats_reporter.add_stat( + f"Policy/{self.optimizer.reward_signals[name].name.capitalize()} Baseline Estimate", + np.mean(baseline_estimates[name]), + ) + self._stats_reporter.add_stat( + f"Policy/{self.optimizer.reward_signals[name].name.capitalize()} Value Estimate", + np.mean(value_estimates[name]), + ) + + self.collected_rewards["environment"][agent_id] += np.sum( + agent_buffer_trajectory[BufferKey.ENVIRONMENT_REWARDS] + ) + self.collected_group_rewards[agent_id] += np.sum( + agent_buffer_trajectory[BufferKey.GROUP_REWARD] + ) + for name, reward_signal in self.optimizer.reward_signals.items(): + evaluate_result = ( + reward_signal.evaluate(agent_buffer_trajectory) * reward_signal.strength + ) + agent_buffer_trajectory[RewardSignalUtil.rewards_key(name)].extend( + evaluate_result + ) + # Report the reward signals + self.collected_rewards[name][agent_id] += np.sum(evaluate_result) + + # Compute lambda returns and advantage + tmp_advantages = [] + for name in self.optimizer.reward_signals: + + local_rewards = np.array( + agent_buffer_trajectory[RewardSignalUtil.rewards_key(name)].get_batch(), + dtype=np.float32, + ) + + baseline_estimate = agent_buffer_trajectory[ + RewardSignalUtil.baseline_estimates_key(name) + ].get_batch() + v_estimates = agent_buffer_trajectory[ + RewardSignalUtil.value_estimates_key(name) + ].get_batch() + + lambd_returns = lambda_return( + r=local_rewards, + value_estimates=v_estimates, + gamma=self.optimizer.reward_signals[name].gamma, + lambd=self.hyperparameters.lambd, + value_next=value_next[name], + ) + + local_advantage = np.array(lambd_returns) - np.array(baseline_estimate) + + agent_buffer_trajectory[RewardSignalUtil.returns_key(name)].set( + lambd_returns + ) + agent_buffer_trajectory[RewardSignalUtil.advantage_key(name)].set( + local_advantage + ) + tmp_advantages.append(local_advantage) + + # Get global advantages + global_advantages = list( + np.mean(np.array(tmp_advantages, dtype=np.float32), axis=0) + ) + agent_buffer_trajectory[BufferKey.ADVANTAGES].set(global_advantages) + + # Append to update buffer + agent_buffer_trajectory.resequence_and_append( + self.update_buffer, training_length=self.policy.sequence_length + ) + + # If this was a terminal trajectory, append stats and reset reward collection + if trajectory.done_reached: + self._update_end_episode_stats(agent_id, self.optimizer) + # Remove dead agents from group reward recording + if not trajectory.all_group_dones_reached: + self.collected_group_rewards.pop(agent_id) + + # If the whole team is done, average the remaining group rewards. + if trajectory.all_group_dones_reached and trajectory.done_reached: + self.stats_reporter.add_stat( + "Environment/Group Cumulative Reward", + self.collected_group_rewards.get(agent_id, 0), + aggregation=StatsAggregationMethod.HISTOGRAM, + ) + self.collected_group_rewards.pop(agent_id) + + def _is_ready_update(self): + """ + Returns whether or not the trainer has enough elements to run update model + :return: A boolean corresponding to whether or not update_model() can be run + """ + size_of_buffer = self.update_buffer.num_experiences + return size_of_buffer > self.hyperparameters.buffer_size + + def _update_policy(self): + """ + Uses demonstration_buffer to update the policy. + The reward signal generators must be updated in this method at their own pace. + """ + buffer_length = self.update_buffer.num_experiences + self.cumulative_returns_since_policy_update.clear() + + # Make sure batch_size is a multiple of sequence length. During training, we + # will need to reshape the data into a batch_size x sequence_length tensor. + batch_size = ( + self.hyperparameters.batch_size + - self.hyperparameters.batch_size % self.policy.sequence_length + ) + # Make sure there is at least one sequence + batch_size = max(batch_size, self.policy.sequence_length) + + n_sequences = max( + int(self.hyperparameters.batch_size / self.policy.sequence_length), 1 + ) + + advantages = np.array( + self.update_buffer[BufferKey.ADVANTAGES].get_batch(), dtype=np.float32 + ) + self.update_buffer[BufferKey.ADVANTAGES].set( + (advantages - advantages.mean()) / (advantages.std() + 1e-10) + ) + num_epoch = self.hyperparameters.num_epoch + batch_update_stats = defaultdict(list) + for _ in range(num_epoch): + self.update_buffer.shuffle(sequence_length=self.policy.sequence_length) + buffer = self.update_buffer + max_num_batch = buffer_length // batch_size + for i in range(0, max_num_batch * batch_size, batch_size): + update_stats = self.optimizer.update( + buffer.make_mini_batch(i, i + batch_size), n_sequences + ) + for stat_name, value in update_stats.items(): + batch_update_stats[stat_name].append(value) + + for stat, stat_list in batch_update_stats.items(): + self._stats_reporter.add_stat(stat, np.mean(stat_list)) + + if self.optimizer.bc_module: + update_stats = self.optimizer.bc_module.update() + for stat, val in update_stats.items(): + self._stats_reporter.add_stat(stat, val) + self._clear_update_buffer() + return True + + def end_episode(self) -> None: + """ + A signal that the Episode has ended. The buffer must be reset. + Get only called when the academy resets. For POCA, we should + also zero out the group rewards. + """ + super().end_episode() + self.collected_group_rewards.clear() + + def create_torch_policy( + self, parsed_behavior_id: BehaviorIdentifiers, behavior_spec: BehaviorSpec + ) -> TorchPolicy: + """ + Creates a policy with a PyTorch backend and POCA hyperparameters + :param parsed_behavior_id: + :param behavior_spec: specifications for policy construction + :return policy + """ + policy = TorchPolicy( + self.seed, + behavior_spec, + self.trainer_settings, + condition_sigma_on_obs=False, # Faster training for POCA + separate_critic=True, # Match network architecture with TF + ) + return policy + + def create_poca_optimizer(self) -> TorchPOCAOptimizer: + return TorchPOCAOptimizer(self.policy, self.trainer_settings) + + def add_policy( + self, parsed_behavior_id: BehaviorIdentifiers, policy: Policy + ) -> None: + """ + Adds policy to trainer. + :param parsed_behavior_id: Behavior identifiers that the policy should belong to. + :param policy: Policy to associate with name_behavior_id. + """ + if not isinstance(policy, TorchPolicy): + raise RuntimeError(f"policy {policy} must be an instance of TorchPolicy.") + self.policy = policy + self.policies[parsed_behavior_id.behavior_id] = policy + self.optimizer = self.create_poca_optimizer() + for _reward_signal in self.optimizer.reward_signals.keys(): + self.collected_rewards[_reward_signal] = defaultdict(lambda: 0) + + self.model_saver.register(self.policy) + self.model_saver.register(self.optimizer) + self.model_saver.initialize_or_load() + + # Needed to resume loads properly + self._step = policy.get_current_step() + + def get_policy(self, name_behavior_id: str) -> Policy: + """ + Gets policy from trainer associated with name_behavior_id + :param name_behavior_id: full identifier of policy + """ + + return self.policy + + +def lambda_return(r, value_estimates, gamma=0.99, lambd=0.8, value_next=0.0): + returns = np.zeros_like(r) + returns[-1] = r[-1] + gamma * value_next + for t in reversed(range(0, r.size - 1)): + returns[t] = ( + gamma * lambd * returns[t + 1] + + r[t] + + (1 - lambd) * gamma * value_estimates[t + 1] + ) + return returns diff --git a/ml-agents/mlagents/trainers/policy/policy.py b/ml-agents/mlagents/trainers/policy/policy.py index 068c989d85..dbf899af7f 100644 --- a/ml-agents/mlagents/trainers/policy/policy.py +++ b/ml-agents/mlagents/trainers/policy/policy.py @@ -8,6 +8,7 @@ from mlagents.trainers.action_info import ActionInfo from mlagents.trainers.settings import TrainerSettings, NetworkSettings from mlagents.trainers.buffer import AgentBuffer +from mlagents.trainers.behavior_id_utils import GlobalAgentId class UnityPolicyException(UnityException): @@ -68,7 +69,7 @@ def make_empty_memory(self, num_agents): return np.zeros((num_agents, self.m_size), dtype=np.float32) def save_memories( - self, agent_ids: List[str], memory_matrix: Optional[np.ndarray] + self, agent_ids: List[GlobalAgentId], memory_matrix: Optional[np.ndarray] ) -> None: if memory_matrix is None: return @@ -81,21 +82,21 @@ def save_memories( for index, agent_id in enumerate(agent_ids): self.memory_dict[agent_id] = memory_matrix[index, :] - def retrieve_memories(self, agent_ids: List[str]) -> np.ndarray: + def retrieve_memories(self, agent_ids: List[GlobalAgentId]) -> np.ndarray: memory_matrix = np.zeros((len(agent_ids), self.m_size), dtype=np.float32) for index, agent_id in enumerate(agent_ids): if agent_id in self.memory_dict: memory_matrix[index, :] = self.memory_dict[agent_id] return memory_matrix - def retrieve_previous_memories(self, agent_ids: List[str]) -> np.ndarray: + def retrieve_previous_memories(self, agent_ids: List[GlobalAgentId]) -> np.ndarray: memory_matrix = np.zeros((len(agent_ids), self.m_size), dtype=np.float32) for index, agent_id in enumerate(agent_ids): if agent_id in self.previous_memory_dict: memory_matrix[index, :] = self.previous_memory_dict[agent_id] return memory_matrix - def remove_memories(self, agent_ids): + def remove_memories(self, agent_ids: List[GlobalAgentId]) -> None: for agent_id in agent_ids: if agent_id in self.memory_dict: self.memory_dict.pop(agent_id) @@ -113,19 +114,19 @@ def make_empty_previous_action(self, num_agents: int) -> np.ndarray: ) def save_previous_action( - self, agent_ids: List[str], action_tuple: ActionTuple + self, agent_ids: List[GlobalAgentId], action_tuple: ActionTuple ) -> None: for index, agent_id in enumerate(agent_ids): self.previous_action_dict[agent_id] = action_tuple.discrete[index, :] - def retrieve_previous_action(self, agent_ids: List[str]) -> np.ndarray: + def retrieve_previous_action(self, agent_ids: List[GlobalAgentId]) -> np.ndarray: action_matrix = self.make_empty_previous_action(len(agent_ids)) for index, agent_id in enumerate(agent_ids): if agent_id in self.previous_action_dict: action_matrix[index, :] = self.previous_action_dict[agent_id] return action_matrix - def remove_previous_action(self, agent_ids): + def remove_previous_action(self, agent_ids: List[GlobalAgentId]) -> None: for agent_id in agent_ids: if agent_id in self.previous_action_dict: self.previous_action_dict.pop(agent_id) diff --git a/ml-agents/mlagents/trainers/ppo/optimizer_torch.py b/ml-agents/mlagents/trainers/ppo/optimizer_torch.py index 4dcf3db324..e7d1e9b044 100644 --- a/ml-agents/mlagents/trainers/ppo/optimizer_torch.py +++ b/ml-agents/mlagents/trainers/ppo/optimizer_torch.py @@ -76,63 +76,6 @@ def __init__(self, policy: TorchPolicy, trainer_settings: TrainerSettings): def critic(self): return self._critic - def ppo_value_loss( - self, - values: Dict[str, torch.Tensor], - old_values: Dict[str, torch.Tensor], - returns: Dict[str, torch.Tensor], - epsilon: float, - loss_masks: torch.Tensor, - ) -> torch.Tensor: - """ - Evaluates value loss for PPO. - :param values: Value output of the current network. - :param old_values: Value stored with experiences in buffer. - :param returns: Computed returns. - :param epsilon: Clipping value for value estimate. - :param loss_mask: Mask for losses. Used with LSTM to ignore 0'ed out experiences. - """ - value_losses = [] - for name, head in values.items(): - old_val_tensor = old_values[name] - returns_tensor = returns[name] - clipped_value_estimate = old_val_tensor + torch.clamp( - head - old_val_tensor, -1 * epsilon, epsilon - ) - v_opt_a = (returns_tensor - head) ** 2 - v_opt_b = (returns_tensor - clipped_value_estimate) ** 2 - value_loss = ModelUtils.masked_mean(torch.max(v_opt_a, v_opt_b), loss_masks) - value_losses.append(value_loss) - value_loss = torch.mean(torch.stack(value_losses)) - return value_loss - - def ppo_policy_loss( - self, - advantages: torch.Tensor, - log_probs: torch.Tensor, - old_log_probs: torch.Tensor, - loss_masks: torch.Tensor, - ) -> torch.Tensor: - """ - Evaluate PPO policy loss. - :param advantages: Computed advantages. - :param log_probs: Current policy probabilities - :param old_log_probs: Past policy probabilities - :param loss_masks: Mask for losses. Used with LSTM to ignore 0'ed out experiences. - """ - advantage = advantages.unsqueeze(-1) - - decay_epsilon = self.hyperparameters.epsilon - r_theta = torch.exp(log_probs - old_log_probs) - p_opt_a = r_theta * advantage - p_opt_b = ( - torch.clamp(r_theta, 1.0 - decay_epsilon, 1.0 + decay_epsilon) * advantage - ) - policy_loss = -1 * ModelUtils.masked_mean( - torch.min(p_opt_a, p_opt_b), loss_masks - ) - return policy_loss - @timed def update(self, batch: AgentBuffer, num_sequences: int) -> Dict[str, float]: """ @@ -195,14 +138,15 @@ def update(self, batch: AgentBuffer, num_sequences: int) -> Dict[str, float]: old_log_probs = ActionLogProbs.from_buffer(batch).flatten() log_probs = log_probs.flatten() loss_masks = ModelUtils.list_to_tensor(batch[BufferKey.MASKS], dtype=torch.bool) - value_loss = self.ppo_value_loss( + value_loss = ModelUtils.trust_region_value_loss( values, old_values, returns, decay_eps, loss_masks ) - policy_loss = self.ppo_policy_loss( + policy_loss = ModelUtils.trust_region_policy_loss( ModelUtils.list_to_tensor(batch[BufferKey.ADVANTAGES]), log_probs, old_log_probs, loss_masks, + decay_eps, ) loss = ( policy_loss @@ -232,7 +176,10 @@ def update(self, batch: AgentBuffer, num_sequences: int) -> Dict[str, float]: return update_stats def get_modules(self): - modules = {"Optimizer": self.optimizer} + modules = { + "Optimizer:value_optimizer": self.optimizer, + "Optimizer:critic": self._critic, + } for reward_provider in self.reward_signals.values(): modules.update(reward_provider.get_modules()) return modules diff --git a/ml-agents/mlagents/trainers/ppo/trainer.py b/ml-agents/mlagents/trainers/ppo/trainer.py index 5025adb500..0de2b668b0 100644 --- a/ml-agents/mlagents/trainers/ppo/trainer.py +++ b/ml-agents/mlagents/trainers/ppo/trainer.py @@ -68,12 +68,19 @@ def _process_trajectory(self, trajectory: Trajectory) -> None: agent_id = trajectory.agent_id # All the agents should have the same ID agent_buffer_trajectory = trajectory.to_agentbuffer() + # Check if we used group rewards, warn if so. + self._warn_if_group_reward(agent_buffer_trajectory) + # Update the normalization if self.is_training: self.policy.update_normalization(agent_buffer_trajectory) # Get all value estimates - value_estimates, value_next, value_memories = self.optimizer.get_trajectory_value_estimates( + ( + value_estimates, + value_next, + value_memories, + ) = self.optimizer.get_trajectory_value_estimates( agent_buffer_trajectory, trajectory.next_obs, trajectory.done_reached and not trajectory.interrupted, @@ -180,7 +187,9 @@ def _update_policy(self): int(self.hyperparameters.batch_size / self.policy.sequence_length), 1 ) - advantages = self.update_buffer[BufferKey.ADVANTAGES].get_batch() + advantages = np.array( + self.update_buffer[BufferKey.ADVANTAGES].get_batch(), dtype=np.float32 + ) self.update_buffer[BufferKey.ADVANTAGES].set( (advantages - advantages.mean()) / (advantages.std() + 1e-10) ) @@ -257,7 +266,7 @@ def add_policy( self.model_saver.initialize_or_load() # Needed to resume loads properly - self.step = policy.get_current_step() + self._step = policy.get_current_step() def get_policy(self, name_behavior_id: str) -> Policy: """ diff --git a/ml-agents/mlagents/trainers/sac/optimizer_torch.py b/ml-agents/mlagents/trainers/sac/optimizer_torch.py index fe3a8ddc58..91e0f29e4c 100644 --- a/ml-agents/mlagents/trainers/sac/optimizer_torch.py +++ b/ml-agents/mlagents/trainers/sac/optimizer_torch.py @@ -635,7 +635,8 @@ def update_reward_signals( def get_modules(self): modules = { - "Optimizer:value_network": self.q_network, + "Optimizer:q_network": self.q_network, + "Optimizer:value_network": self._critic, "Optimizer:target_network": self.target_network, "Optimizer:policy_optimizer": self.policy_optimizer, "Optimizer:value_optimizer": self.value_optimizer, diff --git a/ml-agents/mlagents/trainers/sac/trainer.py b/ml-agents/mlagents/trainers/sac/trainer.py index 640d9155bf..82213614d8 100644 --- a/ml-agents/mlagents/trainers/sac/trainer.py +++ b/ml-agents/mlagents/trainers/sac/trainer.py @@ -67,7 +67,7 @@ def __init__( self.hyperparameters: SACSettings = cast( SACSettings, trainer_settings.hyperparameters ) - self.step = 0 + self._step = 0 # Don't divide by zero self.update_steps = 1 @@ -131,6 +131,8 @@ def _process_trajectory(self, trajectory: Trajectory) -> None: agent_id = trajectory.agent_id # All the agents should have the same ID agent_buffer_trajectory = trajectory.to_agentbuffer() + # Check if we used group rewards, warn if so. + self._warn_if_group_reward(agent_buffer_trajectory) # Update the normalization if self.is_training: @@ -188,7 +190,7 @@ def _is_ready_update(self) -> bool: """ return ( self.update_buffer.num_experiences >= self.hyperparameters.batch_size - and self.step >= self.hyperparameters.buffer_init_steps + and self._step >= self.hyperparameters.buffer_init_steps ) @timed @@ -251,9 +253,9 @@ def _update_sac_policy(self) -> bool: batch_update_stats: Dict[str, list] = defaultdict(list) while ( - self.step - self.hyperparameters.buffer_init_steps + self._step - self.hyperparameters.buffer_init_steps ) / self.update_steps > self.steps_per_update: - logger.debug(f"Updating SAC policy at step {self.step}") + logger.debug(f"Updating SAC policy at step {self._step}") buffer = self.update_buffer if self.update_buffer.num_experiences >= self.hyperparameters.batch_size: sampled_minibatch = buffer.sample_mini_batch( @@ -305,12 +307,12 @@ def _update_reward_signals(self) -> None: ) batch_update_stats: Dict[str, list] = defaultdict(list) while ( - self.step - self.hyperparameters.buffer_init_steps + self._step - self.hyperparameters.buffer_init_steps ) / self.reward_signal_update_steps > self.reward_signal_steps_per_update: # Get minibatches for reward signal update if needed reward_signal_minibatches = {} for name in self.optimizer.reward_signals.keys(): - logger.debug(f"Updating {name} at step {self.step}") + logger.debug(f"Updating {name} at step {self._step}") if name != "extrinsic": reward_signal_minibatches[name] = buffer.sample_mini_batch( self.hyperparameters.batch_size, @@ -355,11 +357,11 @@ def add_policy( self.model_saver.initialize_or_load() # Needed to resume loads properly - self.step = policy.get_current_step() + self._step = policy.get_current_step() # Assume steps were updated at the correct ratio before - self.update_steps = int(max(1, self.step / self.steps_per_update)) + self.update_steps = int(max(1, self._step / self.steps_per_update)) self.reward_signal_update_steps = int( - max(1, self.step / self.reward_signal_steps_per_update) + max(1, self._step / self.reward_signal_steps_per_update) ) def get_policy(self, name_behavior_id: str) -> Policy: diff --git a/ml-agents/mlagents/trainers/settings.py b/ml-agents/mlagents/trainers/settings.py index a5e5d520cb..a1b3eae3b2 100644 --- a/ml-agents/mlagents/trainers/settings.py +++ b/ml-agents/mlagents/trainers/settings.py @@ -162,6 +162,10 @@ def _reward_signal_steps_per_update_default(self): return self.steps_per_update +# POCA uses the same hyperparameters as PPO +POCASettings = PPOSettings + + # INTRINSIC REWARD SIGNALS ############################################################# class RewardSignalType(Enum): EXTRINSIC: str = "extrinsic" @@ -600,9 +604,14 @@ def _team_change_default(self): class TrainerType(Enum): PPO: str = "ppo" SAC: str = "sac" + POCA: str = "poca" def to_settings(self) -> type: - _mapping = {TrainerType.PPO: PPOSettings, TrainerType.SAC: SACSettings} + _mapping = { + TrainerType.PPO: PPOSettings, + TrainerType.SAC: SACSettings, + TrainerType.POCA: POCASettings, + } return _mapping[self] diff --git a/ml-agents/mlagents/trainers/stats.py b/ml-agents/mlagents/trainers/stats.py index 7e1996f90a..db321d4ad8 100644 --- a/ml-agents/mlagents/trainers/stats.py +++ b/ml-agents/mlagents/trainers/stats.py @@ -164,7 +164,11 @@ def write_stats( log_info.append(f"Rank: {self.rank}") log_info.append(f"Mean Reward: {stats_summary.mean:0.3f}") - log_info.append(f"Std of Reward: {stats_summary.std:0.3f}") + if "Environment/Group Cumulative Reward" in values: + group_stats_summary = values["Environment/Group Cumulative Reward"] + log_info.append(f"Mean Group Reward: {group_stats_summary.mean:0.3f}") + else: + log_info.append(f"Std of Reward: {stats_summary.std:0.3f}") log_info.append(is_training) if self.self_play and "Self-play/ELO" in values: diff --git a/ml-agents/mlagents/trainers/tests/check_env_trains.py b/ml-agents/mlagents/trainers/tests/check_env_trains.py index 0742b773f5..d5e98f1421 100644 --- a/ml-agents/mlagents/trainers/tests/check_env_trains.py +++ b/ml-agents/mlagents/trainers/tests/check_env_trains.py @@ -27,7 +27,11 @@ def write_stats( self, category: str, values: Dict[str, StatsSummary], step: int ) -> None: for val, stats_summary in values.items(): - if val == "Environment/Cumulative Reward": + if ( + val == "Environment/Cumulative Reward" + or val == "Environment/Group Cumulative Reward" + ): + print(step, val, stats_summary.aggregated_value) self._last_reward_summary[category] = stats_summary.aggregated_value diff --git a/ml-agents/mlagents/trainers/tests/dummy_config.py b/ml-agents/mlagents/trainers/tests/dummy_config.py index f02a021cc3..a7f74afa26 100644 --- a/ml-agents/mlagents/trainers/tests/dummy_config.py +++ b/ml-agents/mlagents/trainers/tests/dummy_config.py @@ -4,6 +4,7 @@ import copy import os from mlagents.trainers.settings import ( + POCASettings, TrainerSettings, PPOSettings, SACSettings, @@ -50,6 +51,20 @@ threaded=False, ) +_POCA_CONFIG = TrainerSettings( + trainer_type=TrainerType.POCA, + hyperparameters=POCASettings( + learning_rate=5.0e-3, + learning_rate_schedule=ScheduleType.CONSTANT, + batch_size=16, + buffer_size=64, + ), + network_settings=NetworkSettings(num_layers=1, hidden_units=32), + summary_freq=500, + max_steps=3000, + threaded=False, +) + def ppo_dummy_config(): return copy.deepcopy(_PPO_CONFIG) @@ -59,6 +74,10 @@ def sac_dummy_config(): return copy.deepcopy(_SAC_CONFIG) +def poca_dummy_config(): + return copy.deepcopy(_POCA_CONFIG) + + @pytest.fixture def gail_dummy_config(): return {RewardSignalType.GAIL: GAILSettings(demo_path=CONTINUOUS_DEMO_PATH)} @@ -78,10 +97,15 @@ def create_observation_specs_with_shapes( shapes: List[Tuple[int, ...]] ) -> List[ObservationSpec]: obs_specs: List[ObservationSpec] = [] - for shape in shapes: + for i, shape in enumerate(shapes): dim_prop = (DimensionProperty.UNSPECIFIED,) * len(shape) if len(shape) == 2: dim_prop = (DimensionProperty.VARIABLE_SIZE, DimensionProperty.NONE) - spec = ObservationSpec(shape, dim_prop, ObservationType.DEFAULT) + spec = ObservationSpec( + name=f"observation {i} with shape {shape}", + shape=shape, + dimension_property=dim_prop, + observation_type=ObservationType.DEFAULT, + ) obs_specs.append(spec) return obs_specs diff --git a/ml-agents/mlagents/trainers/tests/mock_brain.py b/ml-agents/mlagents/trainers/tests/mock_brain.py index a19b5046e5..cba79ecc4f 100644 --- a/ml-agents/mlagents/trainers/tests/mock_brain.py +++ b/ml-agents/mlagents/trainers/tests/mock_brain.py @@ -3,7 +3,7 @@ from mlagents.trainers.buffer import AgentBuffer, AgentBufferKey from mlagents.trainers.torch.action_log_probs import LogProbsTuple -from mlagents.trainers.trajectory import Trajectory, AgentExperience +from mlagents.trainers.trajectory import AgentStatus, Trajectory, AgentExperience from mlagents_envs.base_env import ( DecisionSteps, TerminalSteps, @@ -20,6 +20,7 @@ def create_mock_steps( observation_specs: List[ObservationSpec], action_spec: ActionSpec, done: bool = False, + grouped: bool = False, ) -> Tuple[DecisionSteps, TerminalSteps]: """ Creates a mock Tuple[DecisionSteps, TerminalSteps] with observations. @@ -43,7 +44,8 @@ def create_mock_steps( reward = np.array(num_agents * [1.0], dtype=np.float32) interrupted = np.array(num_agents * [False], dtype=np.bool) agent_id = np.arange(num_agents, dtype=np.int32) - group_id = np.array(num_agents * [0], dtype=np.int32) + _gid = 1 if grouped else 0 + group_id = np.array(num_agents * [_gid], dtype=np.int32) group_reward = np.array(num_agents * [0.0], dtype=np.float32) behavior_spec = BehaviorSpec(observation_specs, action_spec) if done: @@ -78,6 +80,9 @@ def make_fake_trajectory( action_spec: ActionSpec, max_step_complete: bool = False, memory_size: int = 10, + num_other_agents_in_group: int = 0, + group_reward: float = 0.0, + is_terminal: bool = True, ) -> Trajectory: """ Makes a fake trajectory of length length. If max_step_complete, @@ -117,6 +122,9 @@ def make_fake_trajectory( memory = np.ones(memory_size, dtype=np.float32) agent_id = "test_agent" behavior_id = "test_brain" + group_status = [] + for _ in range(num_other_agents_in_group): + group_status.append(AgentStatus(obs, reward, action, done)) experience = AgentExperience( obs=obs, reward=reward, @@ -127,25 +135,38 @@ def make_fake_trajectory( prev_action=prev_action, interrupted=max_step, memory=memory, + group_status=group_status, + group_reward=group_reward, ) steps_list.append(experience) obs = [] for obs_spec in observation_specs: obs.append(np.ones(obs_spec.shape, dtype=np.float32)) + last_group_status = [] + for _ in range(num_other_agents_in_group): + last_group_status.append( + AgentStatus(obs, reward, action, not max_step_complete and is_terminal) + ) last_experience = AgentExperience( obs=obs, reward=reward, - done=not max_step_complete, + done=not max_step_complete and is_terminal, action=action, action_probs=action_probs, action_mask=action_mask, prev_action=prev_action, interrupted=max_step_complete, memory=memory, + group_status=last_group_status, + group_reward=group_reward, ) steps_list.append(last_experience) return Trajectory( - steps=steps_list, agent_id=agent_id, behavior_id=behavior_id, next_obs=obs + steps=steps_list, + agent_id=agent_id, + behavior_id=behavior_id, + next_obs=obs, + next_group_obs=[obs] * num_other_agents_in_group, ) @@ -161,12 +182,14 @@ def simulate_rollout( behavior_spec: BehaviorSpec, memory_size: int = 10, exclude_key_list: List[str] = None, + num_other_agents_in_group: int = 0, ) -> AgentBuffer: trajectory = make_fake_trajectory( length, behavior_spec.observation_specs, action_spec=behavior_spec.action_spec, memory_size=memory_size, + num_other_agents_in_group=num_other_agents_in_group, ) buffer = trajectory.to_agentbuffer() # If a key_list was given, remove those keys diff --git a/ml-agents/mlagents/trainers/tests/simple_test_envs.py b/ml-agents/mlagents/trainers/tests/simple_test_envs.py index e7ca31fad1..40bee3c67a 100644 --- a/ml-agents/mlagents/trainers/tests/simple_test_envs.py +++ b/ml-agents/mlagents/trainers/tests/simple_test_envs.py @@ -69,7 +69,21 @@ def __init__( self.names = brain_names self.positions: Dict[str, List[float]] = {} self.step_count: Dict[str, float] = {} - self.random = random.Random(str(self.behavior_spec)) + + # Concatenate the arguments for a consistent random seed + seed = ( + brain_names, + step_size, + num_visual, + num_vector, + num_var_len, + vis_obs_size, + vec_obs_size, + var_len_obs_size, + action_sizes, + ) + self.random = random.Random(str(seed)) + self.goal: Dict[str, int] = {} self.action = {} self.rewards: Dict[str, float] = {} @@ -314,6 +328,212 @@ def _make_batched_step( return (decision_step, terminal_step) +class MultiAgentEnvironment(BaseEnv): + """ + The MultiAgentEnvironment maintains a list of SimpleEnvironment, one for each agent. + When sending DecisionSteps and TerminalSteps to the trainers, it first batches the + decision steps from the individual environments. When setting actions, it indexes the + batched ActionTuple to obtain the ActionTuple for individual agents + """ + + def __init__( + self, + brain_names, + step_size=STEP_SIZE, + num_visual=0, + num_vector=1, + num_var_len=0, + vis_obs_size=VIS_OBS_SIZE, + vec_obs_size=OBS_SIZE, + var_len_obs_size=VAR_LEN_SIZE, + action_sizes=(1, 0), + num_agents=2, + ): + super().__init__() + self.envs = {} + self.dones = {} + self.just_died = set() + self.names = brain_names + self.final_rewards: Dict[str, List[float]] = {} + for name in brain_names: + self.final_rewards[name] = [] + for i in range(num_agents): + name_and_num = name + str(i) + self.envs[name_and_num] = SimpleEnvironment( + [name], + step_size, + num_visual, + num_vector, + num_var_len, + vis_obs_size, + vec_obs_size, + var_len_obs_size, + action_sizes, + ) + self.dones[name_and_num] = False + self.envs[name_and_num].reset() + # All envs have the same behavior spec, so just get the last one. + self.behavior_spec = self.envs[name_and_num].behavior_spec + self.action_spec = self.envs[name_and_num].action_spec + self.num_agents = num_agents + + @property + def all_done(self): + return all(self.dones.values()) + + @property + def behavior_specs(self): + behavior_dict = {} + for n in self.names: + behavior_dict[n] = self.behavior_spec + return BehaviorMapping(behavior_dict) + + def set_action_for_agent(self, behavior_name, agent_id, action): + pass + + def set_actions(self, behavior_name, action): + # The ActionTuple contains the actions for all n_agents. This + # slices the ActionTuple into an action tuple for each environment + # and sets it. The index j is used to ignore agents that have already + # reached done. + j = 0 + for i in range(self.num_agents): + _act = ActionTuple() + name_and_num = behavior_name + str(i) + env = self.envs[name_and_num] + if not self.dones[name_and_num]: + if self.action_spec.continuous_size > 0: + _act.add_continuous(action.continuous[j : j + 1]) + if self.action_spec.discrete_size > 0: + _disc_list = [action.discrete[j, :]] + _act.add_discrete(np.array(_disc_list)) + j += 1 + env.action[behavior_name] = _act + + def get_steps(self, behavior_name): + # This gets the individual DecisionSteps and TerminalSteps + # from the envs and merges them into a batch to be sent + # to the AgentProcessor. + dec_vec_obs = [] + dec_reward = [] + dec_group_reward = [] + dec_agent_id = [] + dec_group_id = [] + ter_vec_obs = [] + ter_reward = [] + ter_group_reward = [] + ter_agent_id = [] + ter_group_id = [] + interrupted = [] + + action_mask = None + terminal_step = TerminalSteps.empty(self.behavior_spec) + decision_step = None + for i in range(self.num_agents): + name_and_num = behavior_name + str(i) + env = self.envs[name_and_num] + _dec, _term = env.step_result[behavior_name] + if not self.dones[name_and_num]: + dec_agent_id.append(i) + dec_group_id.append(1) + if len(dec_vec_obs) > 0: + for j, obs in enumerate(_dec.obs): + dec_vec_obs[j] = np.concatenate((dec_vec_obs[j], obs), axis=0) + else: + for obs in _dec.obs: + dec_vec_obs.append(obs) + dec_reward.append(_dec.reward[0]) + dec_group_reward.append(_dec.group_reward[0]) + if _dec.action_mask is not None: + if action_mask is None: + action_mask = [] + if len(action_mask) > 0: + action_mask[0] = np.concatenate( + (action_mask[0], _dec.action_mask[0]), axis=0 + ) + else: + action_mask.append(_dec.action_mask[0]) + if len(_term.reward) > 0 and name_and_num in self.just_died: + ter_agent_id.append(i) + ter_group_id.append(1) + if len(ter_vec_obs) > 0: + for j, obs in enumerate(_term.obs): + ter_vec_obs[j] = np.concatenate((ter_vec_obs[j], obs), axis=0) + else: + for obs in _term.obs: + ter_vec_obs.append(obs) + ter_reward.append(_term.reward[0]) + ter_group_reward.append(_term.group_reward[0]) + interrupted.append(False) + self.just_died.remove(name_and_num) + decision_step = DecisionSteps( + dec_vec_obs, + dec_reward, + dec_agent_id, + action_mask, + dec_group_id, + dec_group_reward, + ) + terminal_step = TerminalSteps( + ter_vec_obs, + ter_reward, + interrupted, + ter_agent_id, + ter_group_id, + ter_group_reward, + ) + return (decision_step, terminal_step) + + def step(self) -> None: + # Steps all environments and calls reset if all agents are done. + for name in self.names: + for i in range(self.num_agents): + name_and_num = name + str(i) + # Does not step the env if done + if not self.dones[name_and_num]: + env = self.envs[name_and_num] + # Reproducing part of env step to intercept Dones + assert all(action is not None for action in env.action.values()) + done = env._take_action(name) + reward = env._compute_reward(name, done) + self.dones[name_and_num] = done + if done: + self.just_died.add(name_and_num) + if self.all_done: + env.step_result[name] = env._make_batched_step( + name, done, 0.0, reward + ) + self.final_rewards[name].append(reward) + self.reset() + elif done: + # This agent has finished but others are still running. + # This gives a reward of the time penalty if this agent + # is successful and the negative env reward if it fails. + ceil_reward = min(-TIME_PENALTY, reward) + env.step_result[name] = env._make_batched_step( + name, done, ceil_reward, 0.0 + ) + self.final_rewards[name].append(reward) + + else: + env.step_result[name] = env._make_batched_step( + name, done, reward, 0.0 + ) + + def reset(self) -> None: # type: ignore + for name in self.names: + for i in range(self.num_agents): + name_and_num = name + str(i) + self.dones[name_and_num] = False + + @property + def reset_parameters(self) -> Dict[str, str]: + return {} + + def close(self): + pass + + class RecordEnvironment(SimpleEnvironment): def __init__( self, diff --git a/ml-agents/mlagents/trainers/tests/test_agent_processor.py b/ml-agents/mlagents/trainers/tests/test_agent_processor.py index 9b8affcc22..b0c446e974 100644 --- a/ml-agents/mlagents/trainers/tests/test_agent_processor.py +++ b/ml-agents/mlagents/trainers/tests/test_agent_processor.py @@ -1,5 +1,6 @@ from unittest import mock import pytest +from typing import List import mlagents.trainers.tests.mock_brain as mb import numpy as np from mlagents.trainers.agent_processor import ( @@ -27,6 +28,28 @@ def create_mock_policy(): return mock_policy +def _create_action_info(num_agents: int, agent_ids: List[str]) -> ActionInfo: + fake_action_outputs = { + "action": ActionTuple( + continuous=np.array([[0.1]] * num_agents, dtype=np.float32) + ), + "entropy": np.array([1.0], dtype=np.float32), + "learning_rate": 1.0, + "log_probs": LogProbsTuple( + continuous=np.array([[0.1]] * num_agents, dtype=np.float32) + ), + } + fake_action_info = ActionInfo( + action=ActionTuple(continuous=np.array([[0.1]] * num_agents, dtype=np.float32)), + env_action=ActionTuple( + continuous=np.array([[0.1]] * num_agents, dtype=np.float32) + ), + outputs=fake_action_outputs, + agent_ids=agent_ids, + ) + return fake_action_info + + @pytest.mark.parametrize("num_vis_obs", [0, 1, 2], ids=["vec", "1 viz", "2 viz"]) def test_agentprocessor(num_vis_obs): policy = create_mock_policy() @@ -39,14 +62,6 @@ def test_agentprocessor(num_vis_obs): stats_reporter=StatsReporter("testcat"), ) - fake_action_outputs = { - "action": ActionTuple(continuous=np.array([[0.1], [0.1]], dtype=np.float32)), - "entropy": np.array([1.0], dtype=np.float32), - "learning_rate": 1.0, - "log_probs": LogProbsTuple( - continuous=np.array([[0.1], [0.1]], dtype=np.float32) - ), - } mock_decision_steps, mock_terminal_steps = mb.create_mock_steps( num_agents=2, observation_specs=create_observation_specs_with_shapes( @@ -54,12 +69,7 @@ def test_agentprocessor(num_vis_obs): ), action_spec=ActionSpec.create_continuous(2), ) - fake_action_info = ActionInfo( - action=ActionTuple(continuous=np.array([[0.1], [0.1]], dtype=np.float32)), - env_action=ActionTuple(continuous=np.array([[0.1], [0.1]], dtype=np.float32)), - outputs=fake_action_outputs, - agent_ids=mock_decision_steps.agent_id, - ) + fake_action_info = _create_action_info(2, mock_decision_steps.agent_id) processor.publish_trajectory_queue(tqueue) # This is like the initial state after the env reset processor.add_experiences( @@ -76,9 +86,12 @@ def test_agentprocessor(num_vis_obs): # Assert that the trajectory is of length 5 trajectory = tqueue.put.call_args_list[0][0][0] assert len(trajectory.steps) == 5 + # Make sure ungrouped agents don't have team obs + for step in trajectory.steps: + assert len(step.group_status) == 0 # Assert that the AgentProcessor is empty - assert len(processor.experience_buffers[0]) == 0 + assert len(processor._experience_buffers[0]) == 0 # Test empty steps mock_decision_steps, mock_terminal_steps = mb.create_mock_steps( @@ -92,7 +105,66 @@ def test_agentprocessor(num_vis_obs): mock_decision_steps, mock_terminal_steps, 0, ActionInfo.empty() ) # Assert that the AgentProcessor is still empty - assert len(processor.experience_buffers[0]) == 0 + assert len(processor._experience_buffers[0]) == 0 + + +def test_group_statuses(): + policy = create_mock_policy() + tqueue = mock.Mock() + name_behavior_id = "test_brain_name" + processor = AgentProcessor( + policy, + name_behavior_id, + max_trajectory_length=5, + stats_reporter=StatsReporter("testcat"), + ) + + mock_decision_steps, mock_terminal_steps = mb.create_mock_steps( + num_agents=4, + observation_specs=create_observation_specs_with_shapes([(8,)]), + action_spec=ActionSpec.create_continuous(2), + grouped=True, + ) + fake_action_info = _create_action_info(4, mock_decision_steps.agent_id) + processor.publish_trajectory_queue(tqueue) + # This is like the initial state after the env reset + processor.add_experiences( + mock_decision_steps, mock_terminal_steps, 0, ActionInfo.empty() + ) + for _ in range(2): + processor.add_experiences( + mock_decision_steps, mock_terminal_steps, 0, fake_action_info + ) + + # Make terminal steps for some dead agents + mock_decision_steps_2, mock_terminal_steps_2 = mb.create_mock_steps( + num_agents=2, + observation_specs=create_observation_specs_with_shapes([(8,)]), + action_spec=ActionSpec.create_continuous(2), + done=True, + grouped=True, + ) + + processor.add_experiences( + mock_decision_steps_2, mock_terminal_steps_2, 0, fake_action_info + ) + fake_action_info = _create_action_info(4, mock_decision_steps.agent_id) + for _ in range(3): + processor.add_experiences( + mock_decision_steps, mock_terminal_steps, 0, fake_action_info + ) + + # Assert that four trajectories have been added to the Trainer + assert len(tqueue.put.call_args_list) == 4 + # Last trajectory should be the longest + trajectory = tqueue.put.call_args_list[0][0][-1] + + # Make sure trajectory has the right Groupmate Experiences + for step in trajectory.steps[0:3]: + assert len(step.group_status) == 3 + # After 2 agents has died + for step in trajectory.steps[3:]: + assert len(step.group_status) == 1 def test_agent_deletion(): @@ -156,21 +228,21 @@ def test_agent_deletion(): policy.save_previous_action.assert_has_calls(add_calls) policy.remove_previous_action.assert_has_calls(remove_calls) # Check that there are no experiences left - assert len(processor.experience_buffers.keys()) == 0 - assert len(processor.last_take_action_outputs.keys()) == 0 - assert len(processor.episode_steps.keys()) == 0 - assert len(processor.episode_rewards.keys()) == 0 - assert len(processor.last_step_result.keys()) == 0 + assert len(processor._experience_buffers.keys()) == 0 + assert len(processor._last_take_action_outputs.keys()) == 0 + assert len(processor._episode_steps.keys()) == 0 + assert len(processor._episode_rewards.keys()) == 0 + assert len(processor._last_step_result.keys()) == 0 # check that steps with immediate dones don't add to dicts processor.add_experiences( mock_done_decision_step, mock_done_terminal_step, 0, ActionInfo.empty() ) - assert len(processor.experience_buffers.keys()) == 0 - assert len(processor.last_take_action_outputs.keys()) == 0 - assert len(processor.episode_steps.keys()) == 0 - assert len(processor.episode_rewards.keys()) == 0 - assert len(processor.last_step_result.keys()) == 0 + assert len(processor._experience_buffers.keys()) == 0 + assert len(processor._last_take_action_outputs.keys()) == 0 + assert len(processor._episode_steps.keys()) == 0 + assert len(processor._episode_rewards.keys()) == 0 + assert len(processor._last_step_result.keys()) == 0 def test_end_episode(): @@ -222,10 +294,10 @@ def test_end_episode(): # Check that we removed every agent policy.remove_previous_action.assert_has_calls(remove_calls) # Check that there are no experiences left - assert len(processor.experience_buffers.keys()) == 0 - assert len(processor.last_take_action_outputs.keys()) == 0 - assert len(processor.episode_steps.keys()) == 0 - assert len(processor.episode_rewards.keys()) == 0 + assert len(processor._experience_buffers.keys()) == 0 + assert len(processor._last_take_action_outputs.keys()) == 0 + assert len(processor._episode_steps.keys()) == 0 + assert len(processor._episode_rewards.keys()) == 0 def test_agent_manager(): @@ -237,8 +309,8 @@ def test_agent_manager(): max_trajectory_length=5, stats_reporter=StatsReporter("testcat"), ) - assert len(manager.trajectory_queues) == 1 - assert isinstance(manager.trajectory_queues[0], AgentManagerQueue) + assert len(manager._trajectory_queues) == 1 + assert isinstance(manager._trajectory_queues[0], AgentManagerQueue) def test_agent_manager_queue(): diff --git a/ml-agents/mlagents/trainers/tests/test_buffer.py b/ml-agents/mlagents/trainers/tests/test_buffer.py index 5a3dbba7da..802b36f725 100644 --- a/ml-agents/mlagents/trainers/tests/test_buffer.py +++ b/ml-agents/mlagents/trainers/tests/test_buffer.py @@ -21,14 +21,35 @@ def construct_fake_buffer(fake_agent_id): b = AgentBuffer() for step in range(9): b[ObsUtil.get_name_at(0)].append( - [ - 100 * fake_agent_id + 10 * step + 1, - 100 * fake_agent_id + 10 * step + 2, - 100 * fake_agent_id + 10 * step + 3, - ] + np.array( + [ + 100 * fake_agent_id + 10 * step + 1, + 100 * fake_agent_id + 10 * step + 2, + 100 * fake_agent_id + 10 * step + 3, + ], + dtype=np.float32, + ) ) b[BufferKey.CONTINUOUS_ACTION].append( - [100 * fake_agent_id + 10 * step + 4, 100 * fake_agent_id + 10 * step + 5] + np.array( + [ + 100 * fake_agent_id + 10 * step + 4, + 100 * fake_agent_id + 10 * step + 5, + ], + dtype=np.float32, + ) + ) + b[BufferKey.GROUP_CONTINUOUS_ACTION].append( + [ + np.array( + [ + 100 * fake_agent_id + 10 * step + 4, + 100 * fake_agent_id + 10 * step + 5, + ], + dtype=np.float32, + ) + ] + * 3 ) return b @@ -37,10 +58,16 @@ def test_buffer(): agent_1_buffer = construct_fake_buffer(1) agent_2_buffer = construct_fake_buffer(2) agent_3_buffer = construct_fake_buffer(3) + + # Test get_batch a = agent_1_buffer[ObsUtil.get_name_at(0)].get_batch( batch_size=2, training_length=1, sequential=True ) - assert_array(np.array(a), np.array([[171, 172, 173], [181, 182, 183]])) + assert_array( + np.array(a), np.array([[171, 172, 173], [181, 182, 183]], dtype=np.float32) + ) + + # Test get_batch a = agent_2_buffer[ObsUtil.get_name_at(0)].get_batch( batch_size=2, training_length=3, sequential=True ) @@ -54,7 +81,8 @@ def test_buffer(): [261, 262, 263], [271, 272, 273], [281, 282, 283], - ] + ], + dtype=np.float32, ), ) a = agent_2_buffer[ObsUtil.get_name_at(0)].get_batch( @@ -73,6 +101,39 @@ def test_buffer(): ] ), ) + + # Test padding + a = agent_2_buffer[ObsUtil.get_name_at(0)].get_batch( + batch_size=None, training_length=4, sequential=True + ) + assert_array( + np.array(a), + np.array( + [ + [0, 0, 0], + [0, 0, 0], + [0, 0, 0], + [201, 202, 203], + [211, 212, 213], + [221, 222, 223], + [231, 232, 233], + [241, 242, 243], + [251, 252, 253], + [261, 262, 263], + [271, 272, 273], + [281, 282, 283], + ] + ), + ) + # Test group entries return Lists of Lists. Make sure to pad properly! + a = agent_2_buffer[BufferKey.GROUP_CONTINUOUS_ACTION].get_batch( + batch_size=None, training_length=4, sequential=True + ) + for _group_entry in a[:3]: + assert len(_group_entry) == 0 + for _group_entry in a[3:]: + assert len(_group_entry) == 3 + agent_1_buffer.reset_agent() assert agent_1_buffer.num_experiences == 0 update_buffer = AgentBuffer() @@ -88,9 +149,42 @@ def test_buffer(): c = update_buffer.make_mini_batch(start=0, end=1) assert c.keys() == update_buffer.keys() + # Make sure the values of c are AgentBufferField + for val in c.values(): + assert isinstance(val, AgentBufferField) assert np.array(c[BufferKey.CONTINUOUS_ACTION]).shape == (1, 2) +def test_agentbufferfield(): + # Test constructor + a = AgentBufferField([0, 1, 2]) + for i, num in enumerate(a): + assert num == i + # Test indexing + assert a[i] == num + + # Test slicing + b = a[1:3] + assert b == [1, 2] + assert isinstance(b, AgentBufferField) + + # Test padding + c = AgentBufferField() + for _ in range(2): + c.append([np.array(1), np.array(2)]) + + for _ in range(2): + c.append([np.array(1)]) + + padded = c.padded_to_batch(pad_value=3) + assert np.array_equal(padded[0], np.array([1, 1, 1, 1])) + assert np.array_equal(padded[1], np.array([2, 2, 3, 3])) + + # Make sure it doesn't fail when the field isn't a list + padded_a = a.padded_to_batch() + assert np.array_equal(padded_a, a) + + def fakerandint(values): return 19 diff --git a/ml-agents/mlagents/trainers/tests/test_trajectory.py b/ml-agents/mlagents/trainers/tests/test_trajectory.py index 5484f7da53..8d39478a9e 100644 --- a/ml-agents/mlagents/trainers/tests/test_trajectory.py +++ b/ml-agents/mlagents/trainers/tests/test_trajectory.py @@ -1,7 +1,10 @@ +import numpy as np + from mlagents.trainers.tests.mock_brain import make_fake_trajectory from mlagents.trainers.tests.dummy_config import create_observation_specs_with_shapes +from mlagents.trainers.trajectory import GroupObsUtil from mlagents_envs.base_env import ActionSpec -from mlagents.trainers.buffer import BufferKey, ObservationKeyPrefix +from mlagents.trainers.buffer import AgentBuffer, BufferKey, ObservationKeyPrefix VEC_OBS_SIZE = 6 ACTION_SIZE = 4 @@ -9,6 +12,7 @@ def test_trajectory_to_agentbuffer(): length = 15 + # These keys should be of type np.ndarray wanted_keys = [ (ObservationKeyPrefix.OBSERVATION, 0), (ObservationKeyPrefix.OBSERVATION, 1), @@ -24,14 +28,25 @@ def test_trajectory_to_agentbuffer(): BufferKey.ACTION_MASK, BufferKey.PREV_ACTION, BufferKey.ENVIRONMENT_REWARDS, + BufferKey.GROUP_REWARD, + ] + # These keys should be of type List + wanted_group_keys = [ + BufferKey.GROUPMATE_REWARDS, + BufferKey.GROUP_CONTINUOUS_ACTION, + BufferKey.GROUP_DISCRETE_ACTION, + BufferKey.GROUP_DONES, + BufferKey.GROUP_NEXT_CONT_ACTION, + BufferKey.GROUP_NEXT_DISC_ACTION, ] - wanted_keys = set(wanted_keys) + wanted_keys = set(wanted_keys + wanted_group_keys) trajectory = make_fake_trajectory( length=length, observation_specs=create_observation_specs_with_shapes( [(VEC_OBS_SIZE,), (84, 84, 3)] ), action_spec=ActionSpec.create_continuous(ACTION_SIZE), + num_other_agents_in_group=4, ) agentbuffer = trajectory.to_agentbuffer() seen_keys = set() @@ -39,4 +54,37 @@ def test_trajectory_to_agentbuffer(): assert len(field) == length seen_keys.add(key) - assert seen_keys == wanted_keys + assert seen_keys.issuperset(wanted_keys) + + for _key in wanted_group_keys: + for step in agentbuffer[_key]: + assert len(step) == 4 + + +def test_obsutil_group_from_buffer(): + buff = AgentBuffer() + # Create some obs + for _ in range(3): + buff[GroupObsUtil.get_name_at(0)].append(3 * [np.ones((5,), dtype=np.float32)]) + # Some agents have died + for _ in range(2): + buff[GroupObsUtil.get_name_at(0)].append(1 * [np.ones((5,), dtype=np.float32)]) + + # Get the group obs, which will be a List of Lists of np.ndarray, where each element is the same + # length as the AgentBuffer but contains only one agent's obs. Dead agents are padded by + # NaNs. + gobs = GroupObsUtil.from_buffer(buff, 1) + # Agent 0 is full + agent_0_obs = gobs[0] + for obs in agent_0_obs: + assert obs.shape == (buff.num_experiences, 5) + assert not np.isnan(obs).any() + + agent_1_obs = gobs[1] + for obs in agent_1_obs: + assert obs.shape == (buff.num_experiences, 5) + for i, _exp_obs in enumerate(obs): + if i >= 3: + assert np.isnan(_exp_obs).all() + else: + assert not np.isnan(_exp_obs).any() diff --git a/ml-agents/mlagents/trainers/tests/torch/saver/test_saver.py b/ml-agents/mlagents/trainers/tests/torch/saver/test_saver.py index 8a41467972..153712064a 100644 --- a/ml-agents/mlagents/trainers/tests/torch/saver/test_saver.py +++ b/ml-agents/mlagents/trainers/tests/torch/saver/test_saver.py @@ -1,3 +1,4 @@ +from mlagents.trainers.optimizer.torch_optimizer import TorchOptimizer import pytest from unittest import mock import os @@ -6,8 +7,15 @@ from mlagents.torch_utils import torch, default_device from mlagents.trainers.policy.torch_policy import TorchPolicy from mlagents.trainers.ppo.optimizer_torch import TorchPPOOptimizer +from mlagents.trainers.sac.optimizer_torch import TorchSACOptimizer +from mlagents.trainers.poca.optimizer_torch import TorchPOCAOptimizer from mlagents.trainers.model_saver.torch_model_saver import TorchModelSaver -from mlagents.trainers.settings import TrainerSettings +from mlagents.trainers.settings import ( + TrainerSettings, + PPOSettings, + SACSettings, + POCASettings, +) from mlagents.trainers.tests import mock_brain as mb from mlagents.trainers.tests.torch.test_policy import create_policy_mock from mlagents.trainers.torch.utils import ModelUtils @@ -29,7 +37,7 @@ def test_register(tmp_path): assert model_saver.policy is not None -def test_load_save(tmp_path): +def test_load_save_policy(tmp_path): path1 = os.path.join(tmp_path, "runid1") path2 = os.path.join(tmp_path, "runid2") trainer_params = TrainerSettings() @@ -62,6 +70,46 @@ def test_load_save(tmp_path): assert policy3.get_current_step() == 0 +@pytest.mark.parametrize( + "optimizer", + [ + (TorchPPOOptimizer, PPOSettings), + (TorchSACOptimizer, SACSettings), + (TorchPOCAOptimizer, POCASettings), + ], + ids=["ppo", "sac", "poca"], +) +def test_load_save_optimizer(tmp_path, optimizer): + OptimizerClass, HyperparametersClass = optimizer + + trainer_settings = TrainerSettings() + trainer_settings.hyperparameters = HyperparametersClass() + policy = create_policy_mock(trainer_settings, use_discrete=False) + optimizer = OptimizerClass(policy, trainer_settings) + + # save at path 1 + path1 = os.path.join(tmp_path, "runid1") + model_saver = TorchModelSaver(trainer_settings, path1) + model_saver.register(policy) + model_saver.register(optimizer) + model_saver.initialize_or_load() + policy.set_step(2000) + model_saver.save_checkpoint("MockBrain", 2000) + + # create a new optimizer and policy + policy2 = create_policy_mock(trainer_settings, use_discrete=False) + optimizer2 = OptimizerClass(policy2, trainer_settings) + + # load weights + model_saver2 = TorchModelSaver(trainer_settings, path1, load=True) + model_saver2.register(policy2) + model_saver2.register(optimizer2) + model_saver2.initialize_or_load() # This is to load the optimizers + + # Compare the two optimizers + _compare_two_optimizers(optimizer, optimizer2) + + # TorchPolicy.evalute() returns log_probs instead of all_log_probs like tf does. # resulting in indeterministic results for testing. # So here use sample_actions instead. @@ -95,6 +143,25 @@ def _compare_two_policies(policy1: TorchPolicy, policy2: TorchPolicy) -> None: ) +def _compare_two_optimizers(opt1: TorchOptimizer, opt2: TorchOptimizer) -> None: + trajectory = mb.make_fake_trajectory( + length=10, + observation_specs=opt1.policy.behavior_spec.observation_specs, + action_spec=opt1.policy.behavior_spec.action_spec, + max_step_complete=True, + ) + with torch.no_grad(): + _, opt1_val_out, _ = opt1.get_trajectory_value_estimates( + trajectory.to_agentbuffer(), trajectory.next_obs, done=False + ) + _, opt2_val_out, _ = opt2.get_trajectory_value_estimates( + trajectory.to_agentbuffer(), trajectory.next_obs, done=False + ) + + for opt1_val, opt2_val in zip(opt1_val_out.values(), opt2_val_out.values()): + np.testing.assert_array_equal(opt1_val, opt2_val) + + @pytest.mark.parametrize("discrete", [True, False], ids=["discrete", "continuous"]) @pytest.mark.parametrize("visual", [True, False], ids=["visual", "vector"]) @pytest.mark.parametrize("rnn", [True, False], ids=["rnn", "no_rnn"]) diff --git a/ml-agents/mlagents/trainers/tests/torch/test_agent_action.py b/ml-agents/mlagents/trainers/tests/torch/test_agent_action.py new file mode 100644 index 0000000000..d8d4cee76a --- /dev/null +++ b/ml-agents/mlagents/trainers/tests/torch/test_agent_action.py @@ -0,0 +1,74 @@ +import numpy as np +from mlagents.torch_utils import torch + +from mlagents.trainers.buffer import AgentBuffer, BufferKey +from mlagents.trainers.torch.agent_action import AgentAction + + +def test_agent_action_group_from_buffer(): + buff = AgentBuffer() + # Create some actions + for _ in range(3): + buff[BufferKey.GROUP_CONTINUOUS_ACTION].append( + 3 * [np.ones((5,), dtype=np.float32)] + ) + buff[BufferKey.GROUP_DISCRETE_ACTION].append( + 3 * [np.ones((4,), dtype=np.float32)] + ) + # Some agents have died + for _ in range(2): + buff[BufferKey.GROUP_CONTINUOUS_ACTION].append( + 1 * [np.ones((5,), dtype=np.float32)] + ) + buff[BufferKey.GROUP_DISCRETE_ACTION].append( + 1 * [np.ones((4,), dtype=np.float32)] + ) + + # Get the group actions, which will be a List of Lists of AgentAction, where each element is the same + # length as the AgentBuffer but contains only one agent's obs. Dead agents are padded by + # NaNs. + gact = AgentAction.group_from_buffer(buff) + # Agent 0 is full + agent_0_act = gact[0] + assert agent_0_act.continuous_tensor.shape == (buff.num_experiences, 5) + assert agent_0_act.discrete_tensor.shape == (buff.num_experiences, 4) + + agent_1_act = gact[1] + assert agent_1_act.continuous_tensor.shape == (buff.num_experiences, 5) + assert agent_1_act.discrete_tensor.shape == (buff.num_experiences, 4) + assert (agent_1_act.continuous_tensor[0:3] > 0).all() + assert (agent_1_act.continuous_tensor[3:] == 0).all() + assert (agent_1_act.discrete_tensor[0:3] > 0).all() + assert (agent_1_act.discrete_tensor[3:] == 0).all() + + +def test_slice(): + # Both continuous and discrete + aa = AgentAction( + torch.tensor([[1.0], [1.0], [1.0]]), + [torch.tensor([2, 1, 0]), torch.tensor([1, 2, 0])], + ) + saa = aa.slice(0, 2) + assert saa.continuous_tensor.shape == (2, 1) + assert saa.discrete_tensor.shape == (2, 2) + + +def test_to_flat(): + # Both continuous and discrete + aa = AgentAction( + torch.tensor([[1.0, 1.0, 1.0]]), [torch.tensor([2]), torch.tensor([1])] + ) + flattened_actions = aa.to_flat([3, 3]) + assert torch.eq( + flattened_actions, torch.tensor([[1, 1, 1, 0, 0, 1, 0, 1, 0]]) + ).all() + + # Just continuous + aa = AgentAction(torch.tensor([[1.0, 1.0, 1.0]]), None) + flattened_actions = aa.to_flat([]) + assert torch.eq(flattened_actions, torch.tensor([1, 1, 1])).all() + + # Just discrete + aa = AgentAction(torch.tensor([]), [torch.tensor([2]), torch.tensor([1])]) + flattened_actions = aa.to_flat([3, 3]) + assert torch.eq(flattened_actions, torch.tensor([0, 0, 1, 0, 1, 0])).all() diff --git a/ml-agents/mlagents/trainers/tests/torch/test_hybrid.py b/ml-agents/mlagents/trainers/tests/torch/test_hybrid.py index 5ab6a8f461..25ed36c785 100644 --- a/ml-agents/mlagents/trainers/tests/torch/test_hybrid.py +++ b/ml-agents/mlagents/trainers/tests/torch/test_hybrid.py @@ -39,16 +39,21 @@ def test_hybrid_ppo(action_size): @pytest.mark.check_environment_trains -@pytest.mark.parametrize("num_visual", [1, 2]) -def test_hybrid_visual_ppo(num_visual): +@pytest.mark.parametrize("num_visual,training_seed", [(1, 1336), (2, 1338)]) +def test_hybrid_visual_ppo(num_visual, training_seed): env = SimpleEnvironment( [BRAIN_NAME], num_visual=num_visual, num_vector=0, action_sizes=(1, 1) ) new_hyperparams = attr.evolve( - PPO_TORCH_CONFIG.hyperparameters, learning_rate=3.0e-4 + PPO_TORCH_CONFIG.hyperparameters, + batch_size=64, + buffer_size=1024, + learning_rate=1e-4, + ) + config = attr.evolve( + PPO_TORCH_CONFIG, hyperparameters=new_hyperparams, max_steps=8000 ) - config = attr.evolve(PPO_TORCH_CONFIG, hyperparameters=new_hyperparams) - check_environment_trains(env, {BRAIN_NAME: config}, training_seed=1336) + check_environment_trains(env, {BRAIN_NAME: config}, training_seed=training_seed) @pytest.mark.check_environment_trains @@ -85,16 +90,14 @@ def test_hybrid_sac(action_size): buffer_init_steps=0, ) config = attr.evolve( - SAC_TORCH_CONFIG, hyperparameters=new_hyperparams, max_steps=2200 - ) - check_environment_trains( - env, {BRAIN_NAME: config}, success_threshold=0.9, training_seed=1336 + SAC_TORCH_CONFIG, hyperparameters=new_hyperparams, max_steps=4000 ) + check_environment_trains(env, {BRAIN_NAME: config}, success_threshold=0.9) @pytest.mark.check_environment_trains -@pytest.mark.parametrize("num_visual", [1, 2]) -def test_hybrid_visual_sac(num_visual): +@pytest.mark.parametrize("num_visual,training_seed", [(1, 1337), (2, 1338)]) +def test_hybrid_visual_sac(num_visual, training_seed): env = SimpleEnvironment( [BRAIN_NAME], num_visual=num_visual, num_vector=0, action_sizes=(1, 1) ) @@ -107,7 +110,7 @@ def test_hybrid_visual_sac(num_visual): config = attr.evolve( SAC_TORCH_CONFIG, hyperparameters=new_hyperparams, max_steps=3000 ) - check_environment_trains(env, {BRAIN_NAME: config}) + check_environment_trains(env, {BRAIN_NAME: config}, training_seed=training_seed) @pytest.mark.check_environment_trains @@ -120,7 +123,7 @@ def test_hybrid_recurrent_sac(): new_hyperparams = attr.evolve( SAC_TORCH_CONFIG.hyperparameters, batch_size=256, - learning_rate=1e-3, + learning_rate=3e-4, buffer_init_steps=1000, steps_per_update=2, ) @@ -128,6 +131,6 @@ def test_hybrid_recurrent_sac(): SAC_TORCH_CONFIG, hyperparameters=new_hyperparams, network_settings=new_networksettings, - max_steps=3500, + max_steps=4000, ) check_environment_trains(env, {BRAIN_NAME: config}, training_seed=1212) diff --git a/ml-agents/mlagents/trainers/tests/torch/test_networks.py b/ml-agents/mlagents/trainers/tests/torch/test_networks.py index 1b5064db77..eb5b655fc4 100644 --- a/ml-agents/mlagents/trainers/tests/torch/test_networks.py +++ b/ml-agents/mlagents/trainers/tests/torch/test_networks.py @@ -1,8 +1,10 @@ import pytest from mlagents.torch_utils import torch +from mlagents.trainers.torch.agent_action import AgentAction from mlagents.trainers.torch.networks import ( NetworkBody, + MultiAgentNetworkBody, ValueNetwork, SimpleActor, SharedActorCritic, @@ -43,7 +45,7 @@ def test_networkbody_vector(): def test_networkbody_lstm(): torch.manual_seed(0) obs_size = 4 - seq_len = 16 + seq_len = 6 network_settings = NetworkSettings( memory=NetworkSettings.MemorySettings(sequence_length=seq_len, memory_size=12) ) @@ -53,10 +55,12 @@ def test_networkbody_lstm(): create_observation_specs_with_shapes(obs_shapes), network_settings ) optimizer = torch.optim.Adam(networkbody.parameters(), lr=3e-4) - sample_obs = torch.ones((1, seq_len, obs_size)) + sample_obs = torch.ones((seq_len, obs_size)) - for _ in range(200): - encoded, _ = networkbody([sample_obs], memories=torch.ones(1, seq_len, 12)) + for _ in range(300): + encoded, _ = networkbody( + [sample_obs], memories=torch.ones(1, 1, 12), sequence_length=seq_len + ) # Try to force output to 1 loss = torch.nn.functional.mse_loss(encoded, torch.ones(encoded.shape)) optimizer.zero_grad() @@ -95,6 +99,144 @@ def test_networkbody_visual(): assert _enc == pytest.approx(1.0, abs=0.1) +@pytest.mark.parametrize("with_actions", [True, False], ids=["actions", "no_actions"]) +def test_multinetworkbody_vector(with_actions): + torch.manual_seed(0) + obs_size = 4 + act_size = 2 + n_agents = 3 + network_settings = NetworkSettings() + obs_shapes = [(obs_size,)] + action_spec = ActionSpec(act_size, tuple(act_size for _ in range(act_size))) + networkbody = MultiAgentNetworkBody( + create_observation_specs_with_shapes(obs_shapes), network_settings, action_spec + ) + optimizer = torch.optim.Adam(networkbody.parameters(), lr=3e-3) + sample_obs = [[0.1 * torch.ones((1, obs_size))] for _ in range(n_agents)] + # simulate baseline in POCA + sample_act = [ + AgentAction( + 0.1 * torch.ones((1, 2)), [0.1 * torch.ones(1) for _ in range(act_size)] + ) + for _ in range(n_agents - 1) + ] + + for _ in range(300): + if with_actions: + encoded, _ = networkbody( + obs_only=sample_obs[:1], obs=sample_obs[1:], actions=sample_act + ) + else: + encoded, _ = networkbody(obs_only=sample_obs, obs=[], actions=[]) + assert encoded.shape == (1, network_settings.hidden_units) + # Try to force output to 1 + loss = torch.nn.functional.mse_loss(encoded, torch.ones(encoded.shape)) + optimizer.zero_grad() + loss.backward() + optimizer.step() + # In the last step, values should be close to 1 + for _enc in encoded.flatten().tolist(): + assert _enc == pytest.approx(1.0, abs=0.1) + + +@pytest.mark.parametrize("with_actions", [True, False], ids=["actions", "no_actions"]) +def test_multinetworkbody_lstm(with_actions): + torch.manual_seed(0) + obs_size = 4 + act_size = 2 + seq_len = 16 + n_agents = 3 + network_settings = NetworkSettings( + memory=NetworkSettings.MemorySettings(sequence_length=seq_len, memory_size=12) + ) + + obs_shapes = [(obs_size,)] + action_spec = ActionSpec(act_size, tuple(act_size for _ in range(act_size))) + networkbody = MultiAgentNetworkBody( + create_observation_specs_with_shapes(obs_shapes), network_settings, action_spec + ) + optimizer = torch.optim.Adam(networkbody.parameters(), lr=3e-4) + sample_obs = [[0.1 * torch.ones((seq_len, obs_size))] for _ in range(n_agents)] + # simulate baseline in POCA + sample_act = [ + AgentAction( + 0.1 * torch.ones((seq_len, 2)), + [0.1 * torch.ones(seq_len) for _ in range(act_size)], + ) + for _ in range(n_agents - 1) + ] + + for _ in range(300): + if with_actions: + encoded, _ = networkbody( + obs_only=sample_obs[:1], + obs=sample_obs[1:], + actions=sample_act, + memories=torch.ones(1, 1, 12), + sequence_length=seq_len, + ) + else: + encoded, _ = networkbody( + obs_only=sample_obs, + obs=[], + actions=[], + memories=torch.ones(1, 1, 12), + sequence_length=seq_len, + ) + # Try to force output to 1 + loss = torch.nn.functional.mse_loss(encoded, torch.ones(encoded.shape)) + optimizer.zero_grad() + loss.backward() + optimizer.step() + # In the last step, values should be close to 1 + for _enc in encoded.flatten().tolist(): + assert _enc == pytest.approx(1.0, abs=0.1) + + +@pytest.mark.parametrize("with_actions", [True, False], ids=["actions", "no_actions"]) +def test_multinetworkbody_visual(with_actions): + torch.manual_seed(0) + act_size = 2 + n_agents = 3 + obs_size = 4 + vis_obs_size = (84, 84, 3) + network_settings = NetworkSettings() + obs_shapes = [(obs_size,), vis_obs_size] + action_spec = ActionSpec(act_size, tuple(act_size for _ in range(act_size))) + networkbody = MultiAgentNetworkBody( + create_observation_specs_with_shapes(obs_shapes), network_settings, action_spec + ) + optimizer = torch.optim.Adam(networkbody.parameters(), lr=3e-3) + sample_obs = [ + [0.1 * torch.ones((1, obs_size))] + [0.1 * torch.ones((1, 84, 84, 3))] + for _ in range(n_agents) + ] + # simulate baseline in POCA + sample_act = [ + AgentAction( + 0.1 * torch.ones((1, 2)), [0.1 * torch.ones(1) for _ in range(act_size)] + ) + for _ in range(n_agents - 1) + ] + for _ in range(300): + if with_actions: + encoded, _ = networkbody( + obs_only=sample_obs[:1], obs=sample_obs[1:], actions=sample_act + ) + else: + encoded, _ = networkbody(obs_only=sample_obs, obs=[], actions=[]) + + assert encoded.shape == (1, network_settings.hidden_units) + # Try to force output to 1 + loss = torch.nn.functional.mse_loss(encoded, torch.ones(encoded.shape)) + optimizer.zero_grad() + loss.backward() + optimizer.step() + # In the last step, values should be close to 1 + for _enc in encoded.flatten().tolist(): + assert _enc == pytest.approx(1.0, abs=0.1) + + def test_valuenetwork(): torch.manual_seed(0) obs_size = 4 @@ -139,7 +281,6 @@ def test_actor_critic(lstm, shared): act_size = 2 mask = torch.ones([1, act_size * 2]) stream_names = [f"stream_name{n}" for n in range(4)] - # action_spec = ActionSpec.create_continuous(act_size[0]) action_spec = ActionSpec(act_size, tuple(act_size for _ in range(act_size))) if shared: actor = critic = SharedActorCritic( diff --git a/ml-agents/mlagents/trainers/tests/torch/test_poca.py b/ml-agents/mlagents/trainers/tests/torch/test_poca.py new file mode 100644 index 0000000000..2552234bb0 --- /dev/null +++ b/ml-agents/mlagents/trainers/tests/torch/test_poca.py @@ -0,0 +1,338 @@ +from mlagents.trainers.behavior_id_utils import BehaviorIdentifiers +import pytest + +import numpy as np +import attr + +# Import to avoid circular import +from mlagents.trainers.trainer.trainer_factory import TrainerFactory # noqa F401 + +from mlagents.trainers.poca.optimizer_torch import TorchPOCAOptimizer +from mlagents.trainers.poca.trainer import POCATrainer +from mlagents.trainers.settings import RewardSignalSettings, RewardSignalType + +from mlagents.trainers.policy.torch_policy import TorchPolicy +from mlagents.trainers.tests import mock_brain as mb +from mlagents.trainers.tests.mock_brain import copy_buffer_fields +from mlagents.trainers.tests.test_trajectory import make_fake_trajectory +from mlagents.trainers.settings import NetworkSettings +from mlagents.trainers.tests.dummy_config import ( # noqa: F401 + create_observation_specs_with_shapes, + poca_dummy_config, + curiosity_dummy_config, + gail_dummy_config, +) +from mlagents.trainers.agent_processor import AgentManagerQueue +from mlagents.trainers.settings import TrainerSettings + +from mlagents_envs.base_env import ActionSpec, BehaviorSpec +from mlagents.trainers.buffer import BufferKey, RewardSignalUtil + + +@pytest.fixture +def dummy_config(): + return poca_dummy_config() + + +VECTOR_ACTION_SPACE = 2 +VECTOR_OBS_SPACE = 8 +DISCRETE_ACTION_SPACE = [3, 3, 3, 2] +BUFFER_INIT_SAMPLES = 64 +NUM_AGENTS = 4 + +CONTINUOUS_ACTION_SPEC = ActionSpec.create_continuous(VECTOR_ACTION_SPACE) +DISCRETE_ACTION_SPEC = ActionSpec.create_discrete(tuple(DISCRETE_ACTION_SPACE)) + + +def create_test_poca_optimizer(dummy_config, use_rnn, use_discrete, use_visual): + mock_specs = mb.setup_test_behavior_specs( + use_discrete, + use_visual, + vector_action_space=DISCRETE_ACTION_SPACE + if use_discrete + else VECTOR_ACTION_SPACE, + vector_obs_space=VECTOR_OBS_SPACE, + ) + + trainer_settings = attr.evolve(dummy_config) + trainer_settings.reward_signals = { + RewardSignalType.EXTRINSIC: RewardSignalSettings(strength=1.0, gamma=0.99) + } + + trainer_settings.network_settings.memory = ( + NetworkSettings.MemorySettings(sequence_length=16, memory_size=10) + if use_rnn + else None + ) + policy = TorchPolicy(0, mock_specs, trainer_settings, "test", False) + optimizer = TorchPOCAOptimizer(policy, trainer_settings) + return optimizer + + +@pytest.mark.parametrize("discrete", [True, False], ids=["discrete", "continuous"]) +@pytest.mark.parametrize("visual", [True, False], ids=["visual", "vector"]) +@pytest.mark.parametrize("rnn", [True, False], ids=["rnn", "no_rnn"]) +def test_poca_optimizer_update(dummy_config, rnn, visual, discrete): + # Test evaluate + optimizer = create_test_poca_optimizer( + dummy_config, use_rnn=rnn, use_discrete=discrete, use_visual=visual + ) + # Test update + update_buffer = mb.simulate_rollout( + BUFFER_INIT_SAMPLES, + optimizer.policy.behavior_spec, + memory_size=optimizer.policy.m_size, + num_other_agents_in_group=NUM_AGENTS, + ) + # Mock out reward signal eval + copy_buffer_fields( + update_buffer, + BufferKey.ENVIRONMENT_REWARDS, + [ + BufferKey.ADVANTAGES, + RewardSignalUtil.returns_key("extrinsic"), + RewardSignalUtil.value_estimates_key("extrinsic"), + RewardSignalUtil.baseline_estimates_key("extrinsic"), + ], + ) + # Copy memories to critic memories + copy_buffer_fields( + update_buffer, + BufferKey.MEMORY, + [BufferKey.CRITIC_MEMORY, BufferKey.BASELINE_MEMORY], + ) + + return_stats = optimizer.update( + update_buffer, + num_sequences=update_buffer.num_experiences // optimizer.policy.sequence_length, + ) + # Make sure we have the right stats + required_stats = [ + "Losses/Policy Loss", + "Losses/Value Loss", + "Policy/Learning Rate", + "Policy/Epsilon", + "Policy/Beta", + ] + for stat in required_stats: + assert stat in return_stats.keys() + + +@pytest.mark.parametrize("discrete", [True, False], ids=["discrete", "continuous"]) +@pytest.mark.parametrize("visual", [True, False], ids=["visual", "vector"]) +@pytest.mark.parametrize("rnn", [True, False], ids=["rnn", "no_rnn"]) +def test_poca_get_value_estimates(dummy_config, rnn, visual, discrete): + optimizer = create_test_poca_optimizer( + dummy_config, use_rnn=rnn, use_discrete=discrete, use_visual=visual + ) + time_horizon = 15 + trajectory = make_fake_trajectory( + length=time_horizon, + observation_specs=optimizer.policy.behavior_spec.observation_specs, + action_spec=DISCRETE_ACTION_SPEC if discrete else CONTINUOUS_ACTION_SPEC, + max_step_complete=True, + num_other_agents_in_group=NUM_AGENTS, + ) + ( + value_estimates, + baseline_estimates, + value_next, + value_memories, + baseline_memories, + ) = optimizer.get_trajectory_and_baseline_value_estimates( + trajectory.to_agentbuffer(), + trajectory.next_obs, + trajectory.next_group_obs, + done=False, + ) + for key, val in value_estimates.items(): + assert type(key) is str + assert len(val) == 15 + for key, val in baseline_estimates.items(): + assert type(key) is str + assert len(val) == 15 + + if value_memories is not None: + assert len(value_memories) == 15 + assert len(baseline_memories) == 15 + + ( + value_estimates, + baseline_estimates, + value_next, + value_memories, + baseline_memories, + ) = optimizer.get_trajectory_and_baseline_value_estimates( + trajectory.to_agentbuffer(), + trajectory.next_obs, + trajectory.next_group_obs, + done=True, + ) + for key, val in value_next.items(): + assert type(key) is str + assert val == 0.0 + + # Check if we ignore terminal states properly + optimizer.reward_signals["extrinsic"].use_terminal_states = False + ( + value_estimates, + baseline_estimates, + value_next, + value_memories, + baseline_memories, + ) = optimizer.get_trajectory_and_baseline_value_estimates( + trajectory.to_agentbuffer(), + trajectory.next_obs, + trajectory.next_group_obs, + done=False, + ) + for key, val in value_next.items(): + assert type(key) is str + assert val != 0.0 + + +@pytest.mark.parametrize("discrete", [True, False], ids=["discrete", "continuous"]) +@pytest.mark.parametrize("visual", [True, False], ids=["visual", "vector"]) +@pytest.mark.parametrize("rnn", [True, False], ids=["rnn", "no_rnn"]) +# We need to test this separately from test_reward_signals.py to ensure no interactions +def test_poca_optimizer_update_curiosity( + dummy_config, curiosity_dummy_config, rnn, visual, discrete # noqa: F811 +): + # Test evaluate + dummy_config.reward_signals = curiosity_dummy_config + optimizer = create_test_poca_optimizer( + dummy_config, use_rnn=rnn, use_discrete=discrete, use_visual=visual + ) + # Test update + update_buffer = mb.simulate_rollout( + BUFFER_INIT_SAMPLES, + optimizer.policy.behavior_spec, + memory_size=optimizer.policy.m_size, + ) + # Mock out reward signal eval + copy_buffer_fields( + update_buffer, + src_key=BufferKey.ENVIRONMENT_REWARDS, + dst_keys=[ + BufferKey.ADVANTAGES, + RewardSignalUtil.returns_key("extrinsic"), + RewardSignalUtil.value_estimates_key("extrinsic"), + RewardSignalUtil.baseline_estimates_key("extrinsic"), + RewardSignalUtil.returns_key("curiosity"), + RewardSignalUtil.value_estimates_key("curiosity"), + RewardSignalUtil.baseline_estimates_key("curiosity"), + ], + ) + # Copy memories to critic memories + copy_buffer_fields( + update_buffer, + BufferKey.MEMORY, + [BufferKey.CRITIC_MEMORY, BufferKey.BASELINE_MEMORY], + ) + + optimizer.update( + update_buffer, + num_sequences=update_buffer.num_experiences // optimizer.policy.sequence_length, + ) + + +# We need to test this separately from test_reward_signals.py to ensure no interactions +def test_poca_optimizer_update_gail(gail_dummy_config, dummy_config): # noqa: F811 + # Test evaluate + dummy_config.reward_signals = gail_dummy_config + config = poca_dummy_config() + optimizer = create_test_poca_optimizer( + config, use_rnn=False, use_discrete=False, use_visual=False + ) + # Test update + update_buffer = mb.simulate_rollout( + BUFFER_INIT_SAMPLES, optimizer.policy.behavior_spec + ) + # Mock out reward signal eval + copy_buffer_fields( + update_buffer, + src_key=BufferKey.ENVIRONMENT_REWARDS, + dst_keys=[ + BufferKey.ADVANTAGES, + RewardSignalUtil.returns_key("extrinsic"), + RewardSignalUtil.value_estimates_key("extrinsic"), + RewardSignalUtil.baseline_estimates_key("extrinsic"), + RewardSignalUtil.returns_key("gail"), + RewardSignalUtil.value_estimates_key("gail"), + RewardSignalUtil.baseline_estimates_key("gail"), + ], + ) + + update_buffer[BufferKey.CONTINUOUS_LOG_PROBS] = np.ones_like( + update_buffer[BufferKey.CONTINUOUS_ACTION] + ) + optimizer.update( + update_buffer, + num_sequences=update_buffer.num_experiences // optimizer.policy.sequence_length, + ) + + # Check if buffer size is too big + update_buffer = mb.simulate_rollout(3000, optimizer.policy.behavior_spec) + # Mock out reward signal eval + copy_buffer_fields( + update_buffer, + src_key=BufferKey.ENVIRONMENT_REWARDS, + dst_keys=[ + BufferKey.ADVANTAGES, + RewardSignalUtil.returns_key("extrinsic"), + RewardSignalUtil.value_estimates_key("extrinsic"), + RewardSignalUtil.baseline_estimates_key("extrinsic"), + RewardSignalUtil.returns_key("gail"), + RewardSignalUtil.value_estimates_key("gail"), + RewardSignalUtil.baseline_estimates_key("gail"), + ], + ) + optimizer.update( + update_buffer, + num_sequences=update_buffer.num_experiences // optimizer.policy.sequence_length, + ) + + +def test_poca_end_episode(): + name_behavior_id = "test_trainer" + trainer = POCATrainer( + name_behavior_id, + 10, + TrainerSettings(max_steps=100, checkpoint_interval=10, summary_freq=20), + True, + False, + 0, + "mock_model_path", + ) + behavior_spec = BehaviorSpec( + create_observation_specs_with_shapes([(1,)]), ActionSpec.create_discrete((2,)) + ) + parsed_behavior_id = BehaviorIdentifiers.from_name_behavior_id(name_behavior_id) + mock_policy = trainer.create_policy(parsed_behavior_id, behavior_spec) + trainer.add_policy(parsed_behavior_id, mock_policy) + trajectory_queue = AgentManagerQueue("testbrain") + policy_queue = AgentManagerQueue("testbrain") + trainer.subscribe_trajectory_queue(trajectory_queue) + trainer.publish_policy_queue(policy_queue) + time_horizon = 10 + trajectory = mb.make_fake_trajectory( + length=time_horizon, + observation_specs=behavior_spec.observation_specs, + max_step_complete=False, + action_spec=behavior_spec.action_spec, + num_other_agents_in_group=2, + group_reward=1.0, + is_terminal=False, + ) + trajectory_queue.put(trajectory) + trainer.advance() + # Test that some trajectoories have been injested + for reward in trainer.collected_group_rewards.values(): + assert reward == 10 + # Test end episode + trainer.end_episode() + assert len(trainer.collected_group_rewards.keys()) == 0 + + +if __name__ == "__main__": + pytest.main() diff --git a/ml-agents/mlagents/trainers/tests/torch/test_ppo.py b/ml-agents/mlagents/trainers/tests/torch/test_ppo.py index 0b4c2c3472..ca1a18b1e7 100644 --- a/ml-agents/mlagents/trainers/tests/torch/test_ppo.py +++ b/ml-agents/mlagents/trainers/tests/torch/test_ppo.py @@ -207,6 +207,11 @@ def test_ppo_get_value_estimates(dummy_config, rnn, visual, discrete): run_out, final_value_out, all_memories = optimizer.get_trajectory_value_estimates( trajectory.to_agentbuffer(), trajectory.next_obs, done=False ) + if rnn: + # Check that memories don't have a Torch gradient + for mem in optimizer.critic_memory_dict.values(): + assert not mem.requires_grad + for key, val in run_out.items(): assert type(key) is str assert len(val) == 15 diff --git a/ml-agents/mlagents/trainers/tests/torch/test_reward_providers/test_extrinsic.py b/ml-agents/mlagents/trainers/tests/torch/test_reward_providers/test_extrinsic.py index c68cc22423..385891b709 100644 --- a/ml-agents/mlagents/trainers/tests/torch/test_reward_providers/test_extrinsic.py +++ b/ml-agents/mlagents/trainers/tests/torch/test_reward_providers/test_extrinsic.py @@ -1,4 +1,6 @@ +from mlagents.trainers.buffer import BufferKey import pytest +import numpy as np from mlagents.trainers.torch.components.reward_providers import ( ExtrinsicRewardProvider, create_reward_provider, @@ -71,3 +73,20 @@ def test_reward(behavior_spec: BehaviorSpec, reward: float) -> None: extrinsic_rp = ExtrinsicRewardProvider(behavior_spec, settings) generated_rewards = extrinsic_rp.evaluate(buffer) assert (generated_rewards == reward).all() + + # Test group rewards. Rewards should be double of the environment rewards, but shouldn't count + # the groupmate rewards. + buffer[BufferKey.GROUP_REWARD] = buffer[BufferKey.ENVIRONMENT_REWARDS] + # 2 agents with identical rewards + buffer[BufferKey.GROUPMATE_REWARDS].set( + [np.ones(1, dtype=np.float32) * reward] * 2 + for _ in range(buffer.num_experiences) + ) + generated_rewards = extrinsic_rp.evaluate(buffer) + assert (generated_rewards == 2 * reward).all() + + # Test groupmate rewards. Total reward should be indiv_reward + 2 * teammate_reward + group_reward + extrinsic_rp = ExtrinsicRewardProvider(behavior_spec, settings) + extrinsic_rp.add_groupmate_rewards = True + generated_rewards = extrinsic_rp.evaluate(buffer) + assert (generated_rewards == 4 * reward).all() diff --git a/ml-agents/mlagents/trainers/tests/torch/test_simple_rl.py b/ml-agents/mlagents/trainers/tests/torch/test_simple_rl.py index 6f1c30f36b..0e5fce716a 100644 --- a/ml-agents/mlagents/trainers/tests/torch/test_simple_rl.py +++ b/ml-agents/mlagents/trainers/tests/torch/test_simple_rl.py @@ -4,6 +4,7 @@ from mlagents.trainers.tests.simple_test_envs import ( SimpleEnvironment, + MultiAgentEnvironment, MemoryEnvironment, RecordEnvironment, ) @@ -27,7 +28,11 @@ ActionSpecProto, ) -from mlagents.trainers.tests.dummy_config import ppo_dummy_config, sac_dummy_config +from mlagents.trainers.tests.dummy_config import ( + ppo_dummy_config, + sac_dummy_config, + poca_dummy_config, +) from mlagents.trainers.tests.check_env_trains import ( check_environment_trains, default_reward_processor, @@ -37,11 +42,83 @@ PPO_TORCH_CONFIG = ppo_dummy_config() SAC_TORCH_CONFIG = sac_dummy_config() +POCA_TORCH_CONFIG = poca_dummy_config() # tests in this file won't be tested on GPU machine pytestmark = pytest.mark.check_environment_trains +@pytest.mark.parametrize("action_sizes", [(0, 1), (1, 0)]) +def test_simple_poca(action_sizes): + env = MultiAgentEnvironment([BRAIN_NAME], action_sizes=action_sizes, num_agents=2) + config = attr.evolve(POCA_TORCH_CONFIG) + check_environment_trains(env, {BRAIN_NAME: config}) + + +@pytest.mark.parametrize("num_visual", [1, 2]) +def test_visual_poca(num_visual): + env = MultiAgentEnvironment( + [BRAIN_NAME], action_sizes=(0, 1), num_agents=2, num_visual=num_visual + ) + new_hyperparams = attr.evolve( + POCA_TORCH_CONFIG.hyperparameters, learning_rate=3.0e-4 + ) + config = attr.evolve(POCA_TORCH_CONFIG, hyperparameters=new_hyperparams) + check_environment_trains(env, {BRAIN_NAME: config}) + + +@pytest.mark.parametrize("num_var_len", [1, 2]) +@pytest.mark.parametrize("num_vector", [0, 1]) +@pytest.mark.parametrize("num_vis", [0, 1]) +def test_var_len_obs_poca(num_vis, num_vector, num_var_len): + env = MultiAgentEnvironment( + [BRAIN_NAME], + action_sizes=(0, 1), + num_visual=num_vis, + num_vector=num_vector, + num_var_len=num_var_len, + step_size=0.2, + num_agents=2, + ) + new_hyperparams = attr.evolve( + POCA_TORCH_CONFIG.hyperparameters, learning_rate=3.0e-4 + ) + config = attr.evolve(POCA_TORCH_CONFIG, hyperparameters=new_hyperparams) + check_environment_trains(env, {BRAIN_NAME: config}) + + +@pytest.mark.parametrize("action_sizes", [(0, 1), (1, 0)]) +@pytest.mark.parametrize("is_multiagent", [True, False]) +def test_recurrent_poca(action_sizes, is_multiagent): + if is_multiagent: + # This is not a recurrent environment, just check if LSTM doesn't crash + env = MultiAgentEnvironment( + [BRAIN_NAME], action_sizes=action_sizes, num_agents=2 + ) + else: + # Actually test LSTM here + env = MemoryEnvironment([BRAIN_NAME], action_sizes=action_sizes) + new_network_settings = attr.evolve( + POCA_TORCH_CONFIG.network_settings, + memory=NetworkSettings.MemorySettings(memory_size=16), + ) + new_hyperparams = attr.evolve( + POCA_TORCH_CONFIG.hyperparameters, + learning_rate=1.0e-3, + batch_size=64, + buffer_size=128, + ) + config = attr.evolve( + POCA_TORCH_CONFIG, + hyperparameters=new_hyperparams, + network_settings=new_network_settings, + max_steps=500 if is_multiagent else 6000, + ) + check_environment_trains( + env, {BRAIN_NAME: config}, success_threshold=None if is_multiagent else 0.9 + ) + + @pytest.mark.parametrize("action_sizes", [(0, 1), (1, 0)]) def test_simple_ppo(action_sizes): env = SimpleEnvironment([BRAIN_NAME], action_sizes=action_sizes) @@ -399,9 +476,11 @@ def test_gail_visual_ppo(simple_record, action_sizes): ) bc_settings = BehavioralCloningSettings(demo_path=demo_path, steps=1500) reward_signals = { - RewardSignalType.GAIL: GAILSettings(encoding_size=32, demo_path=demo_path) + RewardSignalType.GAIL: GAILSettings( + gamma=0.8, encoding_size=32, demo_path=demo_path + ) } - hyperparams = attr.evolve(PPO_TORCH_CONFIG.hyperparameters, learning_rate=5e-3) + hyperparams = attr.evolve(PPO_TORCH_CONFIG.hyperparameters, learning_rate=1e-3) config = attr.evolve( PPO_TORCH_CONFIG, reward_signals=reward_signals, diff --git a/ml-agents/mlagents/trainers/torch/agent_action.py b/ml-agents/mlagents/trainers/torch/agent_action.py index 9d13d6b488..dfa7c356e0 100644 --- a/ml-agents/mlagents/trainers/torch/agent_action.py +++ b/ml-agents/mlagents/trainers/torch/agent_action.py @@ -1,4 +1,6 @@ from typing import List, Optional, NamedTuple +import itertools +import numpy as np from mlagents.torch_utils import torch from mlagents.trainers.buffer import AgentBuffer, BufferKey @@ -19,11 +21,28 @@ class AgentAction(NamedTuple): discrete_list: Optional[List[torch.Tensor]] @property - def discrete_tensor(self): + def discrete_tensor(self) -> torch.Tensor: """ Returns the discrete action list as a stacked tensor """ - return torch.stack(self.discrete_list, dim=-1) + if self.discrete_list is not None and len(self.discrete_list) > 0: + return torch.stack(self.discrete_list, dim=-1) + else: + return torch.empty(0) + + def slice(self, start: int, end: int) -> "AgentAction": + """ + Returns an AgentAction with the continuous and discrete tensors slices + from index start to index end. + """ + _cont = None + _disc_list = [] + if self.continuous_tensor is not None: + _cont = self.continuous_tensor[start:end] + if self.discrete_list is not None and len(self.discrete_list) > 0: + for _disc in self.discrete_list: + _disc_list.append(_disc[start:end]) + return AgentAction(_cont, _disc_list) def to_action_tuple(self, clip: bool = False) -> ActionTuple: """ @@ -59,3 +78,80 @@ def from_buffer(buff: AgentBuffer) -> "AgentAction": discrete_tensor[..., i] for i in range(discrete_tensor.shape[-1]) ] return AgentAction(continuous, discrete) + + @staticmethod + def _group_agent_action_from_buffer( + buff: AgentBuffer, cont_action_key: BufferKey, disc_action_key: BufferKey + ) -> List["AgentAction"]: + """ + Extracts continuous and discrete groupmate actions, as specified by BufferKey, and + returns a List of AgentActions that correspond to the groupmate's actions. List will + be of length equal to the maximum number of groupmates in the buffer. Any spots where + there are less agents than maximum, the actions will be padded with 0's. + """ + continuous_tensors: List[torch.Tensor] = [] + discrete_tensors: List[torch.Tensor] = [] + if cont_action_key in buff: + padded_batch = buff[cont_action_key].padded_to_batch() + continuous_tensors = [ + ModelUtils.list_to_tensor(arr) for arr in padded_batch + ] + if disc_action_key in buff: + padded_batch = buff[disc_action_key].padded_to_batch(dtype=np.long) + discrete_tensors = [ + ModelUtils.list_to_tensor(arr, dtype=torch.long) for arr in padded_batch + ] + + actions_list = [] + for _cont, _disc in itertools.zip_longest( + continuous_tensors, discrete_tensors, fillvalue=None + ): + if _disc is not None: + _disc = [_disc[..., i] for i in range(_disc.shape[-1])] + actions_list.append(AgentAction(_cont, _disc)) + return actions_list + + @staticmethod + def group_from_buffer(buff: AgentBuffer) -> List["AgentAction"]: + """ + A static method that accesses next group continuous and discrete action fields in an AgentBuffer + and constructs a padded List of AgentActions that represent the group agent actions. + The List is of length equal to max number of groupmate agents in the buffer, and the AgentBuffer iss + of the same length as the buffer. Empty spots (e.g. when agents die) are padded with 0. + :param buff: AgentBuffer of a batch or trajectory + :return: List of groupmate's AgentActions + """ + return AgentAction._group_agent_action_from_buffer( + buff, BufferKey.GROUP_CONTINUOUS_ACTION, BufferKey.GROUP_DISCRETE_ACTION + ) + + @staticmethod + def group_from_buffer_next(buff: AgentBuffer) -> List["AgentAction"]: + """ + A static method that accesses next group continuous and discrete action fields in an AgentBuffer + and constructs a padded List of AgentActions that represent the next group agent actions. + The List is of length equal to max number of groupmate agents in the buffer, and the AgentBuffer iss + of the same length as the buffer. Empty spots (e.g. when agents die) are padded with 0. + :param buff: AgentBuffer of a batch or trajectory + :return: List of groupmate's AgentActions + """ + return AgentAction._group_agent_action_from_buffer( + buff, BufferKey.GROUP_NEXT_CONT_ACTION, BufferKey.GROUP_NEXT_DISC_ACTION + ) + + def to_flat(self, discrete_branches: List[int]) -> torch.Tensor: + """ + Flatten this AgentAction into a single torch Tensor of dimension (batch, num_continuous + num_one_hot_discrete). + Discrete actions are converted into one-hot and concatenated with continuous actions. + :param discrete_branches: List of sizes for discrete actions. + :return: Tensor of flattened actions. + """ + # if there are any discrete actions, create one-hot + if self.discrete_list is not None and len(self.discrete_list) > 0: + discrete_oh = ModelUtils.actions_to_onehot( + self.discrete_tensor, discrete_branches + ) + discrete_oh = torch.cat(discrete_oh, dim=1) + else: + discrete_oh = torch.empty(0) + return torch.cat([self.continuous_tensor, discrete_oh], dim=-1) diff --git a/ml-agents/mlagents/trainers/torch/components/reward_providers/extrinsic_reward_provider.py b/ml-agents/mlagents/trainers/torch/components/reward_providers/extrinsic_reward_provider.py index a8b7dabbc0..4d58e7c3b1 100644 --- a/ml-agents/mlagents/trainers/torch/components/reward_providers/extrinsic_reward_provider.py +++ b/ml-agents/mlagents/trainers/torch/components/reward_providers/extrinsic_reward_provider.py @@ -5,11 +5,39 @@ from mlagents.trainers.torch.components.reward_providers.base_reward_provider import ( BaseRewardProvider, ) +from mlagents_envs.base_env import BehaviorSpec +from mlagents.trainers.settings import RewardSignalSettings class ExtrinsicRewardProvider(BaseRewardProvider): + """ + Evaluates extrinsic reward. For single-agent, this equals the individual reward + given to the agent. For the POCA algorithm, we want not only the individual reward + but also the team and the individual rewards of the other agents. + """ + + def __init__(self, specs: BehaviorSpec, settings: RewardSignalSettings) -> None: + super().__init__(specs, settings) + self.add_groupmate_rewards = False + def evaluate(self, mini_batch: AgentBuffer) -> np.ndarray: - return np.array(mini_batch[BufferKey.ENVIRONMENT_REWARDS], dtype=np.float32) + indiv_rewards = np.array( + mini_batch[BufferKey.ENVIRONMENT_REWARDS], dtype=np.float32 + ) + total_rewards = indiv_rewards + if BufferKey.GROUPMATE_REWARDS in mini_batch and self.add_groupmate_rewards: + groupmate_rewards_list = mini_batch[BufferKey.GROUPMATE_REWARDS] + groupmate_rewards_sum = np.array( + [sum(_rew) for _rew in groupmate_rewards_list], dtype=np.float32 + ) + total_rewards += groupmate_rewards_sum + if BufferKey.GROUP_REWARD in mini_batch: + group_rewards = np.array( + mini_batch[BufferKey.GROUP_REWARD], dtype=np.float32 + ) + # Add all the group rewards to the individual rewards + total_rewards += group_rewards + return total_rewards def update(self, mini_batch: AgentBuffer) -> Dict[str, np.ndarray]: return {} diff --git a/ml-agents/mlagents/trainers/torch/networks.py b/ml-agents/mlagents/trainers/torch/networks.py index 341c0a0bd2..dd1ddb5b01 100644 --- a/ml-agents/mlagents/trainers/torch/networks.py +++ b/ml-agents/mlagents/trainers/torch/networks.py @@ -7,10 +7,10 @@ from mlagents.trainers.torch.action_model import ActionModel from mlagents.trainers.torch.agent_action import AgentAction from mlagents.trainers.torch.action_log_probs import ActionLogProbs -from mlagents.trainers.settings import NetworkSettings +from mlagents.trainers.settings import NetworkSettings, EncoderType from mlagents.trainers.torch.utils import ModelUtils from mlagents.trainers.torch.decoders import ValueHeads -from mlagents.trainers.torch.layers import LSTM, LinearEncoder, Initialization +from mlagents.trainers.torch.layers import LSTM, LinearEncoder from mlagents.trainers.torch.encoders import VectorInput from mlagents.trainers.buffer import AgentBuffer from mlagents.trainers.trajectory import ObsUtil @@ -19,6 +19,7 @@ ResidualSelfAttention, get_zero_entities_mask, ) +from mlagents.trainers.exception import UnityTrainerException ActivationFunction = Callable[[torch.Tensor], torch.Tensor] @@ -29,60 +30,38 @@ EPSILON = 1e-7 -class NetworkBody(nn.Module): +class ObservationEncoder(nn.Module): def __init__( self, observation_specs: List[ObservationSpec], - network_settings: NetworkSettings, - encoded_act_size: int = 0, + h_size: int, + vis_encode_type: EncoderType, + normalize: bool = False, ): + """ + Returns an ObservationEncoder that can process and encode a set of observations. + Will use an RSA if needed for variable length observations. + """ super().__init__() - self.normalize = network_settings.normalize - self.use_lstm = network_settings.memory is not None - self.h_size = network_settings.hidden_units - self.m_size = ( - network_settings.memory.memory_size - if network_settings.memory is not None - else 0 - ) - self.processors, self.embedding_sizes = ModelUtils.create_input_processors( - observation_specs, - self.h_size, - network_settings.vis_encode_type, - normalize=self.normalize, + observation_specs, h_size, vis_encode_type, normalize=normalize ) - - entity_num_max: int = 0 - var_processors = [p for p in self.processors if isinstance(p, EntityEmbedding)] - for processor in var_processors: - entity_max: int = processor.entity_num_max_elements - # Only adds entity max if it was known at construction - if entity_max > 0: - entity_num_max += entity_max - if len(var_processors) > 0: - if sum(self.embedding_sizes): - self.x_self_encoder = LinearEncoder( - sum(self.embedding_sizes), - 1, - self.h_size, - kernel_init=Initialization.Normal, - kernel_gain=(0.125 / self.h_size) ** 0.5, - ) - self.rsa = ResidualSelfAttention(self.h_size, entity_num_max) - total_enc_size = sum(self.embedding_sizes) + self.h_size + self.rsa, self.x_self_encoder = ModelUtils.create_residual_self_attention( + self.processors, self.embedding_sizes, h_size + ) + if self.rsa is not None: + total_enc_size = sum(self.embedding_sizes) + h_size else: total_enc_size = sum(self.embedding_sizes) + self.normalize = normalize + self._total_enc_size = total_enc_size - total_enc_size += encoded_act_size - self.linear_encoder = LinearEncoder( - total_enc_size, network_settings.num_layers, self.h_size - ) - - if self.use_lstm: - self.lstm = LSTM(self.h_size, self.m_size) - else: - self.lstm = None # type: ignore + @property + def total_enc_size(self) -> int: + """ + Returns the total encoding size for this ObservationEncoder. + """ + return self._total_enc_size def update_normalization(self, buffer: AgentBuffer) -> None: obs = ObsUtil.from_buffer(buffer, len(self.processors)) @@ -90,23 +69,20 @@ def update_normalization(self, buffer: AgentBuffer) -> None: if isinstance(enc, VectorInput): enc.update_normalization(torch.as_tensor(vec_input)) - def copy_normalization(self, other_network: "NetworkBody") -> None: + def copy_normalization(self, other_encoder: "ObservationEncoder") -> None: if self.normalize: - for n1, n2 in zip(self.processors, other_network.processors): + for n1, n2 in zip(self.processors, other_encoder.processors): if isinstance(n1, VectorInput) and isinstance(n2, VectorInput): n1.copy_normalization(n2) - @property - def memory_size(self) -> int: - return self.lstm.memory_size if self.use_lstm else 0 - - def forward( - self, - inputs: List[torch.Tensor], - actions: Optional[torch.Tensor] = None, - memories: Optional[torch.Tensor] = None, - sequence_length: int = 1, - ) -> Tuple[torch.Tensor, torch.Tensor]: + def forward(self, inputs: List[torch.Tensor]) -> torch.Tensor: + """ + Encode observations using a list of processors and an RSA. + :param inputs: List of Tensors corresponding to a set of obs. + :param processors: a ModuleList of the input processors to be applied to these obs. + :param rsa: Optionally, an RSA to use for variable length obs. + :param x_self_encoder: Optionally, an encoder to use for x_self (in this case, the non-variable inputs.). + """ encodes = [] var_len_processor_inputs: List[Tuple[nn.Module, torch.Tensor]] = [] @@ -123,11 +99,15 @@ def forward( input_exist = True else: input_exist = False - if len(var_len_processor_inputs) > 0: + if len(var_len_processor_inputs) > 0 and self.rsa is not None: # Some inputs need to be processed with a variable length encoder masks = get_zero_entities_mask([p_i[1] for p_i in var_len_processor_inputs]) embeddings: List[torch.Tensor] = [] - processed_self = self.x_self_encoder(encoded_self) if input_exist else None + processed_self = ( + self.x_self_encoder(encoded_self) + if input_exist and self.x_self_encoder is not None + else None + ) for processor, var_len_input in var_len_processor_inputs: embeddings.append(processor(processed_self, var_len_input)) qkv = torch.cat(embeddings, dim=1) @@ -139,11 +119,66 @@ def forward( encoded_self = torch.cat([encoded_self, attention_embedding], dim=1) if not input_exist: - raise Exception( + raise UnityTrainerException( "The trainer was unable to process any of the provided inputs. " "Make sure the trained agents has at least one sensor attached to them." ) + return encoded_self + + +class NetworkBody(nn.Module): + def __init__( + self, + observation_specs: List[ObservationSpec], + network_settings: NetworkSettings, + encoded_act_size: int = 0, + ): + super().__init__() + self.normalize = network_settings.normalize + self.use_lstm = network_settings.memory is not None + self.h_size = network_settings.hidden_units + self.m_size = ( + network_settings.memory.memory_size + if network_settings.memory is not None + else 0 + ) + self.observation_encoder = ObservationEncoder( + observation_specs, + self.h_size, + network_settings.vis_encode_type, + self.normalize, + ) + self.processors = self.observation_encoder.processors + total_enc_size = self.observation_encoder.total_enc_size + total_enc_size += encoded_act_size + self.linear_encoder = LinearEncoder( + total_enc_size, network_settings.num_layers, self.h_size + ) + + if self.use_lstm: + self.lstm = LSTM(self.h_size, self.m_size) + else: + self.lstm = None # type: ignore + + def update_normalization(self, buffer: AgentBuffer) -> None: + self.observation_encoder.update_normalization(buffer) + + def copy_normalization(self, other_network: "NetworkBody") -> None: + self.observation_encoder.copy_normalization(other_network.observation_encoder) + + @property + def memory_size(self) -> int: + return self.lstm.memory_size if self.use_lstm else 0 + + def forward( + self, + inputs: List[torch.Tensor], + actions: Optional[torch.Tensor] = None, + memories: Optional[torch.Tensor] = None, + sequence_length: int = 1, + ) -> Tuple[torch.Tensor, torch.Tensor]: + encoded_self = self.observation_encoder(inputs) if actions is not None: encoded_self = torch.cat([encoded_self, actions], dim=1) encoding = self.linear_encoder(encoded_self) @@ -156,6 +191,163 @@ def forward( return encoding, memories +class MultiAgentNetworkBody(torch.nn.Module): + """ + A network body that uses a self attention layer to handle state + and action input from a potentially variable number of agents that + share the same observation and action space. + """ + + def __init__( + self, + observation_specs: List[ObservationSpec], + network_settings: NetworkSettings, + action_spec: ActionSpec, + ): + super().__init__() + self.normalize = network_settings.normalize + self.use_lstm = network_settings.memory is not None + self.h_size = network_settings.hidden_units + self.m_size = ( + network_settings.memory.memory_size + if network_settings.memory is not None + else 0 + ) + self.action_spec = action_spec + self.observation_encoder = ObservationEncoder( + observation_specs, + self.h_size, + network_settings.vis_encode_type, + self.normalize, + ) + self.processors = self.observation_encoder.processors + + # Modules for multi-agent self-attention + obs_only_ent_size = self.observation_encoder.total_enc_size + q_ent_size = ( + obs_only_ent_size + + sum(self.action_spec.discrete_branches) + + self.action_spec.continuous_size + ) + self.obs_encoder = EntityEmbedding(obs_only_ent_size, None, self.h_size) + self.obs_action_encoder = EntityEmbedding(q_ent_size, None, self.h_size) + + self.self_attn = ResidualSelfAttention(self.h_size) + + self.linear_encoder = LinearEncoder( + self.h_size, + network_settings.num_layers, + self.h_size, + kernel_gain=(0.125 / self.h_size) ** 0.5, + ) + + if self.use_lstm: + self.lstm = LSTM(self.h_size, self.m_size) + else: + self.lstm = None # type: ignore + + @property + def memory_size(self) -> int: + return self.lstm.memory_size if self.use_lstm else 0 + + def update_normalization(self, buffer: AgentBuffer) -> None: + self.observation_encoder.update_normalization(buffer) + + def copy_normalization(self, other_network: "MultiAgentNetworkBody") -> None: + self.observation_encoder.copy_normalization(other_network.observation_encoder) + + def _get_masks_from_nans(self, obs_tensors: List[torch.Tensor]) -> torch.Tensor: + """ + Get attention masks by grabbing an arbitrary obs across all the agents + Since these are raw obs, the padded values are still NaN + """ + only_first_obs = [_all_obs[0] for _all_obs in obs_tensors] + # Just get the first element in each obs regardless of its dimension. This will speed up + # searching for NaNs. + only_first_obs_flat = torch.stack( + [_obs.flatten(start_dim=1)[:, 0] for _obs in only_first_obs], dim=1 + ) + # Get the mask from NaNs + attn_mask = only_first_obs_flat.isnan().type(torch.FloatTensor) + return attn_mask + + def _copy_and_remove_nans_from_obs( + self, all_obs: List[List[torch.Tensor]], attention_mask: torch.Tensor + ) -> List[List[torch.Tensor]]: + """ + Helper function to remove NaNs from observations using an attention mask. + """ + obs_with_no_nans = [] + for i_agent, single_agent_obs in enumerate(all_obs): + no_nan_obs = [] + for obs in single_agent_obs: + new_obs = obs.clone() + new_obs[ + attention_mask.type(torch.BoolTensor)[:, i_agent], :: + ] = 0.0 # Remoove NaNs fast + no_nan_obs.append(new_obs) + obs_with_no_nans.append(no_nan_obs) + return obs_with_no_nans + + def forward( + self, + obs_only: List[List[torch.Tensor]], + obs: List[List[torch.Tensor]], + actions: List[AgentAction], + memories: Optional[torch.Tensor] = None, + sequence_length: int = 1, + ) -> Tuple[torch.Tensor, torch.Tensor]: + """ + Returns sampled actions. + If memory is enabled, return the memories as well. + :param obs_only: Observations to be processed that do not have corresponding actions. + These are encoded with the obs_encoder. + :param obs: Observations to be processed that do have corresponding actions. + After concatenation with actions, these are processed with obs_action_encoder. + :param actions: After concatenation with obs, these are processed with obs_action_encoder. + :param memories: If using memory, a Tensor of initial memories. + :param sequence_length: If using memory, the sequence length. + """ + self_attn_masks = [] + self_attn_inputs = [] + concat_f_inp = [] + if obs: + obs_attn_mask = self._get_masks_from_nans(obs) + obs = self._copy_and_remove_nans_from_obs(obs, obs_attn_mask) + for inputs, action in zip(obs, actions): + encoded = self.observation_encoder(inputs) + cat_encodes = [ + encoded, + action.to_flat(self.action_spec.discrete_branches), + ] + concat_f_inp.append(torch.cat(cat_encodes, dim=1)) + f_inp = torch.stack(concat_f_inp, dim=1) + self_attn_masks.append(obs_attn_mask) + self_attn_inputs.append(self.obs_action_encoder(None, f_inp)) + + concat_encoded_obs = [] + if obs_only: + obs_only_attn_mask = self._get_masks_from_nans(obs_only) + obs_only = self._copy_and_remove_nans_from_obs(obs_only, obs_only_attn_mask) + for inputs in obs_only: + encoded = self.observation_encoder(inputs) + concat_encoded_obs.append(encoded) + g_inp = torch.stack(concat_encoded_obs, dim=1) + self_attn_masks.append(obs_only_attn_mask) + self_attn_inputs.append(self.obs_encoder(None, g_inp)) + + encoded_entity = torch.cat(self_attn_inputs, dim=1) + encoded_state = self.self_attn(encoded_entity, self_attn_masks) + + encoding = self.linear_encoder(encoded_state) + if self.use_lstm: + # Resize to (batch, sequence length, encoding size) + encoding = encoding.reshape([-1, sequence_length, self.h_size]) + encoding, memories = self.lstm(encoding, memories) + encoding = encoding.reshape([-1, self.m_size // 2]) + return encoding, memories + + class Critic(abc.ABC): @abc.abstractmethod def update_normalization(self, buffer: AgentBuffer) -> None: diff --git a/ml-agents/mlagents/trainers/torch/utils.py b/ml-agents/mlagents/trainers/torch/utils.py index 342a1fdde2..e2a5b6e750 100644 --- a/ml-agents/mlagents/trainers/torch/utils.py +++ b/ml-agents/mlagents/trainers/torch/utils.py @@ -1,5 +1,6 @@ -from typing import List, Optional, Tuple +from typing import List, Optional, Tuple, Dict from mlagents.torch_utils import torch, nn +from mlagents.trainers.torch.layers import LinearEncoder, Initialization import numpy as np from mlagents.trainers.torch.encoders import ( @@ -10,7 +11,7 @@ VectorInput, ) from mlagents.trainers.settings import EncoderType, ScheduleType -from mlagents.trainers.torch.attention import EntityEmbedding +from mlagents.trainers.torch.attention import EntityEmbedding, ResidualSelfAttention from mlagents.trainers.exception import UnityTrainerException from mlagents_envs.base_env import ObservationSpec, DimensionProperty @@ -221,6 +222,18 @@ def list_to_tensor( """ return torch.as_tensor(np.asanyarray(ndarray_list), dtype=dtype) + @staticmethod + def list_to_tensor_list( + ndarray_list: List[np.ndarray], dtype: Optional[torch.dtype] = torch.float32 + ) -> torch.Tensor: + """ + Converts a list of numpy arrays into a list of tensors. MUCH faster than + calling as_tensor on the list directly. + """ + return [ + torch.as_tensor(np.asanyarray(_arr), dtype=dtype) for _arr in ndarray_list + ] + @staticmethod def to_numpy(tensor: torch.Tensor) -> np.ndarray: """ @@ -321,3 +334,91 @@ def soft_update(source: nn.Module, target: nn.Module, tau: float) -> None: alpha=tau, out=target_param.data, ) + + @staticmethod + def create_residual_self_attention( + input_processors: nn.ModuleList, embedding_sizes: List[int], hidden_size: int + ) -> Tuple[Optional[ResidualSelfAttention], Optional[LinearEncoder]]: + """ + Creates an RSA if there are variable length observations found in the input processors. + :param input_processors: A ModuleList of input processors as returned by the function + create_input_processors(). + :param embedding sizes: A List of embedding sizes as returned by create_input_processors(). + :param hidden_size: The hidden size to use for the RSA. + :returns: A Tuple of the RSA itself, a self encoder, and the embedding size after the RSA. + Returns None for the RSA and encoder if no var len inputs are detected. + """ + rsa, x_self_encoder = None, None + entity_num_max: int = 0 + var_processors = [p for p in input_processors if isinstance(p, EntityEmbedding)] + for processor in var_processors: + entity_max: int = processor.entity_num_max_elements + # Only adds entity max if it was known at construction + if entity_max > 0: + entity_num_max += entity_max + if len(var_processors) > 0: + if sum(embedding_sizes): + x_self_encoder = LinearEncoder( + sum(embedding_sizes), + 1, + hidden_size, + kernel_init=Initialization.Normal, + kernel_gain=(0.125 / hidden_size) ** 0.5, + ) + rsa = ResidualSelfAttention(hidden_size, entity_num_max) + return rsa, x_self_encoder + + @staticmethod + def trust_region_value_loss( + values: Dict[str, torch.Tensor], + old_values: Dict[str, torch.Tensor], + returns: Dict[str, torch.Tensor], + epsilon: float, + loss_masks: torch.Tensor, + ) -> torch.Tensor: + """ + Evaluates value loss, clipping to stay within a trust region of old value estimates. + Used for PPO and POCA. + :param values: Value output of the current network. + :param old_values: Value stored with experiences in buffer. + :param returns: Computed returns. + :param epsilon: Clipping value for value estimate. + :param loss_mask: Mask for losses. Used with LSTM to ignore 0'ed out experiences. + """ + value_losses = [] + for name, head in values.items(): + old_val_tensor = old_values[name] + returns_tensor = returns[name] + clipped_value_estimate = old_val_tensor + torch.clamp( + head - old_val_tensor, -1 * epsilon, epsilon + ) + v_opt_a = (returns_tensor - head) ** 2 + v_opt_b = (returns_tensor - clipped_value_estimate) ** 2 + value_loss = ModelUtils.masked_mean(torch.max(v_opt_a, v_opt_b), loss_masks) + value_losses.append(value_loss) + value_loss = torch.mean(torch.stack(value_losses)) + return value_loss + + @staticmethod + def trust_region_policy_loss( + advantages: torch.Tensor, + log_probs: torch.Tensor, + old_log_probs: torch.Tensor, + loss_masks: torch.Tensor, + epsilon: float, + ) -> torch.Tensor: + """ + Evaluate policy loss clipped to stay within a trust region. Used for PPO and POCA. + :param advantages: Computed advantages. + :param log_probs: Current policy probabilities + :param old_log_probs: Past policy probabilities + :param loss_masks: Mask for losses. Used with LSTM to ignore 0'ed out experiences. + """ + advantage = advantages.unsqueeze(-1) + r_theta = torch.exp(log_probs - old_log_probs) + p_opt_a = r_theta * advantage + p_opt_b = torch.clamp(r_theta, 1.0 - epsilon, 1.0 + epsilon) * advantage + policy_loss = -1 * ModelUtils.masked_mean( + torch.min(p_opt_a, p_opt_b), loss_masks + ) + return policy_loss diff --git a/ml-agents/mlagents/trainers/trainer/rl_trainer.py b/ml-agents/mlagents/trainers/trainer/rl_trainer.py index 3ada3ef7b8..7a09479153 100644 --- a/ml-agents/mlagents/trainers/trainer/rl_trainer.py +++ b/ml-agents/mlagents/trainers/trainer/rl_trainer.py @@ -4,6 +4,7 @@ import abc import time import attr +import numpy as np from mlagents_envs.side_channel.stats_side_channel import StatsAggregationMethod from mlagents.trainers.policy.checkpoint_manager import ( @@ -13,7 +14,7 @@ from mlagents_envs.logging_util import get_logger from mlagents_envs.timers import timed from mlagents.trainers.optimizer import Optimizer -from mlagents.trainers.buffer import AgentBuffer +from mlagents.trainers.buffer import AgentBuffer, BufferKey from mlagents.trainers.trainer import Trainer from mlagents.trainers.torch.components.reward_providers.base_reward_provider import ( BaseRewardProvider, @@ -58,6 +59,7 @@ def __init__(self, *args, **kwargs): self.model_saver = self.create_model_saver( self.trainer_settings, self.artifact_path, self.load ) + self._has_warned_group_rewards = False def end_episode(self) -> None: """ @@ -152,10 +154,10 @@ def _checkpoint(self) -> ModelCheckpoint: logger.warning( "Trainer has multiple policies, but default behavior only saves the first." ) - checkpoint_path = self.model_saver.save_checkpoint(self.brain_name, self.step) + checkpoint_path = self.model_saver.save_checkpoint(self.brain_name, self._step) export_ext = "onnx" new_checkpoint = ModelCheckpoint( - int(self.step), + int(self._step), f"{checkpoint_path}.{export_ext}", self._policy_mean_reward(), time.time(), @@ -199,7 +201,7 @@ def _increment_step(self, n_steps: int, name_behavior_id: str) -> None: Increment the step count of the trainer :param n_steps: number of steps to increment the step count by """ - self.step += n_steps + self._step += n_steps self._next_summary_step = self._get_next_interval_step(self.summary_freq) self._next_save_step = self._get_next_interval_step( self.trainer_settings.checkpoint_interval @@ -213,7 +215,7 @@ def _get_next_interval_step(self, interval: int) -> int: Get the next step count that should result in an action. :param interval: The interval between actions. """ - return self.step + (interval - self.step % interval) + return self._step + (interval - self._step % interval) def _write_summary(self, step: int) -> None: """ @@ -256,6 +258,19 @@ def _maybe_save_model(self, step_after_process: int) -> None: if step_after_process >= self._next_save_step and self.get_step != 0: self._checkpoint() + def _warn_if_group_reward(self, buffer: AgentBuffer) -> None: + """ + Warn if the trainer receives a Group Reward but isn't a multiagent trainer (e.g. POCA). + """ + if not self._has_warned_group_rewards: + group_reward = np.sum(buffer[BufferKey.GROUP_REWARD]) + if group_reward > 0.0: + logger.warning( + "An agent recieved a Group Reward, but you are not using a multi-agent trainer. " + "Please use the POCA trainer for best results." + ) + self._has_warned_group_rewards = True + def advance(self) -> None: """ Steps the trainer, taking in trajectories and updates if ready. diff --git a/ml-agents/mlagents/trainers/trainer/trainer.py b/ml-agents/mlagents/trainers/trainer/trainer.py index 55ac5a9ef1..f51be84169 100644 --- a/ml-agents/mlagents/trainers/trainer/trainer.py +++ b/ml-agents/mlagents/trainers/trainer/trainer.py @@ -45,7 +45,7 @@ def __init__( self._reward_buffer: Deque[float] = deque(maxlen=reward_buff_cap) self.policy_queues: List[AgentManagerQueue[Policy]] = [] self.trajectory_queues: List[AgentManagerQueue[Trajectory]] = [] - self.step: int = 0 + self._step: int = 0 self.artifact_path = artifact_path self.summary_freq = self.trainer_settings.summary_freq self.policies: Dict[str, Policy] = {} @@ -78,7 +78,7 @@ def get_step(self) -> int: Returns the number of steps the trainer has performed :return: the step count of the trainer """ - return self.step + return self._step @property def threaded(self) -> bool: diff --git a/ml-agents/mlagents/trainers/trainer/trainer_factory.py b/ml-agents/mlagents/trainers/trainer/trainer_factory.py index 0cb548baa6..c5ed2a9f64 100644 --- a/ml-agents/mlagents/trainers/trainer/trainer_factory.py +++ b/ml-agents/mlagents/trainers/trainer/trainer_factory.py @@ -7,6 +7,7 @@ from mlagents.trainers.trainer import Trainer from mlagents.trainers.ppo.trainer import PPOTrainer from mlagents.trainers.sac.trainer import SACTrainer +from mlagents.trainers.poca.trainer import POCATrainer from mlagents.trainers.ghost.trainer import GhostTrainer from mlagents.trainers.ghost.controller import GhostController from mlagents.trainers.settings import TrainerSettings, TrainerType @@ -122,6 +123,16 @@ def _initialize_trainer( seed, trainer_artifact_path, ) + elif trainer_type == TrainerType.POCA: + trainer = POCATrainer( + brain_name, + min_lesson_length, + trainer_settings, + train_model, + load_model, + seed, + trainer_artifact_path, + ) elif trainer_type == TrainerType.SAC: trainer = SACTrainer( brain_name, diff --git a/ml-agents/mlagents/trainers/trainer_controller.py b/ml-agents/mlagents/trainers/trainer_controller.py index c4a60f8b3a..de9c2271ae 100644 --- a/ml-agents/mlagents/trainers/trainer_controller.py +++ b/ml-agents/mlagents/trainers/trainer_controller.py @@ -208,7 +208,7 @@ def end_trainer_episodes(self) -> None: def reset_env_if_ready(self, env: EnvManager) -> None: # Get the sizes of the reward buffers. reward_buff = {k: list(t.reward_buffer) for (k, t) in self.trainers.items()} - curr_step = {k: int(t.step) for (k, t) in self.trainers.items()} + curr_step = {k: int(t.get_step) for (k, t) in self.trainers.items()} max_step = {k: int(t.get_max_steps) for (k, t) in self.trainers.items()} # Attempt to increment the lessons of the brains who # were ready. diff --git a/ml-agents/mlagents/trainers/trajectory.py b/ml-agents/mlagents/trainers/trajectory.py index ffb28ef973..428ee2b445 100644 --- a/ml-agents/mlagents/trainers/trajectory.py +++ b/ml-agents/mlagents/trainers/trajectory.py @@ -11,7 +11,25 @@ from mlagents.trainers.torch.action_log_probs import LogProbsTuple +class AgentStatus(NamedTuple): + """ + Stores observation, action, and reward for an agent. Does not have additional + fields that are present in AgentExperience. + """ + + obs: List[np.ndarray] + reward: float + action: ActionTuple + done: bool + + class AgentExperience(NamedTuple): + """ + Stores the full amount of data for an agent in one timestep. Includes + the status' of group mates and the group reward, as well as the probabilities + outputted by the policy. + """ + obs: List[np.ndarray] reward: float done: bool @@ -21,6 +39,8 @@ class AgentExperience(NamedTuple): prev_action: np.ndarray interrupted: bool memory: np.ndarray + group_status: List[AgentStatus] + group_reward: float class ObsUtil: @@ -59,11 +79,66 @@ def from_buffer_next(batch: AgentBuffer, num_obs: int) -> List[np.array]: return result +class GroupObsUtil: + @staticmethod + def get_name_at(index: int) -> AgentBufferKey: + """ + returns the name of the observation given the index of the observation + """ + return ObservationKeyPrefix.GROUP_OBSERVATION, index + + @staticmethod + def get_name_at_next(index: int) -> AgentBufferKey: + """ + returns the name of the next team observation given the index of the observation + """ + return ObservationKeyPrefix.NEXT_GROUP_OBSERVATION, index + + @staticmethod + def _transpose_list_of_lists( + list_list: List[List[np.ndarray]], + ) -> List[List[np.ndarray]]: + return list(map(list, zip(*list_list))) + + @staticmethod + def from_buffer(batch: AgentBuffer, num_obs: int) -> List[np.array]: + """ + Creates the list of observations from an AgentBuffer + """ + separated_obs: List[np.array] = [] + for i in range(num_obs): + separated_obs.append( + batch[GroupObsUtil.get_name_at(i)].padded_to_batch(pad_value=np.nan) + ) + # separated_obs contains a List(num_obs) of Lists(num_agents), we want to flip + # that and get a List(num_agents) of Lists(num_obs) + result = GroupObsUtil._transpose_list_of_lists(separated_obs) + return result + + @staticmethod + def from_buffer_next(batch: AgentBuffer, num_obs: int) -> List[np.array]: + """ + Creates the list of observations from an AgentBuffer + """ + separated_obs: List[np.array] = [] + for i in range(num_obs): + separated_obs.append( + batch[GroupObsUtil.get_name_at_next(i)].padded_to_batch( + pad_value=np.nan + ) + ) + # separated_obs contains a List(num_obs) of Lists(num_agents), we want to flip + # that and get a List(num_agents) of Lists(num_obs) + result = GroupObsUtil._transpose_list_of_lists(separated_obs) + return result + + class Trajectory(NamedTuple): steps: List[AgentExperience] next_obs: List[ np.ndarray ] # Observation following the trajectory, for bootstrapping + next_group_obs: List[List[np.ndarray]] agent_id: str behavior_id: str @@ -78,7 +153,8 @@ def to_agentbuffer(self) -> AgentBuffer: agent_buffer_trajectory = AgentBuffer() obs = self.steps[0].obs for step, exp in enumerate(self.steps): - if step < len(self.steps) - 1: + is_last_step = step == len(self.steps) - 1 + if not is_last_step: next_obs = self.steps[step + 1].obs else: next_obs = self.next_obs @@ -88,11 +164,79 @@ def to_agentbuffer(self) -> AgentBuffer: agent_buffer_trajectory[ObsUtil.get_name_at(i)].append(obs[i]) agent_buffer_trajectory[ObsUtil.get_name_at_next(i)].append(next_obs[i]) + # Take care of teammate obs and actions + teammate_continuous_actions, teammate_discrete_actions, teammate_rewards = ( + [], + [], + [], + ) + for group_status in exp.group_status: + teammate_rewards.append(group_status.reward) + teammate_continuous_actions.append(group_status.action.continuous) + teammate_discrete_actions.append(group_status.action.discrete) + + # Team actions + agent_buffer_trajectory[BufferKey.GROUP_CONTINUOUS_ACTION].append( + teammate_continuous_actions + ) + agent_buffer_trajectory[BufferKey.GROUP_DISCRETE_ACTION].append( + teammate_discrete_actions + ) + agent_buffer_trajectory[BufferKey.GROUPMATE_REWARDS].append( + teammate_rewards + ) + agent_buffer_trajectory[BufferKey.GROUP_REWARD].append(exp.group_reward) + + # Next actions + teammate_cont_next_actions = [] + teammate_disc_next_actions = [] + if not is_last_step: + next_exp = self.steps[step + 1] + for group_status in next_exp.group_status: + teammate_cont_next_actions.append(group_status.action.continuous) + teammate_disc_next_actions.append(group_status.action.discrete) + else: + for group_status in exp.group_status: + teammate_cont_next_actions.append(group_status.action.continuous) + teammate_disc_next_actions.append(group_status.action.discrete) + + agent_buffer_trajectory[BufferKey.GROUP_NEXT_CONT_ACTION].append( + teammate_cont_next_actions + ) + agent_buffer_trajectory[BufferKey.GROUP_NEXT_DISC_ACTION].append( + teammate_disc_next_actions + ) + + for i in range(num_obs): + ith_group_obs = [] + for _group_status in exp.group_status: + # Assume teammates have same obs space + ith_group_obs.append(_group_status.obs[i]) + agent_buffer_trajectory[GroupObsUtil.get_name_at(i)].append( + ith_group_obs + ) + + ith_group_obs_next = [] + if is_last_step: + for _obs in self.next_group_obs: + ith_group_obs_next.append(_obs[i]) + else: + next_group_status = self.steps[step + 1].group_status + for _group_status in next_group_status: + # Assume teammates have same obs space + ith_group_obs_next.append(_group_status.obs[i]) + agent_buffer_trajectory[GroupObsUtil.get_name_at_next(i)].append( + ith_group_obs_next + ) + if exp.memory is not None: agent_buffer_trajectory[BufferKey.MEMORY].append(exp.memory) agent_buffer_trajectory[BufferKey.MASKS].append(1.0) agent_buffer_trajectory[BufferKey.DONE].append(exp.done) + agent_buffer_trajectory[BufferKey.GROUP_DONES].append( + [_status.done for _status in exp.group_status] + ) # Adds the log prob and action of continuous/discrete separately agent_buffer_trajectory[BufferKey.CONTINUOUS_ACTION].append( @@ -101,6 +245,22 @@ def to_agentbuffer(self) -> AgentBuffer: agent_buffer_trajectory[BufferKey.DISCRETE_ACTION].append( exp.action.discrete ) + + cont_next_actions = np.zeros_like(exp.action.continuous) + disc_next_actions = np.zeros_like(exp.action.discrete) + + if not is_last_step: + next_action = self.steps[step + 1].action + cont_next_actions = next_action.continuous + disc_next_actions = next_action.discrete + + agent_buffer_trajectory[BufferKey.NEXT_CONT_ACTION].append( + cont_next_actions + ) + agent_buffer_trajectory[BufferKey.NEXT_DISC_ACTION].append( + disc_next_actions + ) + agent_buffer_trajectory[BufferKey.CONTINUOUS_LOG_PROBS].append( exp.action_probs.continuous ) @@ -137,6 +297,14 @@ def done_reached(self) -> bool: """ return self.steps[-1].done + @property + def all_group_dones_reached(self) -> bool: + """ + Returns true if all other agents in this trajectory are done at the end of the trajectory. + Combine with done_reached to check if the whole team is done. + """ + return all(_status.done for _status in self.steps[-1].group_status) + @property def interrupted(self) -> bool: """ diff --git a/ml-agents/setup.py b/ml-agents/setup.py index 8b4b593e3b..e8b834479a 100644 --- a/ml-agents/setup.py +++ b/ml-agents/setup.py @@ -66,10 +66,15 @@ def run(self): "pyyaml>=3.1.0", # Windows ver. of PyTorch doesn't work from PyPi. Installation: # https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Installation.md#windows-installing-pytorch - 'torch>=1.6.0,<1.8.0;platform_system!="Windows"', + # Torch only working on python 3.9 for 1.8.0 and above. Details see: + # https://github.com/pytorch/pytorch/issues/50014 + "torch>=1.8.0,<1.9.0;(platform_system!='Windows' and python_version>='3.9')", + "torch>=1.6.0,<1.9.0;(platform_system!='Windows' and python_version<'3.9')", "tensorboard>=1.15", - # cattrs 1.1.0 dropped support for python 3.6. - "cattrs>=1.0.0,<1.1.0", + # cattrs 1.1.0 dropped support for python 3.6, but 1.0.0 doesn't work for python 3.9 + # Since there's no version that supports both, we have to draw the line somwehere. + "cattrs<1.1.0; python_version<'3.8'", + "cattrs>=1.1.0; python_version>='3.8'", "attrs>=19.3.0", 'pypiwin32==223;platform_system=="Windows"', "importlib_metadata; python_version<'3.8'", diff --git a/ml-agents/tests/yamato/scripts/run_llapi.py b/ml-agents/tests/yamato/scripts/run_llapi.py index 929600d89d..3dd286c3a5 100644 --- a/ml-agents/tests/yamato/scripts/run_llapi.py +++ b/ml-agents/tests/yamato/scripts/run_llapi.py @@ -36,6 +36,10 @@ def test_run_environment(env_name): # Examine the number of observations per Agent print("Number of observations : ", len(group_spec.observation_specs)) + for obs_spec in group_spec.observation_specs: + # Make sure the name was set in the ObservationSpec + assert bool(obs_spec.name) is True, f'obs_spec.name="{obs_spec.name}"' + # Is there a visual observation ? vis_obs = any( len(obs_spec.shape) == 3 for obs_spec in group_spec.observation_specs diff --git a/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto b/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto index 7459e0cae3..4a7690cd7f 100644 --- a/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto +++ b/protobuf-definitions/proto/mlagents_envs/communicator_objects/capabilities.proto @@ -25,4 +25,7 @@ message UnityRLCapabilitiesProto { // Support for variable length observations of rank 2 bool variableLengthObservation = 6; + + // Support for multi agent groups and group rewards + bool multiAgentGroups = 7; } diff --git a/protobuf-definitions/proto/mlagents_envs/communicator_objects/observation.proto b/protobuf-definitions/proto/mlagents_envs/communicator_objects/observation.proto index b5986d7d87..2d9e59b9af 100644 --- a/protobuf-definitions/proto/mlagents_envs/communicator_objects/observation.proto +++ b/protobuf-definitions/proto/mlagents_envs/communicator_objects/observation.proto @@ -29,4 +29,8 @@ message ObservationProto { repeated int32 compressed_channel_mapping = 5; repeated int32 dimension_properties = 6; ObservationTypeProto observation_type = 7; + // Optional name of the observation. + // This will be set to the ISensor name when writing, + // and read into the ObservationSpec in the low-level API + string name = 8; } diff --git a/test_constraints_max_version.txt b/test_constraints_max_version.txt new file mode 100644 index 0000000000..e985203838 --- /dev/null +++ b/test_constraints_max_version.txt @@ -0,0 +1,3 @@ +# pip constraints to use the *highest* versions allowed in ml-agents/setup.py +# For projects with upper bounds, we should periodically update this list to the latest +torch==1.8.0 \ No newline at end of file diff --git a/test_constraints_mid_version.txt b/test_constraints_mid_version.txt new file mode 100644 index 0000000000..0accf06143 --- /dev/null +++ b/test_constraints_mid_version.txt @@ -0,0 +1,2 @@ +# pip constraints to use a version in the middle of allowed ranges in ml-agents/setup.py +torch==1.7.0 \ No newline at end of file diff --git a/test_constraints_min_version.txt b/test_constraints_min_version.txt new file mode 100644 index 0000000000..9a9de347cd --- /dev/null +++ b/test_constraints_min_version.txt @@ -0,0 +1,2 @@ +# pip constraints to use the *lowest* versions allowed in ml-agents/setup.py +torch==1.6.0 \ No newline at end of file diff --git a/utils/make_readme_table.py b/utils/make_readme_table.py index b44b8fd0f5..a98c096dc2 100644 --- a/utils/make_readme_table.py +++ b/utils/make_readme_table.py @@ -131,7 +131,9 @@ def pypi_link(self): ReleaseInfo("release_11", "1.7.0", "0.23.0", "December 21, 2020"), ReleaseInfo("release_12", "1.7.2", "0.23.0", "December 22, 2020"), ReleaseInfo("release_13", "1.8.0", "0.24.0", "February 17, 2021"), + ReleaseInfo("release_14", "1.8.1", "0.24.1", "March 5, 2021"), # Verified releases + ReleaseInfo("", "1.0.7", "0.16.1", "March 8, 2021", is_verified=True), ReleaseInfo("", "1.0.6", "0.16.1", "November 16, 2020", is_verified=True), ReleaseInfo("", "1.0.5", "0.16.1", "September 23, 2020", is_verified=True), ReleaseInfo("", "1.0.4", "0.16.1", "August 20, 2020", is_verified=True), diff --git a/utils/run_dotnet_format.py b/utils/run_dotnet_format.py deleted file mode 100755 index 43d607833f..0000000000 --- a/utils/run_dotnet_format.py +++ /dev/null @@ -1,24 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -import os -import subprocess -import tempfile - - -if __name__ == "__main__": - - parser = argparse.ArgumentParser() - parser.add_argument("files", nargs="*") - args = parser.parse_args() - - with tempfile.TemporaryDirectory() as tempdir: - # Could potentially hit the commandline limit, so write files to a response file - # See https://github.com/dotnet/format/issues/699 - resp_file = os.path.join(tempdir, "response.txt") - with open(resp_file, "w") as fp: - for f in args.files: - fp.write(f + "\n") - - subprocess_args = ["dotnet", "format", "--folder", "--include", f"@{resp_file}"] - subprocess.check_call(subprocess_args) diff --git a/utils/validate_release_links.py b/utils/validate_release_links.py index 52618660b0..f25376c544 100755 --- a/utils/validate_release_links.py +++ b/utils/validate_release_links.py @@ -9,11 +9,17 @@ from typing import List, Optional, Pattern RELEASE_PATTERN = re.compile(r"release_[0-9]+(_docs)*") +# This matches the various ways to invoke pip: "pip", "pip3", "python -m pip" +# It matches "mlagents" and "mlagents_envs", accessible as group "package" +# and optionally matches the version, e.g. "==1.2.3" +PIP_INSTALL_PATTERN = re.compile( + r"(python -m )?pip3* install (?Pmlagents(_envs)?)(==[0-9]+\.[0-9]+\.[0-9]+(\.dev[0-9]+)?)?" +) TRAINER_INIT_FILE = "ml-agents/mlagents/trainers/__init__.py" MATCH_ANY = re.compile(r"(?s).*") # Filename -> regex list to allow specific lines. -# To allow everything in the file, use None for the value +# To allow everything in the file (effectively skipping it), use MATCH_ANY for the value ALLOW_LIST = { # Previous release table "README.md": re.compile(r"\*\*(Verified Package ([0-9]\.?)*|Release [0-9]+)\*\*"), @@ -24,27 +30,66 @@ } -def test_pattern(): +def test_release_pattern(): # Just some sanity check that the regex works as expected. - assert RELEASE_PATTERN.search( - "https://github.com/Unity-Technologies/ml-agents/blob/release_4_docs/Food.md" - ) - assert RELEASE_PATTERN.search( - "https://github.com/Unity-Technologies/ml-agents/blob/release_4/Foo.md" - ) - assert RELEASE_PATTERN.search( - "git clone --branch release_4 https://github.com/Unity-Technologies/ml-agents.git" - ) - assert RELEASE_PATTERN.search( - "https://github.com/Unity-Technologies/ml-agents/blob/release_123_docs/Foo.md" - ) - assert RELEASE_PATTERN.search( - "https://github.com/Unity-Technologies/ml-agents/blob/release_123/Foo.md" - ) - assert not RELEASE_PATTERN.search( - "https://github.com/Unity-Technologies/ml-agents/blob/latest_release/docs/Foo.md" + for s, expected in [ + ( + "https://github.com/Unity-Technologies/ml-agents/blob/release_4_docs/Food.md", + True, + ), + ("https://github.com/Unity-Technologies/ml-agents/blob/release_4/Foo.md", True), + ( + "git clone --branch release_4 https://github.com/Unity-Technologies/ml-agents.git", + True, + ), + ( + "https://github.com/Unity-Technologies/ml-agents/blob/release_123_docs/Foo.md", + True, + ), + ( + "https://github.com/Unity-Technologies/ml-agents/blob/release_123/Foo.md", + True, + ), + ( + "https://github.com/Unity-Technologies/ml-agents/blob/latest_release/docs/Foo.md", + False, + ), + ]: + assert bool(RELEASE_PATTERN.search(s)) is expected + + print("release tests OK!") + + +def test_pip_pattern(): + # Just some sanity check that the regex works as expected. + for s, expected in [ + ("pip install mlagents", True), + ("pip3 install mlagents", True), + ("python -m pip install mlagents", True), + ("python -m pip install mlagents==1.2.3", True), + ("python -m pip install mlagents_envs==1.2.3", True), + ("python -m pip install mlagents==11.222.3333", True), + ("python -m pip install mlagents_envs==11.222.3333", True), + ]: + assert bool(PIP_INSTALL_PATTERN.search(s)) is expected + + sub_expected = "Try running rm -rf / to install" + assert sub_expected == PIP_INSTALL_PATTERN.sub( + "rm -rf /", "Try running python -m pip install mlagents==1.2.3 to install" ) - print("tests OK!") + + print("pip tests OK!") + + +def update_pip_install_line(line, package_verion): + match = PIP_INSTALL_PATTERN.search(line) + if match is not None: # if there is a pip install line + package_name = match.group("package") + replacement_version = f"python -m pip install {package_name}=={package_verion}" + updated = PIP_INSTALL_PATTERN.sub(replacement_version, line) + return updated + else: # Don't do anything + return line def git_ls_files() -> List[str]: @@ -74,8 +119,28 @@ def get_release_tag() -> Optional[str]: raise RuntimeError("Can't determine release tag") +def get_python_package_version() -> str: + """ + Returns the mlagents python package. + :return: + """ + with open(TRAINER_INIT_FILE) as f: + for line in f: + if "__version__" in line: + lhs, equals_string, rhs = line.strip().partition(" = ") + # Evaluate the right hand side of the expression + return ast.literal_eval(rhs) + # If we couldn't find the release tag, raise an exception + # (since we can't return None here) + raise RuntimeError("Can't determine python package version") + + def check_file( - filename: str, global_allow_pattern: Pattern, release_tag: str + filename: str, + release_tag_pattern: Pattern, + release_tag: str, + pip_allow_pattern: Pattern, + package_version: str, ) -> List[str]: """ Validate a single file and return any offending lines. @@ -90,21 +155,37 @@ def check_file( allow_list_pattern = ALLOW_LIST.get(filename, None) with open(filename) as f: for line in f: - keep_line = True - keep_line = not RELEASE_PATTERN.search(line) - keep_line |= global_allow_pattern.search(line) is not None - keep_line |= ( - allow_list_pattern is not None + # Does it contain anything of the form release_123 + has_release_pattern = RELEASE_PATTERN.search(line) is not None + # Does it contain this particular release, e.g. release_42 or release_42_docs + has_release_tag_pattern = ( + release_tag_pattern.search(line) is not None + ) + # Does it contain the allow list pattern for the file (if there is one) + has_allow_list_pattern = ( + allow_list_pattern and allow_list_pattern.search(line) is not None ) - if keep_line: + pip_install_ok = ( + has_allow_list_pattern + or PIP_INSTALL_PATTERN.search(line) is None + or pip_allow_pattern.search(line) is not None + ) + + release_tag_ok = ( + not has_release_pattern + or has_release_tag_pattern + or has_allow_list_pattern + ) + + if release_tag_ok and pip_install_ok: new_file.write(line) else: bad_lines.append(f"{filename}: {line}") - new_file.write( - re.sub(r"release_[0-9]+", fr"{release_tag}", line) - ) + new_line = re.sub(r"release_[0-9]+", fr"{release_tag}", line) + new_line = update_pip_install_line(new_line, package_version) + new_file.write(new_line) if bad_lines: if os.path.exists(filename): os.remove(filename) @@ -113,17 +194,28 @@ def check_file( return bad_lines -def check_all_files(allow_pattern: Pattern, release_tag: str) -> List[str]: +def check_all_files( + release_allow_pattern: Pattern, + release_tag: str, + pip_allow_pattern: Pattern, + package_version: str, +) -> List[str]: """ Validate all files tracked by git. - :param allow_pattern: + :param release_allow_pattern: """ bad_lines = [] file_types = {".py", ".md", ".cs"} for file_name in git_ls_files(): if "localized" in file_name or os.path.splitext(file_name)[1] not in file_types: continue - bad_lines += check_file(file_name, allow_pattern, release_tag) + bad_lines += check_file( + file_name, + release_allow_pattern, + release_tag, + pip_allow_pattern, + package_version, + ) return bad_lines @@ -133,9 +225,16 @@ def main(): print("Release tag is None, exiting") sys.exit(0) + package_version = get_python_package_version() print(f"Release tag: {release_tag}") - allow_pattern = re.compile(f"{release_tag}(_docs)*") - bad_lines = check_all_files(allow_pattern, release_tag) + print(f"Python package version: {package_version}") + release_allow_pattern = re.compile(f"{release_tag}(_docs)?") + pip_allow_pattern = re.compile( + f"python -m pip install mlagents(_envs)?=={package_version}" + ) + bad_lines = check_all_files( + release_allow_pattern, release_tag, pip_allow_pattern, package_version + ) if bad_lines: for line in bad_lines: print(line) @@ -151,5 +250,6 @@ def main(): if __name__ == "__main__": if "--test" in sys.argv: - test_pattern() + test_release_pattern() + test_pip_pattern() main() diff --git a/utils/validate_versions.py b/utils/validate_versions.py index dfc187bf84..695650b474 100755 --- a/utils/validate_versions.py +++ b/utils/validate_versions.py @@ -64,7 +64,10 @@ def check_versions() -> bool: def set_version( - python_version: str, csharp_version: str, release_tag: Optional[str] + python_version: str, + csharp_version: str, + csharp_extensions_version: str, + release_tag: Optional[str], ) -> None: # Sanity check - make sure test tags have a test or dev version if release_tag and "test" in release_tag: @@ -83,12 +86,14 @@ def set_version( if csharp_version is not None: package_version = csharp_version + "-preview" + if csharp_extensions_version is not None: + extension_version = csharp_extensions_version + "-preview" print( f"Setting package version to {package_version} in {MLAGENTS_PACKAGE_JSON_PATH}" f" and {MLAGENTS_EXTENSIONS_PACKAGE_JSON_PATH}" ) set_package_version(package_version) - set_extension_package_version(package_version) + set_extension_package_version(package_version, extension_version) print(f"Setting package version to {package_version} in {ACADEMY_PATH}") set_academy_version_string(package_version) @@ -103,10 +108,14 @@ def set_package_version(new_version: str) -> None: f.write("\n") -def set_extension_package_version(new_version: str) -> None: +def set_extension_package_version( + new_dependency_version: str, new_extension_version +) -> None: with open(MLAGENTS_EXTENSIONS_PACKAGE_JSON_PATH) as f: package_json = json.load(f) - package_json["dependencies"]["com.unity.ml-agents"] = new_version + package_json["dependencies"]["com.unity.ml-agents"] = new_dependency_version + if new_extension_version is not None: + package_json["version"] = new_extension_version with open(MLAGENTS_EXTENSIONS_PACKAGE_JSON_PATH, "w") as f: json.dump(package_json, f, indent=2) f.write("\n") @@ -159,6 +168,7 @@ def print_release_tag_commands( parser = argparse.ArgumentParser() parser.add_argument("--python-version", default=None) parser.add_argument("--csharp-version", default=None) + parser.add_argument("--csharp-extensions-version", default=None) parser.add_argument("--release-tag", default=None) # unused, but allows precommit to pass filenames parser.add_argument("files", nargs="*") @@ -168,7 +178,16 @@ def print_release_tag_commands( print(f"Updating python library to version {args.python_version}") if args.csharp_version: print(f"Updating C# package to version {args.csharp_version}") - set_version(args.python_version, args.csharp_version, args.release_tag) + if args.csharp_extensions_version: + print( + f"Updating C# extensions package to version {args.csharp_extensions_version}" + ) + set_version( + args.python_version, + args.csharp_version, + args.csharp_extensions_version, + args.release_tag, + ) if args.release_tag is not None: print_release_tag_commands( args.python_version, args.csharp_version, args.release_tag