From 2335e6fd5fb29f738548dba6ceea555f092a1412 Mon Sep 17 00:00:00 2001 From: Maryam Honari Date: Fri, 18 Nov 2022 13:21:12 -0800 Subject: [PATCH] pull development changes to `main` branch (#81) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * yamato promotion min editor bumped to 2020.3 (#34) * Fix pypi publish github action (#35) * update logo (#39) * Move SB3 dependencies to colab (#29) * Basic example running with multiple envs in sb3 * Merge & cleanup * trains 3dball * move SB3 helpers into colab * remove sb3/supersuit hard reqs * remove sb3 funcs * remove unused imports * remove sb3 example directory and script * remove vec env tests * clean colab * fix link Co-authored-by: Henry Peteet Co-authored-by: mahon94 * bump to barracuda 3.0.0 (#30) * bump to barracuda 3.0.0 & Updated submodule com.unity.ml-agents * Feature/mla 2394 update web docs (#37) * Added mkdocs and refactored docs. * Updated docs. * Added gh action to manually public docs. Updated mkdocs.yml. * fix markdown docs linking issue (#40) * Updated submodule com.unity.ml-agents (#41) * Add sonarqube yamato job (#38) * Pinning markdown link check to 3.8.7 on nightly gha. (#43) * Update submodules * pin black version to 22.3.0 (#46) * fix-sonar-bugs (#44) * Update submodules * bump version to 0.29.0 (#42) * bump version to 0.29.0 * remove dev tag * add checks for pytorch-gpu install * pin black version to 22.3.0 * Update submodules * Update automated trigger references to support develop branch (#36) * Update automated trigger references to support develop branch * Update pull request template links to refer to develop branch. * Fix release branch name for github actions * Update pre-commit pattern * Removing test that no longer applys to this repo * Removed dead links in pull request template. (#48) * Use pinned version of package-ci/mac image (#50) * Add shared critic configurability for PPO (#45) * Update submodules * Updated Unity version to 2020.3.33f1. (#53) * Update submodules (#56) Co-authored-by: GitHub Actions - update submodules * Add poca reference and update to latex refs (#57) * add poca ref in docs (#58) * Update submodules * Update Training-Configuration-File.md (#59) * Update Training-Configuration-File.md Doc says "behavior_cloning" when it should say "behavioral_cloning". * Update Learning-Environment-Design-Agents.md Minor correction to wording. (https://github.com/Unity-Technologies/ml-agents/issues/5745) * rename ml-agents/trainers/torch to torch_entities (#55) * rename ml-agents/trainers/torch to torch_entities * fix mock patch * Update submodules * Update docs to explain Alternating Ray Order switch (mla-2537) (#61) * Update docs to explain Alternating Ray Order switch (mla-2537) * Update submodules * Update submodules * Updated validate meta files. (#65) * Fix failing gha pytest (#66) * Updated pytest. * Updated SURVEY.md to remove dead survey link. * Updated bug_report.md to update dead link. * Update submodules * Fixed upm ci bug in yamato tests. (#67) * Update submodules * remove torch shadow in trainers tests (#69) * extend stale bot to 90 days (#70) * Update submodules * Dev bump min ver (#74) * Bumped minimum version of Unity. * Bumped minimum version of python and pytorch. fixed issues with deprecation warnings for x.T (tensor transpose). * Fixed np.bool deprecation warning. This is a port of an external PR: https://github.com/Unity-Technologies/ml-agents/pull/5795. (#71) * Updated submodule. * Bumped max ver of python. * Bumped to 2021.3 in yamato tests. * Fixed version issue with torch in test constraints. * update sysroot version * update toolchain version Co-authored-by: zhuo * Removed old backwards compatibility test since tensorflow/2019.4 are no longer s upported. (#76) * Develop custom trainers (#73) * Make create_policy more generic (#54) * add on/off policy classes and inherit from * trainers as plugins * remove swap files * clean up registration debug * clean up all pre-commit * a2c plugin pass precommit * move gae to trainer utils * move lambda return to trainer util * add validator for num_epoch * add types for settings/type methods * move create policy into highest level api * move update_reward_signal into optimizer * move get_policy into Trainer * remove get settings type * dummy_config settings * move all stats from actor into dict, enables arbitrary actor data * remove shared_critic flag, cleanups * refactor create_policy * remove sample_actions, evaluate_actions, update_norm from policy * remove comments * fix return type get stat * update poca create_policy * clean up policy init * remove conftest * add sharedecritic to settings * fix test_networks * fix test_policy * fix test network * fix some ppo/sac tests * add back conftest.py * improve specification of trainer type * add defaults fpr trainer_type/hyperparam * fix test_saver * fix reward providers * add settings check utility for tests * fix some settings tests * add trainer types to run_experiment * type check for arbitary actor data * cherrypick rename ml-agents/trainers/torch to torch_entities (#55) * make all trainers types and setting visible at module level * remove settings from run_experiment console script * fix test_settings and upgrade config scripts * remove need of trainer_type argument up to trainefactory * fix gohst trainer behavior id in policy Queue * fix torch shadow in tests * update trainers, rl trainers tests * update tests to match the refactors * fixing behavior name in ghost trainer * update ml-agents-envs test configs * separating the plugin package changes * bring get_policy back for sake of ghost trainer * add return types and remove unused returns * remove duplicate methods in poca (_update_policy, add_policy) Co-authored-by: mahon94 * Online/offline custom trainer examples with plugin system (#52) * add on/off policy classes and inherit from * trainers as plugins * a2c trains * remove swap files * clean up registration debug * clean up all pre-commit * a2c plugin pass precommit * move gae to trainer utils * move lambda return to trainer util * add validator for num_epoch * add types for settings/type methods * move create policy into highest level api * move update_reward_signal into optimizer * move get_policy into Trainer * remove get settings type * dummy_config settings * move all stats from actor into dict, enables arbitrary actor data * remove shared_critic flag, cleanups * refactor create_policy * remove sample_actions, evaluate_actions, update_norm from policy * remove comments * fix return type get stat * update poca create_policy * clean up policy init * remove conftest * add sharedecritic to settings * fix test_networks * fix test_policy * fix test network * fix some ppo/sac tests * add back conftest.py * improve specification of trainer type * add defaults fpr trainer_type/hyperparam * fix test_saver * fix reward providers * add settings check utility for tests * fix some settings tests * add trainer types to run_experiment * type check for arbitary actor data * cherrypick rename ml-agents/trainers/torch to torch_entities (#55) * make all trainers types and setting visible at module level * remove settings from run_experiment console script * fix test_settings and upgrade config scripts * remove need of trainer_type argument up to trainefactory * fix gohst trainer behavior id in policy Queue * fix torch shadow in tests * update trainers, rl trainers tests * update tests to match the refactors * fixing behavior name in ghost trainer * update ml-agents-envs test configs * fix precommit * separating the plugin package changes * bring get_policy back for sake of ghost trainer * add return types and remove unused returns * remove duplicate methods in poca (_update_policy, add_policy) * add a2c trainer back * Add DQN cleaned up trainer/optimizer * nit naming * fix logprob/entropy types in torch_policy.py * clean up DQN/SAC * add docs for custom trainers,TODO: refrence tutorial * add docs for custom trainers,TODO: refrence tutorial * add clipping to loss function * set old importlim-metadata version * bump precomit hook env to 3.8.x * use smooth l1 loss Co-authored-by: mahon94 * add tutorial for validation * fix formatting errors * clean up * minor changes Co-authored-by: Andrew Cohen Co-authored-by: zhuo * Trainer qa fix (#78) * grammer fixes * fix nit comments from QA * add info about on/off policy * add more context to the code block * more context and minor fix * pip3 Co-authored-by: zhuo * Develop merge submodule (#77) * Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Arthur Juliani * Update changelog * [MLA-1762] reduce memory allocations from DiscreteActionOutputApplier (#4922) * add option for Burst inference (#4925) * surface specific GRPC errors more visibly (#4930) * Add additional logic to avoid load being called on every advance (#4934) * [MLA-1767] Refactor communicator connection exceptions (#4935) * Update changelog for release 13. (#4938) * Update master versions for release 13. (#4945) * Release 13 versions. (#4946) - updated release tag validation script to automate the updating of files with release tags that need to be changed as part of the pre-commit operation. * Update docs to pass doc validation. (#4953) * update defines, compile out Initialize body on non-desktop (#4957) * Adding references to the Extensions package to help promote it. (#4967) * Adding references to the Extensions package to help promote it. * Updating header formatting to match the rest of the page * Adding references to the Extensions package to help promote it. (#4967) (#4968) Co-authored-by: Marwan Mattar Co-authored-by: Chris Elion * InputActuatorComponent to allow the generation of an action space from an InputActionAsset (#4881) * InputActuatorComponent to allow the generation of an action space from an InputActionAsset (#4881) (#4974) * pass sensor dimension flags to analytics (#4954) * Communicator factory (#4965) * Update barracuda, swtich Agents in Sorter use Burst. (#4979) * Update barracuda, swtich Agents in Sorter use Burst. (#4979) (#4981) * Set ignore done=False in GAIL (#4971) * MultiAgentGroup Interface (#4923) * add SimpleMultiAgentGroup * add group reward field to agent and proto * Make TrainingAnalyticsSideChannel internal (#4999) * [MLA-1783] built-in actuator type (#4950) * Add component menues for some sensors and actuators. (#5001) * Add component menues for some sensors and actuators. (#5001) (#5002) * Merge master -> release_13_branch-to-master * Fix RpcCommunicator merge. * master -> main. (#5010) * Adding a name field to BufferSensorComponent * Adding a note to the CHANGELOG about var len obs * Adding a helper method for creating observation placeholder names and removed the _h and _c placeholders * Adding a custom editor for BufferSensorComponent * adding inheritdoc * Update cattrs dependencies to support python3.9 (#4821) * Fix issue with queuing input events that stomp on others. (#5034) * Update cattrs dependencies to support python3.9 (#4821) * Fix issue with queuing input events that stomp on others. (#5034) * Update versions for release 14 hotfix. (#5040) * master -> main. (#5010) (#5044) * Update changelog. (#5045) * [MLA-1809] catch mismatched observation sizes (#5030) * Update changelog. (#5055) * Fix xml docs. (#5057) * pass sensor name through to ObservationSpec (#5036) * Remove unused allocation (#5068) * Automatically generate samples based on placement of mlagents-sample.json files in our examples. (#5077) * Update barracuda to 1.3.2-preview. (#5084) * POCA trainer (#5005) Co-authored-by: Ervin Teng Co-authored-by: Ruo-Ping Dong Co-authored-by: Chris Elion Co-authored-by: Vincent-Pierre BERGES * [docs] Documentation for POCA and cooperative behaviors (#5056) Co-authored-by: Ruo-Ping Dong * [docs] Update changelog (#5095) * Add multiAgentGroup capabilities flag (#5096) * Add multiAgentGroup capabilities flag * Add proto * Fix compiler error * Add warning for multiagent group * Add comment * Fix spelling mistake * Fix ghost curriculum and make steps private (#5098) * use get step to determine curriculum * add to CHANGELOG * Make step in trainer private (#5099) Co-authored-by: Ervin T * [cherry-pick] Fix ghost curriculum and make steps private (#5098) * use get step to determine curriculum * add to CHANGELOG * Make step in trainer private (#5099) Co-authored-by: Ervin T * Update changelog for samples. (#5103) * Update changelog for samples. (#5103) (#5106) * Update versions on main (#5102) Increment versions after release 15 branch split * [release_15] Release 15 update versions (#5101) * Update versions * Fix for validate release links * Update release tag and docs * [docs] Add missing package docs (#5108) * Add missing package docs * Fix grammar * Update comment on Dispose * Fix typo in doc * [docs] Update readme and changelog (#5107) * Make analytics module an optional dependency. (#5109) Co-authored-by: Chris Elion * Redo dotnet format (#5119) * [docs] Add links to example envs for Buffer Sensor and MultiAgentGroup (#5116) * Update changelog with links to example envs * Cooperative push block link update * [cherry-pick] Integrate Group Manager to soccer/retrain with POCA (#5115) (#5121) * Integrate Group Manager to soccer/retrain with POCA (#5115) * Add Soccer env to changelog Co-authored-by: andrewcoh <54679309+andrewcoh@users.noreply.github.com> * [cherry-pick][docs] Add Dungeon Escape Environment (#5133) * Add DungeonEscape POCA Environment (#5128) * Add DungeonEscape assets from working branch * Add Dungeon Escape docs * Create dungeon_escape.png * Add to docs Co-authored-by: Hunter-Unity * update pre-commit instructions for CONTRIBUTING.md (#5130) * Remove duplicated changelog * Fix another duplicated line in the changelog... * Removing Obsolete methods from the package (#5024) * Removing Obsolete methods from the package * Missing depecration and modified changelog * Readding the obsolete BrainParameter methods, will need a larger discussion on these * Removing Action Masker, readding the warining when using a non-implemented Heuristic, Removing NumAction from Brain Parameters * removing documentation and some calls to deprecated methods in the extensions package * Editing the Changelog to put the unreleased on top * non-IEnumerable interface for action masking (#5060) * V2 staging new model version (#5080) * Make modelCheck have flavors of error messages * ONNX exporter v3 * Using a better CheckType and a switch statement * Removing unused message * More tests * Use an enum for valid versions and use GetVersion on model directly * Maybe the model export version a static constant in Python * Use static constructor for FailedCheck * Use static constructor for FailedCheck * Modifying the docstrings * renaming LegacyDiscreteActionOutputApplier * removing testing code * better warning message * Nest the CheckTypeEnum into the FailedCheck class * Update com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs * Adding a line explaining that legacy tensor checks are for versions 1.X only * Modifying the changelog * Exporting all the branches size instead of omly the sum (#5092) * addressing comments * Update com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs Co-authored-by: Chris Elion * readding tests * Adding a comment around the new DiscreteOutputSize method * Clearer warning : Model contains unexpected input > Model requires unknown input * Fixing a bug in the case where the discrete action tensor does not exist Co-authored-by: Chris Elion * Make IActuator implement IHeuristicProvider. (#5110) * Adding more tests for v2 models (#5138) * Adding more tests for v2 models * formatting * fixing formatting * [MLA-1634] Add ObservationSpec and update ISensor interfaces (#5127) * Add custom package settings (#5027) * cleanup: yamato triggers, changelog, docstrings * clean up merge * fix compile error * update c# version to 2.0.0-exp.1 (#5160) Co-authored-by: Chris Elion * Move physics/sensor tests that fail in edit mode depending on what's in the scene to playmode tests. (#5162) * update package version * remove defines that are now always true * changelog * Remove all old analytics defines. (#5168) * [MLA-1634] Compression spec (#5164) * Low hanging fruit tests for coverage. (#5170) * Update Policies to conditionally compile their analytics method. (#5171) * Turns physics modules into optional dependencies. (#5112) * [MLA-1634] Remove SensorComponent.GetObservationShape() (#5172) * PR Feedback. (#5173) * change default barracuda behavior (#5175) * [MLA-1824] make SensorComponent return ISensor[] (#5181) * Make SensorComponent return an array * split match3 sensors, partial retrain * docstrings, migration, changelog, cleanup * Adding the goal conditioning sensors with the new observation specs (#5159) * Fixing networks.py for the merge * fix compile error * Adding the goal conditioning sensors with the new observation specs * addressing feedback * I forgot to change the m_observationType * Renaming Goal to GoalSignal (#5190) * Renaming GOAL to GOAL_SIGNAL * VectorSensorComponent to use new API * Adding docstrings * verbose pytest on github action Co-authored-by: Chris Elion * [MLA-1879] culture-invariant sorting for sensors and actuators (#5194) * Goal conditioning grid world : Example of goal conditioning (#5193) * Aded the Goal conditioned GridWorld to replace regular gridworld * adding missing files * Code improvements * Documentation change on gridworld * resolving conflicts * new model * Addressing comments * comments and renames * Update docs/Learning-Environment-Examples.md Co-authored-by: Ervin T. * adding reference to gridworld in docs about goal signal Co-authored-by: Chris Elion Co-authored-by: Ervin T. * [MLA-1584] Match3 variable board size (#5189) * [bug-fix] When agent isn't training, don't clear update buffer (#5205) * Don't clear update buffer, but don't append to it either * Update changelog * Address comments * Make experience replay buffer saving more verbose * Changelog for goal conditioning (#5195) * Changelog for goal conditioning * adding a line about the changes to the gridworld example * Addressing comments * Change capitalization * [bug fix] Fix warning using demo recorder (#5216) * Making VectorActionSize and VectorActionSpaceType internal (#5214) Made sure the editor does not complain; * Turning some logger.info into logger.debug and remove some logging overhead when not using debug (#5211) * turning some logger.info into logger.debug and remove some logging overhead when not using debug * Addressing comments * Adding to changelog * rearrange match3 docs (#5215) * rearrange match3 docs * changelog and migration from previous PR * [bug-fix] Fix POCA LSTM, pad sequences in the back (#5206) * Pad buffer at the end * Fix padding in optimizer value estimate * Fix additional bugs and POCA * Fix groupmate obs, add tests * Update changelog * Improve tests * Address comments * Fix poca test * Fix buffer test * Increase entropy for Hallway * Add EOF newline * Fix Behavior Name * Address comments * [MLA-1880] Raycast sensor interface improvements (#5222) * WIP * remove debug info struct * cleanup + add to test * changelog * fix unit tests * PR feedback * Load individual elements if state dict load fails (#5213) Co-authored-by: Vincent-Pierre BERGES Co-authored-by: Ervin T. * [MLA-1159] Add virtual methods to DecisionRequester (#5223) * [Bug Fix] Serialization of vectorActionSpace (#5220) * [Bug Fix] Serialization of vectorActionSpace * adding a test * Clear ActionBuffers before Heuristic calls (#5227) * Add ObservationType to analytics ObservationSpec (#5218) * [MLA-1909] Match3 and Camera/RenderTexture sensor GC improvements (#5233) * avoid empty set iteration, avoid Debug.AssertFormat (#5246) * avoid empty set iteration, avoid Debug.AssertFormat * changelog * Update to barracuda 1.3.3 and changes to the model inputs and outputs for LSTM (#5236) * Initial commit * making it work with hallway. Added a new model version * addressing feedback * Adding a comment * formatting * modifying the changelog * Adding descriptions on the model version descriptions * Update com.unity.ml-agents/Runtime/Inference/GeneratorImpl.cs Co-authored-by: Chris Elion * addressing comments Co-authored-by: Chris Elion * [Release 16] Release 16 Merge Back to Main (#5255) Update versions and documentation for Release 16. Co-authored-by: Vincent-Pierre BERGES Co-authored-by: andrewcoh <54679309+andrewcoh@users.noreply.github.com> Co-authored-by: Chris Elion * fix link, run link check in quiet mode (#5257) * [MLA-1912] Move Match3 to com.unity.ml-agents (#5259) * Move GridSensor into main package (#5256) * move OneHotGridSensor into main package * changelog and migration guide * remove old doc * check if physics module presents * Add advanced installation guide for com.unity.ml-agents (#5260) * Fix errors when creating new RayCast sensor (#5261) * check if tag and angle is null * add test * changelog * fix all PVS and doc generation warnings (#5262) * Fix --results-dir (#5269) * Fix GridSensorComponent bug (#5270) * LSTM models from 1.x will be incompatible with MLA 2.x (#5254) * LSTM models from 1.x will be incompatible with MLA 2.x * Adding a test and a new v2 model * Make the Model Runner raise an error if using 1.0 model with LSTM * adding a new model for hallway trained with 2.0 * reword error messages * Only raise if error, not if warning * Addressing comments: The legacy Barrauda memory generator and applier were removed. All code that checked for (memories + v1.X) have been removed since these will no longer be supported * Modifying the changelog and the migrating guide with this change * Fixing the merge issues Co-authored-by: Chris Elion * [MLA-1939] Match3 Custom Editor (#5263) * Rider suggested cleanup, part 1 (#5265) * Fix the attention module embedding size (#5272) * Fix the attention module embedding size * editing the changelog * [bug-fix] Fix null ref exception in the demo recorder (#5274) * Fix null ref exception in the demo recorder * Update changelog * Clearer logic * Modifying the changelog for release 17 (#5277) * Modifying the changelog for release 17 * Change version to 2.0.0-exp.1 * Removing the [Unreleased] section * check for missing AbstractBoard, display warning (#5276) * Updating the barracuda 1.4.0 (#5291) * [debug] Require all behavior names to have a matching YAML entry (#5210) * Add strict check to settings.py * Remove warning from trainer factory, add test * Add changelog * Fix test * Update changelog * Remove strict CLI options * Remove strict option, rename, make strict default * Remove newline * Update comments * Set default dict to actually default to a default dict * Fix tests * Fix tests again * Default trainer dict to requiring all fields * Fix settings typing * Use logger * Add default_settings to error * Version bump main (#5279) * Version bump for the main branch following branching of release_17 * Messed up the extensions package version * Bring back root reference in grid sensor (#5300) * [MLA-1952] Add optional seed for gym action spaces (#5303) * add optional seed for action spaces * add optional seed for action spaces * changelog * undo packages-lock.json change * Release 17 version bumps and docs version bumps (#5280) * Migration guide - list removed APIs with replacements (#5307) * list removed APIs with replacements * fixes * [docs] Update changelog (#5308) * [MLA-1952] Add optional seed for gym action spaces (#5303) (#5315) * Fix stacked grid sensor (#5335) * Update to Unity Package licenses (#5340) * Update to Unity Package licenses Per Dan * Updating the main repo license dates. * Adding a fully connected visual encoder for super small visual input + tests (#5351) * initial commit for a fully connected visual encoder * adding a test * addressing comments * Fixing error with minimal size of fully connected network * adding documentation and changelog * Make OverlapChecker an interface (#5324) * Add stacking option to VectorSensorComponent (#5376) * [WIP] [Fix] Fixing collect observation called on done (#5375) * [WIP] [Fix] Fixing collect observation called on done * Update com.unity.ml-agents/Runtime/Agent.cs * :warning: Modifying the test of stacking sensor when the agent is done * modifying the documentation for BufferSensor to specify to call AddObservation in the CollectObservations method * Fix NullReferenceException for Behavior Parameters without Agent (#5382) * check agent existence. add warning box * changelog * [WIP] 2.0 verified to main (#5385) * Warn if no joints on Root Body (#5387) * Modifying the changelog for the continuous action SAC target entropy fix (#5394) * Editing the GridSensor documentation for 2D use case (#5396) * Editing the GridSensor documentation for 2D use case * changing chagelog * [MLA-2017] Move colab notebooks to github (#5399) * Fix the reporting of histogram stats and adding a test (#5410) * Fix the reporting of histogram stats and adding a test * Appending to the Changelog * Update changelog before Release 18 branch (#5412) * Update package versions for main branch (#5413) * [Release 18] Update versions and links (#5414) * add changelog entries for PRs that were missing them before. (#5416) * fix cref error found by doc validation (#5421) * fix release versions and changelog section * [bug-fix] Fix when group terminal steps are deleted, robust test (#5441) * Fix when terminal steps are deleted, robust test * Update changelog * Fix test comment * Fix torch device option in argparser (#5467) * [FIX] prioritize cli options over yaml (#5495) * prioritize cli over yaml in checkpointSettings * prioritize resume if both set in one place * fixed test_commandline_args * addressing comments:renaming, commenting * more tests and referenced in change_log * Only update the native library and the c# calls that need to be made to clean up channels. (#5283) * Fix Mac backcompat test (#5519) * Initialize-from custom checkpoints (#5525) * init from any checkpoint including older ones * moving init_path logic ahead to learn.py * fixing pytest to take the full path * doc & changelog * Update gym version to 0.20.0 (#5540) * Fixed failing test due to gym 0.20.0 release. Updated gym-unity package to fix gym version to 0.20.0. * Updated CHANGELOG. * Fix VAIL (#5546) * Custom trainer editor analytics (#5511) * Custom trainer editor analytics * inherit the default_training_analytics_side_channel * Feature/mla 2205 separate schedule lr beta epsilon (#5538) * Added initial (untested) support for separating schedule for beta, LR, and epsilon. * Added support for beta and epsilon schedule in test config conversion * Updated docs. Set epsilon to be linear by default. * Updated configs to add beta and epsilon schedule where appropriate. * Addressed CR change requests. * Minor update. * Updated docs. * Added changes to CHANGELOG. * Updated CHANGELOG. * Fixed typo in Training-Configuration-File.md * Reverted config changes to remove beta and epsilon schedules. * mypy error fixed from pre-commit. * Fixed a bug that was causing a settings test to fail. * Addressed CR comments. Co-authored-by: Miguel Alonso Jr Co-authored-by: Miguel Alonso Jr * Harden user PII protection logic and extend TrainingAnalytics to expose detailed configuration parameters. (#5512) * Hash128 is not a cryptographic hash, replace with HMAC-SHA256. * Extend TrainingAnalytics side channel to expose configuration details * Change member function scopes and hash demo_paths * Extract tbiEvent hashing method and add test coverage * Restart crashed Unity environments (#5553) ### Change(s) Update the SubprocessEnvManager to restart workers when the underlying Unity environments crash. When a worker receives an ENV_EXITED signal it will now: 1. Record all failures coming through the step queue and drop all other messages. 2. Purge any pending trajectories as they may belong to a crashed worker or be corrupted. 3. Restart all failed workers (up to a configurable limit) This behavior can be limited via a rate limit, max lifetime limit, or both. The configuration options for both are shown below with their default values. ⚠️ Each of these options applies to a single environment, if num_envs > 1 then the limit will apply separately to each replica (num_envs = 2 will spawn 2 Unity environments which can each be restarted 10 times). ```yaml env_settings: # Can restart 10 times over the lifetime of the experiment. max_lifetime_restarts: 10 # Rate limit of 1 failure per 60s restarts_rate_limit_n: 1 restarts_rate_limit_period_s: 60 ``` They can of course be passed via CLI arguments as well ```bash --max-lifetime-restarts --restarts-rate-limit-n --restarts-rate-limit-period-s ``` ### Disabling this feature * Rate limiting can be turned off by setting `--restarts-rate-limit-n=-1` * Lifetime limiting can be turned off by setting `--max-lifetime-restarts=-1` * Develop add training area replicator (#5568) * Added training area replicator to com.unity.ml-agents package. * Added num_areas to Unity RL Initialization proto. Added cli and config file support for num_areas. * Changed training area replicator to size grid automatically from number of areas. * Added tests for the training area replicator. * Added setup for tests for the training area replicator. * Added comments and updated create tutorial for training area replicator. * Updated CHANGELOG. * Fixed some failing tests. * Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Henry Peteet * Update docs/Learning-Environment-Create-New.md Co-authored-by: Henry Peteet * Update com.unity.ml-agents/Runtime/Areas/TrainingAreaReplicator.cs Co-authored-by: Henry Peteet * Addressed CR comments. Co-authored-by: Miguel Alonso Jr Co-authored-by: Henry Peteet * Fixing the analytics side-channel for curriculum learning. (#5586) * Fixing the analytics side-channel for curriculum learning. * Made a more robust test. * Update the changelog. * Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Maryam Honari Co-authored-by: Maryam Honari * Method to return stacked observations (#5547) * Method to return stacked observations * Added testing and returning staked observation flat. * Update the comment lines. * Remove brainstorm commits. * Upgrade Barracuda to 2.3.1-preview (#5591) * Upgrade to 2.3.1-preview * Fix for critic normalization bug (#5595) * Added normalization to critic during training for poca, ppo, and sac. * Fixed critic normalization bug. Added new tests to cover. * Updated CHANGELOG. * Fixed typo in test_trainers.py * Deterministic actions python training (#5619) * Progress on propagating the setting to the action model. * Added the _sample_action logic and tests. * Add information to the changelog. * Prioritize the CLI over the configuration file. * Update documentation for config file. * CR refactor. * Update docs/Training-Configuration-File.md Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com> Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com> Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com> Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Maryam Honari Update ml-agents/mlagents/trainers/settings.py Co-authored-by: Maryam Honari Update ml-agents/mlagents/trainers/cli_utils.py Co-authored-by: Maryam Honari * Fix CR requests * Add tests for discrete. * Update ml-agents/mlagents/trainers/torch/distributions.py Co-authored-by: Maryam Honari * Added more stable test. * Return deterministic actions for training (#5615) * Added more stable test. * Fix the tests. * Fix pre-commit * Fix help line to pass precommit. * support for deterministic inference in onnx (#5593) * Init: actor.forward outputs separate deterministic actions * changelog * Renaming * Add more tests * Package changes to support deterministic inference (#5599) * Init: actor.forward outputs separate deterministic actions * fix tensor shape for discrete actions * Add test and editor flag - Add tests for deterministic sampling - update editor and tooltips * Reverting to "Deterministic Inference" * dissect tests * Update docs * Update CHANGELOG.md Co-authored-by: Chingiz Mardanov Co-authored-by: cmard <87716492+cmard@users.noreply.github.com> * Revert "Deterministic actions python training (#5619)" (#5622) This reverts commit 9ea962027d4c581de7c45a07d669f96453236c5c. * Deterministic actions python training (#5626) * Progress on propagating the setting to the action model. * Added the _sample_action logic and tests. * Add information to the changelog. * Prioritize the CLI over the configuration file. * Update documentation for config file. * CR refactor. * Update docs/Training-Configuration-File.md Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com> Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com> Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com> Update com.unity.ml-agents/CHANGELOG.md Co-authored-by: Maryam Honari Update ml-agents/mlagents/trainers/settings.py Co-authored-by: Maryam Honari Update ml-agents/mlagents/trainers/cli_utils.py Co-authored-by: Maryam Honari * Fix CR requests * Add tests for discrete. * Update ml-agents/mlagents/trainers/torch/distributions.py Co-authored-by: Maryam Honari * Added more stable test. * Return deterministic actions for training (#5615) * Added more stable test. * Fix the tests. * Fix pre-commit * Fix help line to pass precommit. * support for deterministic inference in onnx (#5593) * Init: actor.forward outputs separate deterministic actions * changelog * Renaming * Add more tests * Package changes to support deterministic inference (#5599) * Init: actor.forward outputs separate deterministic actions * fix tensor shape for discrete actions * Add test and editor flag - Add tests for deterministic sampling - update editor and tooltips * Reverting to "Deterministic Inference" * dissect tests * Update docs * Update CHANGELOG.md * Fix the deterministic showing up all the tiime (#5621) Co-authored-by: Chingiz Mardanov Co-authored-by: cmard <87716492+cmard@users.noreply.github.com> * Changelog cleanup. (#5627) * Release cleanup for changelog * Update CHANGELOG.md Co-authored-by: Maryam Honari * Fix analytics error when compiling XBOX and PS5 (#5628) * Add ENABLE_CLOUD_SERVICES_ANALYTICS Guards To use analytics safely you must wrap usage with `#if ENABLE_CLOUD_SERVICES_ANALYTICS` See https://docs.unity3d.com/ScriptReference/Analytics.Analytics.html * Update DQN Colab example to support export for Barracuda inference (#5643) * Update DQN GridWorld colab example to be capable of outputting an ONNX model that works for inference. -Allow GridWorld to work without a GoalSensor. Defaults to the GreenPlus target in that case. -Add GridWorldColab.onnx file, trained and generated with the colab. * Upgrade DQN GridWorld Colab to produce model that can work with (modified) GridWorld Scene. -permute observation images from NHWC to NCHW right after env_step. Everything following is NCHW. -update input_shape indexes and remove equivalent permute from the VisualQNetwork -fix reference to global qnet inside generate_trajectories (use the passed in version) -create wrapper network to add required constants and dummy input masks required by the runtime inference (Barracuda) -export the wrapped network to ONNX format compatible with Barracuda * Add additional GridWorld scene called GridWorldColab that has the goal sensors removed (target is always green plus) and masks disabled. The purpose of this is to have a scene compatible with the DQN GridWorld Colab example. * Minor edit in Colab docs. * Delete unnecessary .lighting file. * Update changelog. * Update colab/Colab_UnityEnvironment_2_Train.ipynb Co-authored-by: Maryam Honari * Fix error in colab metadata name. * Add suggested comments and fix incorrect parameter ordering. * Update docs for Elo curriculum completion measure. Co-authored-by: Maryam Honari * Changelog prepped for release (#5629) * Changelog prepped for release * Added missing PRs to the changelog. * Added missing CHANGELOG item. * enable 3D Ball sample import button in package manager for unity sdk (#5665) * enable 3D Ball sample import button in package manager for unity sdk * add Samples folder * add meta file * fix git ignore config * Updated versions for main. Also updated validate versions script to r… (#5668) * Updated versions for main. Also updated validate versions script to remove exp.1 from package version. * Reverted validate versions. * Updated versions. * Bumped package version for patch. * Removed unreleased section. (#5667) * Updated release versions and release links. (#5669) * Updates for package validation errors. (#5671) * Release 19 branch lts deprecation (#5673) * Updated Project and DevProject to 2020.3 LTS. * Updated supported LTS version to 2020.3. * Updated changelog. * Bumped up CI Unity version from 2020.2 to 2020.3. * Update CHANGELOG.md * Removing VS Studio dependency from manifest.json. * Update packages-lock.json * Update CHANGELOG.md * Bumped package version for patch. * Fixed build-docker and updated CHANGELOG to add unreleased section. (#5682) * Fixed build-docker and updated CHANGELOG to add unreleased section. * Updated backward compat mac training yamato test. (#5685) * Develop deprecate python 3.6 (#5) * Dropped support for python 3.6 * Pinning python 3.9.9 for tests due to typing issues with 3.9.10 * Testing new bokken image. * Testing new bokken image. * Updated yamato standalone build test. * Updated yamato standalone build test. * Updated standalone build test. * Updated yamato configs to use mla bokken vm. * Bug fixes for yamato yml files. * Fixed com.unity.ml-agents-test.yml * Bumped min python version to 3.7.2 * Updated failing yamato jobs. * Updated github workflow for colab tests. * Updated github workflow for colab tests. * Updated github workflow for colab tests. * Develop python api ga (#6) * Dropped support for python 3.6 * Pinning python 3.9.9 for tests due to typing issues with 3.9.10 * Testing new bokken image. * Testing new bokken image. * Updated yamato standalone build test. * Updated yamato standalone build test. * Updated standalone build test. * Updated yamato configs to use mla bokken vm. * Bug fixes for yamato yml files. * Fixed com.unity.ml-agents-test.yml * Bumped min python version to 3.7.2 * pettingzoo api prototype * add example * update file names * support multiple behavior names * fix multi behavior action index * add install in colab * add setup * update colab * fix __init__ * clone single branch * import tags only * import in init * catch import error * update colab * move colab and add readme * handle agent dying * add tests * update doc * add info * add action mask * fix action mask * update action masks in colab * change default env * set version * fix hybrid action * fix colab for hybrid actions * add note on auto reset * Updated colab name. * Update README.md * Following petting_zoo registry API (#5557) * init petting_zoo registry * cherrypick Custom trainer editor analytics (#5511) * cherrypick "Update dotnet-format to address breaking changes introduced by upstream changes (#5528)" * Update colab to match pettingZoo import api * ToRevert: pull exp-petting-registry branch * Add init file to tests * Install pettingzoo-unity requirements for pytest * update pytest command * Add docstrings and comments * update coverage to pettingzoo folder * unset log level * update env string * Two small bugfixes (#5589) 1. Add the missing `_cumulative_rewards` property 2. Update `agent_selection` to not error out when an agent finishes an episode. * Updated gym to 0.21.0 and petting zoo to 1.13.1, fixed bugs with AEC wrapper for gym and PZ updates. API tests are passing. * Some refactoring. * Finished inital implementation of parallel. Tests not passing. * Finished parallel API implementation and refactor. All PZ tests passing. * Cleanup. * Refactoring. * Pinning numpy version. * add metadata and behavior_specs initialization * addressing behaviour_spec issues * Bumped PZ version to 1.14.0. Fixed failing tests. * Refactored gym-unity and petting-zoo into ml-agents-envs * Added TODO to pydoc-config.yaml * Refactored gym and pz to be under a subpackage in mlagents_env package * Refactored ml-agents-envs docs. * Minor update to PZ API doc. * Updated mlagents_envs docs and colab. * Updated pytest gh workflow to remove ref to gym and pz. * Refactored to remove some test coupling between trainers and envs. * Updated installation doc. * Update ml-agents-envs/README.md Co-authored-by: Andrew Cohen * Updated failing yamato jobs. * pettingzoo api prototype * add example * update file names * support multiple behavior names * fix multi behavior action index * add install in colab * add setup * update colab * fix __init__ * clone single branch * import tags only * import in init * catch import error * update colab * move colab and add readme * handle agent dying * add tests * update doc * add info * add action mask * fix action mask * update action masks in colab * change default env * set version * fix hybrid action * fix colab for hybrid actions * add note on auto reset * Updated colab name. * Update README.md * Following petting_zoo registry API (#5557) * init petting_zoo registry * cherrypick Custom trainer editor analytics (#5511) * cherrypick "Update dotnet-format to address breaking changes introduced by upstream changes (#5528)" * Update colab to match pettingZoo import api * ToRevert: pull exp-petting-registry branch * Add init file to tests * Install pettingzoo-unity requirements for pytest * update pytest command * Add docstrings and comments * update coverage to pettingzoo folder * unset log level * update env string * Two small bugfixes (#5589) 1. Add the missing `_cumulative_rewards` property 2. Update `agent_selection` to not error out when an agent finishes an episode. * Updated gym to 0.21.0 and petting zoo to 1.13.1, fixed bugs with AEC wrapper for gym and PZ updates. API tests are passing. * Some refactoring. * Finished inital implementation of parallel. Tests not passing. * Finished parallel API implementation and refactor. All PZ tests passing. * Cleanup. * Refactoring. * Pinning numpy version. * add metadata and behavior_specs initialization * addressing behaviour_spec issues * Bumped PZ version to 1.14.0. Fixed failing tests. * Refactored gym-unity and petting-zoo into ml-agents-envs * Added TODO to pydoc-config.yaml * Refactored gym and pz to be under a subpackage in mlagents_env package * Refactored ml-agents-envs docs. * Minor update to PZ API doc. * Updated mlagents_envs docs and colab. * Updated pytest gh workflow to remove ref to gym and pz. * Refactored to remove some test coupling between trainers and envs. * Updated installation doc. * Update ml-agents-envs/README.md Co-authored-by: Andrew Cohen * Updated CHANGELOG. * Updated Migration guide. * Doc updates based on CR. * Updated github workflow for colab tests. * Updated github workflow for colab tests. * Updated github workflow for colab tests. * Fixed yamato import error. Co-authored-by: Ruo-Ping Dong Co-authored-by: Miguel Alonso Jr Co-authored-by: jmercado1985 <75792879+jmercado1985@users.noreply.github.com> Co-authored-by: Maryam Honari Co-authored-by: Henry Peteet Co-authored-by: mahon94 Co-authored-by: Andrew Cohen * Refactoring for extraction to separate repo. * removing unused github workflows. * Updates for pre-commit and github actions. * Fixed bug with validate_meta_files.py missing a file to exclude. * Updated precommit gh action. * Refactored yamato pack. * Added yamato test yaml. * Updated to CHANGELOG and VectorSensor from mono repo before swap. * Pin dotnet version for GHA formatting. * Refactor for MLA pro support. (#1) * Refactored for MLA pro support. * Fixed bug in yamato test. * Updated the CHANGELOG. * Fixed trigger logic in yamato test. * Fixed failing tests. (#2) * Fixed failing tests. * Adding meta files. * Fix execution order (#4) * Fixed execution order. * Fixed bug with CRT build. * precommit formatting update. * Updated agent Awake docstring. * Set execution order to be negative to make sure scripts run before default time. (#5) * Added #if to exclude communicator registration in the Agent awake script (#6) * Add visibility to pro package (#7) * add coverage publish promotion yamato jobs (#3) * bump barracuda to 3.0.0 (#9) upgrade to barracuda 3.0.0 * Updated README. (#8) * add validation test dep. to publish job (#12) * add validation test dep. to publish job * fix package path * Update automated trigger rules to support oneflow develop branch (#11) * Update automated trigger rules to support oneflow develop branch * Fix release branch name for github actions * Release 2.3.0 exp.1 (#13) * upgrade package to 2.3.0-exp.1 * rebase on develop branch * update changelog * remove unreleased section (#16) * Updated experimental prerelease version and changelog. (#18) * Added submodule update gha. (#19) * fix bugs from sonar-scanner (#21) * add ml-agents-pro as a upstream for submodule update (#22) * Added support for standalone use of Academy with refactored communicator factory. (#24) * clean commandline Arguments (#25) * clean commandline Arguments * fix precommit * update unrelease section in changelog (#27) * MLA-2537 Reorder RayPerceptionSensor output to reflect its spatial structure. (#26) * Changes to support in order rays. GUI for switching to this. Updated tests. * Updated README. (#29) * Fixed samples. (#30) * Added camera sensor component checkbox for runtime enablement. update… (#31) * Added camera sensor component checkbox for runtime enablement. updated camera sensor to only be active when enabled for runtime. * Updated yamato job. * Updated CHANGELOG. * Fixed issue with Academy not building for webgl builds. (#32) * Dev bump min ver (#33) * Bumped min version of Unity to 2021.3. * Updated min version of python in pre-commit. Updated changelog. * Moving files into packages/com.unity.ml-agents directoy. * Remove com.unity.ml-agents submodule. * Added back in ml-agents package. * Removed packages temp folder. * Updated yamato protobuf gen. * Updated yamato to remove submodule update. * Updated linux tool chain. * Updated Project package dependencies. * Updated flake8 repo link in precommit. Co-authored-by: Vincent-Pierre BERGES Co-authored-by: Arthur Juliani Co-authored-by: Chris Elion Co-authored-by: andrewcoh <54679309+andrewcoh@users.noreply.github.com> Co-authored-by: Chris Goy Co-authored-by: Marwan Mattar Co-authored-by: Ruo-Ping Dong Co-authored-by: Ervin Teng Co-authored-by: Hunter-Unity Co-authored-by: Maryam Honari Co-authored-by: Miguel Alonso Jr <76960110+miguelalonsojr@users.noreply.github.com> Co-authored-by: Miguel Alonso Jr Co-authored-by: Jason Bowman Co-authored-by: Henry Peteet Co-authored-by: cmard <87716492+cmard@users.noreply.github.com> Co-authored-by: Chingiz Mardanov Co-authored-by: Jason Rupert <92821409+jrupert-unity@users.noreply.github.com> Co-authored-by: Xun Cao Co-authored-by: jmercado1985 <75792879+jmercado1985@users.noreply.github.com> Co-authored-by: mahon94 Co-authored-by: Andrew Cohen Co-authored-by: Xun Cao Co-authored-by: Jason Rupert * Release 20 changelog (#80) * clean changelog * match extention package dependency * fix typos Co-authored-by: Xun Cao Co-authored-by: Brandon Henry Co-authored-by: Andrew Cohen Co-authored-by: Henry Peteet Co-authored-by: Miguel Alonso Jr Co-authored-by: GitHub Actions - update submodules Co-authored-by: Jason Bowman Co-authored-by: Florence Rolland Co-authored-by: Jason Rupert Co-authored-by: zhuo Co-authored-by: Vincent-Pierre BERGES Co-authored-by: Arthur Juliani Co-authored-by: Chris Elion Co-authored-by: andrewcoh <54679309+andrewcoh@users.noreply.github.com> Co-authored-by: Chris Goy Co-authored-by: Marwan Mattar Co-authored-by: Ruo-Ping Dong Co-authored-by: Ervin Teng Co-authored-by: Hunter-Unity Co-authored-by: Maryam Honari Co-authored-by: Miguel Alonso Jr <76960110+miguelalonsojr@users.noreply.github.com> Co-authored-by: Miguel Alonso Jr Co-authored-by: cmard <87716492+cmard@users.noreply.github.com> Co-authored-by: Chingiz Mardanov Co-authored-by: Jason Rupert <92821409+jrupert-unity@users.noreply.github.com> Co-authored-by: Xun Cao Co-authored-by: jmercado1985 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ml-agents/mlagents/trainers/{torch => torch_entities}/components/reward_providers/gail_reward_provider.py (95%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/components/reward_providers/reward_provider_factory.py (72%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/components/reward_providers/rnd_reward_provider.py (92%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/conditioning.py (98%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/decoders.py (91%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/distributions.py (99%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/encoders.py (98%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/layers.py (98%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/model_serialization.py (100%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/networks.py (95%) rename ml-agents/mlagents/trainers/{torch => torch_entities}/utils.py (95%) create mode 100644 ml-agents/mlagents/trainers/trainer/off_policy_trainer.py create mode 100644 ml-agents/mlagents/trainers/trainer/on_policy_trainer.py create mode 100644 ml-agents/mlagents/trainers/trainer/trainer_utils.py create mode 100644 ml-agents/pydoc-config.yaml diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md index 2ea57e3e1c..9af9fb7a7a 100644 --- a/.github/ISSUE_TEMPLATE/bug_report.md +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -18,7 +18,7 @@ Steps to reproduce the behavior: 4. See error **Console logs / stack traces** -Please wrap in [triple backticks (```)](https://help.github.com/en/articles/creating-and-highlighting-code-blocks) to make it easier to read. +Please wrap in triple backticks (```) to make it easier to read. **Screenshots** If applicable, add screenshots to help explain your problem. diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 6bf245b4cf..47c73ebf07 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -17,8 +17,8 @@ Describe the changes made in this PR. ### Checklist - [ ] Added tests that prove my fix is effective or that my feature works -- [ ] Updated the [changelog](https://github.com/Unity-Technologies/ml-agents/blob/main/com.unity.ml-agents/CHANGELOG.md) (if applicable) -- [ ] Updated the [documentation](https://github.com/Unity-Technologies/ml-agents/tree/main/docs) (if applicable) -- [ ] Updated the [migration guide](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Migrating.md) (if applicable) +- [ ] Updated the changelog (if applicable) +- [ ] Updated the documentation (if applicable) +- [ ] Updated the migration guide (if applicable) ### Other comments diff --git a/.github/stale.yml b/.github/stale.yml index 2328fea17c..88e2766248 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -10,15 +10,15 @@ only: issues # Issue specific configuration issues: limitPerRun: 5 - daysUntilStale: 28 - daysUntilClose: 14 + daysUntilStale: 90 + daysUntilClose: 30 markComment: > This issue has been automatically marked as stale because it has not had activity in the - last 28 days. It will be closed in the next 14 days if no further activity occurs. + last 90 days. It will be closed in the next 30 days if no further activity occurs. Thank you for your contributions. closeComment: > This issue has been automatically closed because it has not had activity in the - last 42 days. If this issue is still valid, please ping a maintainer. + last 120 days. If this issue is still valid, please ping a maintainer. Thank you for your contributions. exemptLabels: - request diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml index 8c2236cb2c..8e07f3108a 100644 --- a/.github/workflows/colab.yml +++ b/.github/workflows/colab.yml @@ -8,7 +8,10 @@ on: - 'colab/**' - '.github/workflows/colab.yml' push: - branches: [main] + branches: + - main + - develop + - 'release/**' workflow_dispatch: jobs: diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml index 2fd09d2fe4..f44ec032e6 100644 --- a/.github/workflows/nightly.yml +++ b/.github/workflows/nightly.yml @@ -21,7 +21,7 @@ jobs: node-version: '12' - name: Install manual dependencies run: | - sudo npm install -g markdown-link-check + sudo npm install -g markdown-link-check@3.8.7 python -m pip install pre-commit pre-commit install - name: Run markdown checker @@ -43,13 +43,13 @@ jobs: # If one test in the matrix fails we still want to run the others. fail-fast: false matrix: - python-version: [3.7.x, 3.8.x, 3.9.x] + python-version: [3.8.x, 3.9.x, 3.10.x] include: - - python-version: 3.7.x - pip_constraints: test_constraints_min_version.txt - python-version: 3.8.x - pip_constraints: test_constraints_mid_version.txt + pip_constraints: test_constraints_min_version.txt - python-version: 3.9.x + pip_constraints: test_constraints_mid_version.txt + - python-version: 3.10.x pip_constraints: test_constraints_max_version.txt steps: - uses: actions/checkout@v2 @@ -87,7 +87,7 @@ jobs: run: | pytest --cov=ml-agents --cov=ml-agents-envs \ --cov-report=html --junitxml=junit/test-results-${{ matrix.python-version }}.xml \ - -p no:warnings -v -n auto + -p no:warnings -v -n 8 - name: Upload pytest test results uses: actions/upload-artifact@v2 with: diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml index e64e672991..53d05952ce 100644 --- a/.github/workflows/pre-commit.yml +++ b/.github/workflows/pre-commit.yml @@ -3,7 +3,10 @@ name: pre-commit on: pull_request: push: - branches: [main] + branches: + - main + - develop + - 'release/**' workflow_dispatch: jobs: @@ -17,7 +20,7 @@ jobs: submodules: recursive - uses: actions/setup-python@v2 with: - python-version: 3.7.x + python-version: 3.8.x - uses: actions/setup-ruby@v1 env: ImageOS: ubuntu20 @@ -48,8 +51,9 @@ jobs: with: node-version: '12' - name: Install manual dependencies + # pin markdown-link-check version to support multi-level reference link run: | - sudo npm install -g markdown-link-check + sudo npm install -g markdown-link-check@3.8.7 python -m pip install pre-commit pre-commit install - name: Run markdown checker diff --git a/.github/workflows/publish_docs.yaml b/.github/workflows/publish_docs.yaml new file mode 100644 index 0000000000..0cec1bf586 --- /dev/null +++ b/.github/workflows/publish_docs.yaml @@ -0,0 +1,24 @@ +name: Publish HTML Docs + +on: + workflow_dispatch: + +jobs: + publish: + name: Publish Docs to GH Pages + runs-on: [self-hosted, Linux, X64] + steps: + - name: Checkout + uses: actions/checkout@v2 + with: + token: ${{ secrets.PUBLIC_GH_TOKEN }} + - name: Setup Python 3.8 + uses: actions/setup-python@v2 + with: + python-version: 3.8 + - name: Publish docs + run: | + pip install mkdocs + git remote add public git@github.com:Unity-Technologies/ml-agents.git + mkdocs gh-deply --clean -r public + diff --git a/.github/workflows/publish_pypi.yaml b/.github/workflows/publish_pypi.yaml index 294aed09cb..1ff4dd8fc9 100644 --- a/.github/workflows/publish_pypi.yaml +++ b/.github/workflows/publish_pypi.yaml @@ -20,10 +20,10 @@ jobs: steps: - uses: actions/checkout@main - - name: Set up Python 3.7 + - name: Set up Python 3.8 uses: actions/setup-python@v2 with: - python-version: 3.7 + python-version: 3.8 - name: Install dependencies run: pip install setuptools wheel twine --user - name: verify git tag vs. version diff --git a/.github/workflows/publish_pypi_python_api.yaml b/.github/workflows/publish_pypi_python_api.yaml index 465b05ac8d..c7adc7e45c 100644 --- a/.github/workflows/publish_pypi_python_api.yaml +++ b/.github/workflows/publish_pypi_python_api.yaml @@ -19,11 +19,11 @@ jobs: package-path: [ml-agents-envs] steps: - - uses: actions/checkout@main - - name: Set up Python 3.7 + - uses: actions/checkout@v2 + - name: Set up Python 3.8 uses: actions/setup-python@v2 with: - python-version: 3.7 + python-version: 3.8 - name: Install dependencies run: pip install setuptools wheel twine --user - name: verify git tag vs. version @@ -39,6 +39,7 @@ jobs: if: startsWith(github.ref, 'refs/tags') && contains(github.ref, 'test') uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295 with: + user: __token__ password: ${{ secrets.TEST_PYPI_PASSWORD }} repository_url: https://test.pypi.org/legacy/ packages_dir: ${{ matrix.package-path }}/dist/ @@ -46,5 +47,6 @@ jobs: if: startsWith(github.ref, 'refs/tags') && !contains(github.ref, 'test') uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295 with: + user: __token__ password: ${{ secrets.PYPI_PASSWORD }} packages_dir: ${{ matrix.package-path }}/dist/ diff --git a/.github/workflows/pytest.yml b/.github/workflows/pytest.yml index 23c8a77acc..9e50aaea5d 100644 --- a/.github/workflows/pytest.yml +++ b/.github/workflows/pytest.yml @@ -9,7 +9,10 @@ on: - 'test_requirements.txt' - '.github/workflows/pytest.yml' push: - branches: [main] + branches: + - main + - develop + - 'release/**' workflow_dispatch: inputs: pytest_markers: @@ -36,13 +39,13 @@ jobs: # If one test in the matrix fails we still want to run the others. fail-fast: false matrix: - python-version: [3.7.x, 3.8.x, 3.9.x] + python-version: [3.8.x, 3.9.x, 3.10.x] include: - - python-version: 3.7.x - pip_constraints: test_constraints_min_version.txt - python-version: 3.8.x - pip_constraints: test_constraints_mid_version.txt + pip_constraints: test_constraints_min_version.txt - python-version: 3.9.x + pip_constraints: test_constraints_mid_version.txt + - python-version: 3.10.x pip_constraints: test_constraints_max_version.txt steps: - uses: actions/checkout@v2 @@ -88,7 +91,7 @@ jobs: run: | pytest --cov=ml-agents --cov=ml-agents-envs \ --cov-report=html --junitxml=junit/test-results-${{ matrix.python-version }}.xml \ - -p no:warnings -v -m "${{ steps.pytest_marker.outputs.markers }}" -n auto + -p no:warnings -v -m "${{ steps.pytest_marker.outputs.markers }}" -n 8 - name: Upload pytest test results uses: actions/upload-artifact@v2 with: diff --git a/.gitmodules b/.gitmodules index cd43b6df8e..e69de29bb2 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +0,0 @@ -[submodule "com.unity.ml-agents"] - path = com.unity.ml-agents - url = ../com.unity.ml-agents.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ba9a84327d..8d15b038b8 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/python/black - rev: 22.1.0 + rev: 22.3.0 hooks: - id: black exclude: > @@ -25,7 +25,7 @@ repos: exclude: ".*_pb2.py" args: [--ignore-missing-imports, --disallow-incomplete-defs, --no-strict-optional] additional_dependencies: [types-PyYAML, types-attrs, types-protobuf, types-setuptools, types-filelock] -- repo: https://gitlab.com/pycqa/flake8 +- repo: https://github.com/PyCQA/flake8 rev: 3.9.2 hooks: - id: flake8 @@ -128,6 +128,6 @@ repos: - id: generate-markdown-docs name: generate markdown docs language: python - entry: ./utils/generate_markdown_docs.py --package_dirs ml-agents-envs + entry: ./utils/generate_markdown_docs.py --package_dirs ml-agents-envs ml-agents pass_filenames: false additional_dependencies: [pyyaml, pydoc-markdown==3.10.1] diff --git a/.yamato/com.unity.ml-agents-coverage.yml b/.yamato/com.unity.ml-agents-coverage.yml index 09ef550417..f46612541b 100644 --- a/.yamato/com.unity.ml-agents-coverage.yml +++ b/.yamato/com.unity.ml-agents-coverage.yml @@ -12,11 +12,10 @@ test_coverage_{{ package.name }}_{{ platform.name }}_{{ editor.version }}: image: {{ platform.image }} flavor: {{ platform.flavor}} commands: - - git submodule update --init --recursive - - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm - upm-ci project test -u {{ editor.version }} --type project-tests --project-path {{ editor.testProject }} --package-filter {{ package.name }} {{ coverageOptions }} --extra-utr-arg "reruncount=2" - | - conda activate python3.7 + conda activate python3.8 python3 ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ package.minCoveragePct }} artifacts: logs: @@ -29,6 +28,7 @@ test_coverage_{{ package.name }}_{{ platform.name }}_{{ editor.version }}: {% if platform.name == "linux" %} expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "com.unity.ml-agents/**" OR diff --git a/.yamato/com.unity.ml-agents-optional-dep-tests.yml b/.yamato/com.unity.ml-agents-optional-dep-tests.yml deleted file mode 100644 index c70b4cf250..0000000000 --- a/.yamato/com.unity.ml-agents-optional-dep-tests.yml +++ /dev/null @@ -1,66 +0,0 @@ -optional_deps: - - name: Analytics - project: "OptionalDepedencyTests/NoAnalyticsModule" - version: 2020.3 - - name: Physics - project: OptionalDepedencyTests/NoPhysicsModule - version: 2020.3 - - name: Physics2D - project: OptionalDepedencyTests/NoPhysics2DModule - version: 2020.3 ---- - - {% for optional_dep in optional_deps %} -OptionalDependencyTests_{{ optional_dep.name }}: - name : Test Optional Package Dependencies {{ optional_dep.name }} - agent: - type: Unity::VM - image: ml-agents/ml-agents-ubuntu-18.04:latest - flavor: b1.medium - commands: - - git submodule update --init --recursive - - | - 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 - {% unless optional_dep.name == "Physics" %} - unity-config project add dependency com.unity.modules.physics@1.0.0 - {% endunless %} - {% unless optional_dep.name == "Physics2D" %} - unity-config project add dependency com.unity.modules.physics2d@1.0.0 - {% endunless %} - {% unless optional_dep.name == "Analytics" %} - unity-config project add dependency com.unity.modules.unityanalytics@1.0.0 - {% endunless %} - upm-ci project test -u {{ optional_dep.version }} --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 - {% for coverage_editor in coverage_test_editors %} - {% for coverage_platform in coverage_test_platforms %} - {% for coverage_package in coverage_test_packages %} - - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_{{ coverage_package.name }}_{{ coverage_platform.name }}_{{ coverage_editor.version }} - {% endfor %} - {% endfor %} - {% endfor %} - 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-optional-dep-tests.yml") - {% endfor %} - diff --git a/.yamato/com.unity.ml-agents-pack.yml b/.yamato/com.unity.ml-agents-pack.yml index b72eb073ac..71e6d5d9af 100644 --- a/.yamato/com.unity.ml-agents-pack.yml +++ b/.yamato/com.unity.ml-agents-pack.yml @@ -5,12 +5,11 @@ pack: image: ml-agents/ml-agents-ubuntu-18.04:latest flavor: b1.small commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 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 2020.3 -c editor --wait --fast + unity-downloader-cli -u 2021.3 -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 diff --git a/.yamato/com.unity.ml-agents-performance.yml b/.yamato/com.unity.ml-agents-performance.yml index 211381a818..c9f16cf2a3 100644 --- a/.yamato/com.unity.ml-agents-performance.yml +++ b/.yamato/com.unity.ml-agents-performance.yml @@ -1,6 +1,6 @@ test_editors: - - version: 2020.3 - - version: 2021.2 + - version: 2021.3 + - version: 2022.1 --- {% for editor in test_editors %} Run_Mac_Perfomance_Tests{{ editor.version }}: @@ -12,7 +12,6 @@ Run_Mac_Perfomance_Tests{{ editor.version }}: variables: UNITY_VERSION: {{ editor.version }} commands: - - git submodule update --init --recursive - 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 {{ editor.version }} -c editor --wait --fast - curl -s https://artifactory.prd.it.unity3d.com/artifactory/unity-tools-local/utr-standalone/utr --output utr @@ -21,7 +20,7 @@ Run_Mac_Perfomance_Tests{{ editor.version }}: triggers: cancel_old_ci: true recurring: - - branch: main + - branch: develop frequency: daily artifacts: logs: diff --git a/.yamato/com.unity.ml-agents-promotion.yml b/.yamato/com.unity.ml-agents-promotion.yml index 1a36644f0c..e4930acfea 100644 --- a/.yamato/com.unity.ml-agents-promotion.yml +++ b/.yamato/com.unity.ml-agents-promotion.yml @@ -1,5 +1,5 @@ test_editors: - - version: 2019.3 + - version: 2021.3 test_platforms: - name: win type: Unity::VM @@ -18,7 +18,7 @@ promotion_test_{{ platform.name }}_{{ editor.version }}: variables: UPMCI_PROMOTION: 1 commands: - - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm - upm-ci package test --unity-version {{ editor.version }} --package-path com.unity.ml-agents artifacts: logs: @@ -48,7 +48,7 @@ promote: variables: UPMCI_PROMOTION: 1 commands: - - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm - upm-ci package promote --package-path com.unity.ml-agents # triggers: # tags: diff --git a/.yamato/com.unity.ml-agents-publish.yml b/.yamato/com.unity.ml-agents-publish.yml index a87e83c35e..3f28322007 100644 --- a/.yamato/com.unity.ml-agents-publish.yml +++ b/.yamato/com.unity.ml-agents-publish.yml @@ -7,7 +7,7 @@ publish: variables: UPMCI_ENABLE_PACKAGE_SIGNING: 1 commands: - - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm - upm-ci package publish --package-path com.unity.ml-agents triggers: cancel_old_ci: true diff --git a/.yamato/com.unity.ml-agents-test.yml b/.yamato/com.unity.ml-agents-test.yml index b77dcfc3c2..54e334cc8d 100644 --- a/.yamato/com.unity.ml-agents-test.yml +++ b/.yamato/com.unity.ml-agents-test.yml @@ -1,10 +1,10 @@ {% metadata_file .yamato/coverage_tests.metafile %} test_editors: - - version: 2020.3 + - version: 2021.3 # We want some scene tests to run in the DevProject, but packages there only support 2020+ testProject: Project enableNoDefaultPackages: !!bool true - - version: 2021.2 + - version: 2022.1 testProject: DevProject enableNoDefaultPackages: !!bool true @@ -59,7 +59,7 @@ all_package_tests: triggers: cancel_old_ci: true recurring: - - branch: main + - branch: develop frequency: daily {% for package in packages %} @@ -79,8 +79,7 @@ test_{{ package.name }}_{{ platform.name }}_{{ editor.version }}: image: {{ platform.image }} flavor: {{ platform.flavor}} commands: - - git submodule update --init --recursive - - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm - upm-ci package test -u {{ editor.version }} --package-path {{ package.name }} {{ noDefaultPackagesOptions }} --warnings-as-errors --extra-utr-arg "reruncount=2" artifacts: logs: @@ -100,6 +99,7 @@ test_{{ package.name }}_{{ platform.name }}_{{ editor.version }}: {% if platform.name == "linux" %} expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "com.unity.ml-agents/**" OR @@ -124,14 +124,13 @@ test_{{ package.name }}_{{ platform.name }}_trunk: image: {{ platform.image }} flavor: {{ platform.flavor}} commands: - - git submodule update --init --recursive - | {% if platform.name == "linux" %} - conda activate python3.7 + conda activate python3.8 {% endif %} python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade unity-downloader-cli -u trunk -c editor --wait --fast - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm + npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm upm-ci project test -u {{ editor.version }} --project-path {{ editor.testProject }} --package-filter {{ package.name }} --extra-create-project-arg="-upmNoDefaultPackages" --extra-utr-arg "reruncount=2" artifacts: logs: diff --git a/.yamato/compressed-sensor-test.yml b/.yamato/compressed-sensor-test.yml index a0745255c2..23e28a5533 100644 --- a/.yamato/compressed-sensor-test.yml +++ b/.yamato/compressed-sensor-test.yml @@ -10,10 +10,9 @@ test_compressed_obs_{{ editor.version }}: variables: UNITY_VERSION: {{ editor.version }} commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python -u -m ml-agents.tests.yamato.setup_venv python ml-agents/tests/yamato/scripts/run_compressed_sensor.py --env=artifacts/testPlayer-TestGridCompressed @@ -25,6 +24,7 @@ test_compressed_obs_{{ editor.version }}: {% if editor.extra_test == "sensor" %} expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "com.unity.ml-agents/**" OR diff --git a/.yamato/coverage_tests.metafile b/.yamato/coverage_tests.metafile index a12e8cd2ad..7f5aaad096 100644 --- a/.yamato/coverage_tests.metafile +++ b/.yamato/coverage_tests.metafile @@ -1,5 +1,5 @@ coverage_test_editors: - - version: 2020.3 + - version: 2021.3 testProject: DevProject coverage_test_platforms: diff --git a/.yamato/gym-interface-test.yml b/.yamato/gym-interface-test.yml index f71f67d3b0..a90a8ce9ec 100644 --- a/.yamato/gym-interface-test.yml +++ b/.yamato/gym-interface-test.yml @@ -10,10 +10,9 @@ test_gym_interface_{{ editor.version }}: variables: UNITY_VERSION: {{ editor.version }} commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 python -m pip install wheel --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python -u -m ml-agents.tests.yamato.setup_venv @@ -25,6 +24,7 @@ test_gym_interface_{{ editor.version }}: {% if editor.extra_test == "gym" %} expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "com.unity.ml-agents/**" OR diff --git a/.yamato/protobuf-generation-test.yml b/.yamato/protobuf-generation-test.yml index 2bc7f62b65..be490867e9 100644 --- a/.yamato/protobuf-generation-test.yml +++ b/.yamato/protobuf-generation-test.yml @@ -6,13 +6,12 @@ test_linux_protobuf_generation: flavor: b1.large variables: GRPC_VERSION: "1.14.1" - CS_PROTO_PATH: "Runtime/Grpc/CommunicatorObjects" + CS_PROTO_PATH: "com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects" commands: - - git submodule update --init --recursive - | sudo apt-get update && sudo apt-get install -y nuget eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 nuget install Grpc.Tools -Version $GRPC_VERSION -OutputDirectory protobuf-definitions/ python3 -m pip install --upgrade pip --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python3 -m pip install grpcio==1.28.1 grpcio-tools==1.13.0 protobuf==3.11.3 six==1.14.0 mypy-protobuf==1.16.0 --progress-bar=off --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple @@ -23,7 +22,6 @@ test_linux_protobuf_generation: popd mkdir -p artifacts touch artifacts/proto.patch - cd com.unity.ml-agents git diff --exit-code -- :/ ":(exclude,top)$CS_PROTO_PATH/*.meta" \ || { GIT_ERR=$?; echo "protobufs need to be regenerated, apply the patch uploaded to artifacts."; \ echo "Apply the patch with the command 'git apply proto.patch'"; \ @@ -32,6 +30,7 @@ test_linux_protobuf_generation: cancel_old_ci: true expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "protobuf-definitions/**" OR diff --git a/.yamato/pytest-gpu.yml b/.yamato/pytest-gpu.yml index b1824b8b10..99999ca224 100644 --- a/.yamato/pytest-gpu.yml +++ b/.yamato/pytest-gpu.yml @@ -5,19 +5,24 @@ pytest_gpu: image: ml-agents/ml-agents-ubuntu-18.04:latest flavor: b1.large commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 python3 -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python3 -u -m ml-agents.tests.yamato.setup_venv python3 -m pip install --progress-bar=off -r test_requirements.txt --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python3 -m pip install torch==1.7.1+cu101 torchvision==0.8.2+cu101 torchaudio==0.7.2 -f https://download.pytorch.org/whl/torch_stable.html --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple - python3 -m pytest -m "not slow" -n auto --junitxml=junit/test-results.xml -p no:warnings + if python -c "exec('import torch \nif not torch.cuda.is_available(): raise')" &> /dev/null; then + echo 'all good' + else + exit 1 + fi + python3 -m pytest -m "not slow" --junitxml=junit/test-results.xml -p no:warnings triggers: cancel_old_ci: true expression: | (push.branch eq "main" OR + push.branch eq "develop" OR push.branch match "release.+") AND push.changes.any match "ml-agents/**" AND NOT push.changes.all match "**/*.md" diff --git a/.yamato/python-ll-api-test.yml b/.yamato/python-ll-api-test.yml index 51b8e269f2..cde94d31fb 100644 --- a/.yamato/python-ll-api-test.yml +++ b/.yamato/python-ll-api-test.yml @@ -10,10 +10,9 @@ test_linux_ll_api_{{ editor.version }}: variables: UNITY_VERSION: {{ editor.version }} commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python -u -m ml-agents.tests.yamato.setup_venv python ml-agents/tests/yamato/scripts/run_llapi.py @@ -27,6 +26,7 @@ test_linux_ll_api_{{ editor.version }}: {% if editor.extra_test == "llapi" %} expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "com.unity.ml-agents/**" OR diff --git a/.yamato/sonar-python-package.yml b/.yamato/sonar-python-package.yml new file mode 100644 index 0000000000..3e9403bc30 --- /dev/null +++ b/.yamato/sonar-python-package.yml @@ -0,0 +1,23 @@ +csharp: + name: Sonarqube Scan for ml-agents python repo + agent: + type: Unity::metal::macmini + image: package-ci/mac:v1.8.1-822785 + flavor: m1.mac + variables: + SONARQUBE_PROJECT_KEY: ai-ml-agents-toolkit + SONARQUBE_URL: https://sonarqube.internal.unity3d.com + SONARQUBE_LOGIN: a08467db099d82931708d480b8dbf428cf1921d5 + TARGET_BRANCH: develop + commands: + - npm install shellcheck --save-dev + - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.it.unity3d.com/artifactory/api/npm/upm-npm + - curl https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-4.7.0.2747-macosx.zip -o sonar-scanner-cli-macosx.zip -L + - unzip sonar-scanner-cli-macosx.zip -d ~/sonar-scanner-cli + - ~/sonar-scanner-cli/sonar-scanner-4.7.0.2747-macosx/bin/sonar-scanner -Dsonar.projectKey=$SONARQUBE_PROJECT_KEY -Dsonar.sources=ml-agents-env -Dsonar.sources=ml-agents -Dsonar.sources=ml-agents-plugin-examples -Dsonar.sources=ml-agents-trainer-plugin -Dsonar.sources=utils -Dsonar.host.url=$SONARQUBE_URL -Dsonar.login=$SONARQUBE_LOGIN -Dsonar.branch.name=$TARGET_BRANCH -Dsonar.scm.provider=git + triggers: + cancel_old_ci: true + expression: | + ((pull_request.target eq "main" OR pull_request.target eq "develop" OR pull_request.target match "release.+") + AND NOT pull_request.push.changes.all match "**/*.md") OR + (push.branch eq "main" OR push.branch eq "develop") diff --git a/.yamato/standalone-build-test.yml b/.yamato/standalone-build-test.yml index c709d2a7b5..fac93943e9 100644 --- a/.yamato/standalone-build-test.yml +++ b/.yamato/standalone-build-test.yml @@ -10,10 +10,9 @@ test_linux_standalone_{{ editor.version }}: variables: UNITY_VERSION: {{ editor.version }} commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 python3 -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast @@ -27,6 +26,7 @@ test_linux_standalone_{{ editor.version }}: cancel_old_ci: true expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "com.unity.ml-agents/**" OR diff --git a/.yamato/standalone-build-webgl-test.yml b/.yamato/standalone-build-webgl-test.yml index 395d45f3f2..8d7a699768 100644 --- a/.yamato/standalone-build-webgl-test.yml +++ b/.yamato/standalone-build-webgl-test.yml @@ -1,4 +1,4 @@ -{% capture editor_version %}2020.3{% endcapture %} +{% capture editor_version %}2021.3{% endcapture %} test_webgl_standalone_{{ editor_version }}: name: Test WebGL Standalone {{ editor_version }} agent: @@ -8,10 +8,9 @@ test_webgl_standalone_{{ editor_version }}: variables: UNITY_VERSION: {{ editor_version }} commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade unity-downloader-cli -u {{ editor_version }} -c editor -c WebGL --wait --fast @@ -19,7 +18,7 @@ test_webgl_standalone_{{ editor_version }}: triggers: cancel_old_ci: true recurring: - - branch: main + - branch: develop frequency: weekly artifacts: logs: diff --git a/.yamato/test_versions.metafile b/.yamato/test_versions.metafile index 7cfdce7c03..8fdd62bb10 100644 --- a/.yamato/test_versions.metafile +++ b/.yamato/test_versions.metafile @@ -3,9 +3,9 @@ # For each "other" test, we only run it against a single version of the # editor to reduce the number of yamato jobs test_editors: - - version: 2020.3 + - version: 2021.3 extra_test: gym - - version: 2021.2 + - version: 2022.1 extra_test: sensor - version: trunk extra_test: llapi diff --git a/.yamato/training-backcompat-tests.yml b/.yamato/training-backcompat-tests.yml deleted file mode 100644 index f179c4ca5a..0000000000 --- a/.yamato/training-backcompat-tests.yml +++ /dev/null @@ -1,45 +0,0 @@ - -test_mac_backcompat_2019.4: - {% capture editor_version %}2019.4{% endcapture %} - {% capture csharp_backcompat_version %}1.0.0{% endcapture %} - # This test has to run on mac because it requires the custom build of tensorflow without AVX - # Test against 2020.1 because 2020.2 has to run against package version 1.2.0 - name: Test Mac Backcompat Training {{ editor_version }} - agent: - type: Unity::VM::osx - image: ml-agents/ml-agents-bokken-mac:0.1.5-853758 - flavor: b1.small - variables: - UNITY_VERSION: {{ editor_version }} - commands: - - git submodule update --init --recursive - - | - python -m venv venv && source venv/bin/activate - python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple - python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade - unity-downloader-cli -u {{ editor_version }} -c editor --wait --fast - # Backwards-compatibility tests. - # If we make a breaking change to the communication protocol, these will need - # to be disabled until the next release. - python -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=mac - python -u -m ml-agents.tests.yamato.training_int_tests --csharp {{ csharp_backcompat_version }} - - | - python -m venv venv_old && source venv_old/bin/activate - python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple - python -u -m ml-agents.tests.yamato.training_int_tests --python 0.24.0 - triggers: - cancel_old_ci: true - recurring: - - branch: main - frequency: daily - artifacts: - logs: - paths: - - "artifacts/standalone_build.txt" - - "artifacts/inference.nn.txt" - - "artifacts/inference.onnx.txt" - - "artifacts/*.log" - standalonebuild: - paths: - - "artifacts/testPlayer*/**" - - "artifacts/models/**" diff --git a/.yamato/training-int-tests.yml b/.yamato/training-int-tests.yml index 860405e176..18f5f4f83d 100644 --- a/.yamato/training-int-tests.yml +++ b/.yamato/training-int-tests.yml @@ -10,10 +10,9 @@ test_linux_training_int_{{ editor.version }}: variables: UNITY_VERSION: {{ editor.version }} commands: - - git submodule update --init --recursive - | eval "$($HOME/anaconda/bin/conda shell.bash hook)" - conda activate python3.7 + conda activate python3.8 python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple python -u -m ml-agents.tests.yamato.training_int_tests dependencies: @@ -22,6 +21,7 @@ test_linux_training_int_{{ editor.version }}: cancel_old_ci: true expression: | (pull_request.target eq "main" OR + pull_request.target eq "develop" OR pull_request.target match "release.+") AND NOT pull_request.draft AND (pull_request.changes.any match "com.unity.ml-agents/**" OR diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json index 7eac0c8e6b..56804861c9 100644 --- a/DevProject/Packages/packages-lock.json +++ b/DevProject/Packages/packages-lock.json @@ -1,7 +1,7 @@ { "dependencies": { "com.unity.barracuda": { - "version": "2.3.1-preview", + "version": "3.0.0", "depth": 1, "source": "registry", "dependencies": { @@ -12,7 +12,7 @@ "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates" }, "com.unity.burst": { - "version": "1.6.0", + "version": "1.6.6", "depth": 2, "source": "registry", "dependencies": { @@ -46,7 +46,7 @@ "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates" }, "com.unity.mathematics": { - "version": "1.2.1", + "version": "1.2.6", "depth": 3, "source": "registry", "dependencies": {}, @@ -57,7 +57,7 @@ "depth": 0, "source": "local", "dependencies": { - "com.unity.barracuda": "2.3.1-preview", + "com.unity.barracuda": "3.0.0", "com.unity.modules.imageconversion": "1.0.0", "com.unity.modules.jsonserialize": "1.0.0" } @@ -72,16 +72,14 @@ } }, "com.unity.nuget.mono-cecil": { - "version": "0.1.6-preview.2", + "version": "1.10.1", "depth": 1, "source": "registry", - "dependencies": { - "nuget.mono-cecil": "0.1.6-preview" - }, + "dependencies": {}, "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates" }, "com.unity.nuget.newtonsoft-json": { - "version": "2.0.0-preview", + "version": "3.0.2", "depth": 1, "source": "registry", "dependencies": {}, @@ -108,7 +106,7 @@ "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates" }, "com.unity.settings-manager": { - "version": "1.0.1", + "version": "1.0.3", "depth": 1, "source": "registry", "dependencies": {}, @@ -159,13 +157,6 @@ "dependencies": {}, "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates" }, - "nuget.mono-cecil": { - "version": "0.1.6-preview", - "depth": 2, - "source": "registry", - "dependencies": {}, - "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates" - }, "nuget.moq": { "version": "1.0.0", "depth": 1, diff --git a/DevProject/ProjectSettings/EditorBuildSettings.asset b/DevProject/ProjectSettings/EditorBuildSettings.asset index 1823a7a08e..7512fc3e3a 100644 --- a/DevProject/ProjectSettings/EditorBuildSettings.asset +++ b/DevProject/ProjectSettings/EditorBuildSettings.asset @@ -9,5 +9,5 @@ EditorBuildSettings: path: Assets/ML-Agents/Scripts/Tests/Runtime/AcademyTest/AcademyStepperTestScene.unity guid: 9bafc50b1e55b43b2b1ae9620f1f8311 m_configObjects: - com.unity.ml-agents.settings: {fileID: 11400000, guid: 7017f4eb06bef4889a3608a54b1cc59e, + com.unity.ml-agents.settings: {fileID: 11400000, guid: 905d6ca857fdf4d028b93658cf00e271, type: 2} diff --git a/DevProject/ProjectSettings/ProjectVersion.txt b/DevProject/ProjectSettings/ProjectVersion.txt index 4c9401b919..8ea1b855ae 100644 --- a/DevProject/ProjectSettings/ProjectVersion.txt +++ b/DevProject/ProjectSettings/ProjectVersion.txt @@ -1,2 +1,2 @@ -m_EditorVersion: 2020.3.25f1 -m_EditorVersionWithRevision: 2020.3.25f1 (9b9180224418) +m_EditorVersion: 2021.3.11f1 +m_EditorVersionWithRevision: 2021.3.11f1 (0a5ca18544bf) diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity b/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity index eee59cc5d6..0a57e315a0 100644 --- a/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity +++ b/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity @@ -43,7 +43,7 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 11 + serializedVersion: 12 m_GIWorkflowMode: 0 m_GISettings: serializedVersion: 2 @@ -54,7 +54,7 @@ LightmapSettings: m_EnableBakedLightmaps: 1 m_EnableRealtimeLightmaps: 1 m_LightmapEditorSettings: - serializedVersion: 10 + serializedVersion: 12 m_Resolution: 2 m_BakeResolution: 40 m_AtlasSize: 1024 @@ -62,6 +62,7 @@ LightmapSettings: m_AOMaxDistance: 1 m_CompAOExponent: 1 m_CompAOExponentDirect: 0 + m_ExtractAmbientOcclusion: 0 m_Padding: 2 m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 @@ -76,10 +77,16 @@ LightmapSettings: m_PVRDirectSampleCount: 32 m_PVRSampleCount: 500 m_PVRBounces: 2 + m_PVREnvironmentSampleCount: 500 + m_PVREnvironmentReferencePointCount: 2048 + m_PVRFilteringMode: 2 + m_PVRDenoiserTypeDirect: 0 + m_PVRDenoiserTypeIndirect: 0 + m_PVRDenoiserTypeAO: 0 m_PVRFilterTypeDirect: 0 m_PVRFilterTypeIndirect: 0 m_PVRFilterTypeAO: 0 - m_PVRFilteringMode: 1 + m_PVREnvironmentMIS: 0 m_PVRCulling: 1 m_PVRFilteringGaussRadiusDirect: 1 m_PVRFilteringGaussRadiusIndirect: 5 @@ -87,9 +94,12 @@ LightmapSettings: m_PVRFilteringAtrousPositionSigmaDirect: 0.5 m_PVRFilteringAtrousPositionSigmaIndirect: 2 m_PVRFilteringAtrousPositionSigmaAO: 1 - m_ShowResolutionOverlay: 1 + m_ExportTrainingData: 0 + m_TrainingDataDestination: TrainingData + m_LightProbeSampleCountMultiplier: 4 m_LightingDataAsset: {fileID: 0} - m_UseShadowmask: 1 + m_LightingSettings: {fileID: 4890085278179872738, guid: 7480a805600d24847ab9e9df1dc971fe, + type: 2} --- !u!196 &4 NavMeshSettings: serializedVersion: 2 @@ -109,6 +119,8 @@ NavMeshSettings: manualTileSize: 0 tileSize: 256 accuratePlacement: 0 + maxJobWorkers: 0 + preserveTilesOutsideBounds: 0 debug: m_Flags: 0 m_NavMeshData: {fileID: 0} @@ -125,92 +137,92 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68, type: 3} - propertyPath: m_LocalPosition.x + propertyPath: m_Pivot.x value: 0 objectReference: {fileID: 0} - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68, type: 3} - propertyPath: m_LocalPosition.y + propertyPath: m_Pivot.y value: 0 objectReference: {fileID: 0} - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68, type: 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zU-^LIa~~@MTofRJQ~g;2#v%a_Gyd(MwY7^UN4c;U0=hLy0oXKbw!wsdmNw>-BTxWD zcWKA$T?$cLvts<;MqOz@t^MlHtC;_MRe6V=%7mRsP*AM^s1}Iqxh40G7n%bXm_e~3 z^R0MxOpo3u=T~!U8U_dNH<@ zma1tAA)sxsdST?QBZPa=`nS;xd(`~_ziP=-ib|$O1RB7F2_d4(5?g7UUF%?9uq$yw z1%0+Y)0?!wNNgn*ASfVzK^_`Zdx)jY=4cQl6@XQUJHkH)Vksz@ZZ}f|-53bE_Jx^i z7%`wEqaDz@4*+=+$c3{C-qy0VZb*yZGdykh762k3ENqd1w64My^Vd5eE>b3Zy%Qqk z!vE5pkgxajOr+fZdQVTvg|GMYAQS#C-P2=HhpT1Kkmi(qb44GGRDV`Ck)ET8i*$4$ zN=G6rRKq_MoCOb9RyxW;rwjESdSnP`A|1a1eC5(t(U5Aw|5zV*qc3D!8QTxn$K39g PA~ - -# Unity ML-Agents Toolkit - -[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_19_docs/docs/) - -[![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md) - -([latest release](https://github.com/Unity-Technologies/ml-agents/releases/tag/latest_release)) -([all releases](https://github.com/Unity-Technologies/ml-agents/releases)) - -**The Unity Machine Learning Agents Toolkit** (ML-Agents) is an open-source -project that enables games and simulations to serve as environments for -training intelligent agents. We provide implementations (based on PyTorch) -of state-of-the-art algorithms to enable game developers and hobbyists to easily -train intelligent agents for 2D, 3D and VR/AR games. Researchers can also use the -provided simple-to-use Python API to train Agents using reinforcement learning, -imitation learning, neuroevolution, or any other methods. These trained agents can be -used for multiple purposes, including controlling NPC behavior (in a variety of -settings such as multi-agent and adversarial), automated testing of game builds -and evaluating different game design decisions pre-release. The ML-Agents -Toolkit is mutually beneficial for both game developers and AI researchers as it -provides a central platform where advances in AI can be evaluated on Unity’s -rich environments and then made accessible to the wider research and game -developer communities. - -## Features - -- 18+ [example Unity environments](docs/Learning-Environment-Examples.md) -- Support for multiple environment configurations and training scenarios -- Flexible Unity SDK that can be integrated into your game or custom Unity scene -- Support for training single-agent, multi-agent cooperative, and multi-agent - competitive scenarios via several Deep Reinforcement Learning algorithms (PPO, SAC, MA-POCA, self-play). -- Support for learning from demonstrations through two Imitation Learning algorithms (BC and GAIL). -- Easily definable Curriculum Learning scenarios for complex tasks -- Train robust agents using environment randomization -- Flexible agent control with On Demand Decision Making -- Train using multiple concurrent Unity environment instances -- Utilizes the [Unity Inference Engine](docs/Unity-Inference-Engine.md) to - provide native cross-platform support -- Unity environment [control from Python](docs/Python-LLAPI.md) -- Wrap Unity learning environments as a [gym](docs/Python-Gym-API.md) - -See our [ML-Agents Overview](docs/ML-Agents-Overview.md) page for detailed -descriptions of all these features. - -## Releases & Documentation - -**Our latest, stable release is `Release 19`. Click -[here](https://github.com/Unity-Technologies/ml-agents/tree/release_19_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 -under active development and may be unstable. A few helpful guidelines: -- The [Versioning page](docs/Versioning.md) overviews how we manage our GitHub - releases and the versioning process for each of the ML-Agents components. -- The [Releases page](https://github.com/Unity-Technologies/ml-agents/releases) - contains details of the changes between releases. -- The [Migration page](docs/Migrating.md) contains details on how to upgrade - from earlier releases of the ML-Agents Toolkit. -- The **Documentation** links in the table below include installation and usage - instructions specific to each release. Remember to always use the - documentation that corresponds to the release version you're using. -- The `com.unity.ml-agents` package is [verified](https://docs.unity3d.com/2020.1/Documentation/Manual/pack-safe.html) - for Unity 2020.1 and later. Verified packages releases are numbered 1.0.x. - -| **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 19** | **January 14, 2022** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_19)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_19_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_19.zip)** | **[0.28.0](https://pypi.org/project/mlagents/0.28.0/)** | -- | -| **Release 18** | **June 09, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_18)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_18_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_18.zip)** | **[0.27.0](https://pypi.org/project/mlagents/0.27.0/)** | **[2.1.0](https://docs.unity3d.com/Packages/com.unity.ml-agents@2.1/manual/index.html)** | -| **Verified Package 1.0.8** | **May 26, 2021** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/com.unity.ml-agents_1.0.8)** | **[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_1.0.8.zip)** | **[0.16.1](https://pypi.org/project/mlagents/0.16.1/)** | **[1.0.8](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 -[reference paper on Unity and the ML-Agents Toolkit](https://arxiv.org/abs/1809.02627). - -If you use Unity or the ML-Agents Toolkit to conduct research, we ask that you -cite the following paper as a reference: - -Juliani, A., Berges, V., Teng, E., Cohen, A., Harper, J., Elion, C., Goy, C., -Gao, Y., Henry, H., Mattar, M., Lange, D. (2020). Unity: A General Platform for -Intelligent Agents. _arXiv preprint -[arXiv:1809.02627](https://arxiv.org/abs/1809.02627)._ -https://github.com/Unity-Technologies/ml-agents. - -## Additional Resources - -We have a Unity Learn course, -[ML-Agents: Hummingbirds](https://learn.unity.com/course/ml-agents-hummingbirds), -that provides a gentle introduction to Unity and the ML-Agents Toolkit. - -We've also partnered with -[CodeMonkeyUnity](https://www.youtube.com/c/CodeMonkeyUnity) to create a -[series of tutorial videos](https://www.youtube.com/playlist?list=PLzDRvYVwl53vehwiN_odYJkPBzcqFw110) -on how to implement and use the ML-Agents Toolkit. - -We have also published a series of blog posts that are relevant for ML-Agents: - -- (July 12, 2021) - [ML-Agents plays Dodgeball](https://blog.unity.com/technology/ml-agents-plays-dodgeball) -- (May 5, 2021) - [ML-Agents v2.0 release: Now supports training complex cooperative behaviors](https://blogs.unity3d.com/2021/05/05/ml-agents-v2-0-release-now-supports-training-complex-cooperative-behaviors/) -- (December 28, 2020) - [Happy holidays from the Unity ML-Agents team!](https://blogs.unity3d.com/2020/12/28/happy-holidays-from-the-unity-ml-agents-team/) -- (November 20, 2020) - [How Eidos-Montréal created Grid Sensors to improve observations for training agents](https://blogs.unity3d.com/2020/11/20/how-eidos-montreal-created-grid-sensors-to-improve-observations-for-training-agents/) -- (November 11, 2020) - [2020 AI@Unity interns shoutout](https://blogs.unity3d.com/2020/11/11/2020-aiunity-interns-shoutout/) -- (May 12, 2020) - [Announcing ML-Agents Unity Package v1.0!](https://blogs.unity3d.com/2020/05/12/announcing-ml-agents-unity-package-v1-0/) -- (February 28, 2020) - [Training intelligent adversaries using self-play with ML-Agents](https://blogs.unity3d.com/2020/02/28/training-intelligent-adversaries-using-self-play-with-ml-agents/) -- (November 11, 2019) - [Training your agents 7 times faster with ML-Agents](https://blogs.unity3d.com/2019/11/11/training-your-agents-7-times-faster-with-ml-agents/) -- (October 21, 2019) - [The AI@Unity interns help shape the world](https://blogs.unity3d.com/2019/10/21/the-aiunity-interns-help-shape-the-world/) -- (April 15, 2019) - [Unity ML-Agents Toolkit v0.8: Faster training on real games](https://blogs.unity3d.com/2019/04/15/unity-ml-agents-toolkit-v0-8-faster-training-on-real-games/) -- (March 1, 2019) - [Unity ML-Agents Toolkit v0.7: A leap towards cross-platform inference](https://blogs.unity3d.com/2019/03/01/unity-ml-agents-toolkit-v0-7-a-leap-towards-cross-platform-inference/) -- (December 17, 2018) - [ML-Agents Toolkit v0.6: Improved usability of Brains and Imitation Learning](https://blogs.unity3d.com/2018/12/17/ml-agents-toolkit-v0-6-improved-usability-of-brains-and-imitation-learning/) -- (October 2, 2018) - [Puppo, The Corgi: Cuteness Overload with the Unity ML-Agents Toolkit](https://blogs.unity3d.com/2018/10/02/puppo-the-corgi-cuteness-overload-with-the-unity-ml-agents-toolkit/) -- (September 11, 2018) - [ML-Agents Toolkit v0.5, new resources for AI researchers available now](https://blogs.unity3d.com/2018/09/11/ml-agents-toolkit-v0-5-new-resources-for-ai-researchers-available-now/) -- (June 26, 2018) - [Solving sparse-reward tasks with Curiosity](https://blogs.unity3d.com/2018/06/26/solving-sparse-reward-tasks-with-curiosity/) -- (June 19, 2018) - [Unity ML-Agents Toolkit v0.4 and Udacity Deep Reinforcement Learning Nanodegree](https://blogs.unity3d.com/2018/06/19/unity-ml-agents-toolkit-v0-4-and-udacity-deep-reinforcement-learning-nanodegree/) -- (May 24, 2018) - [Imitation Learning in Unity: The Workflow](https://blogs.unity3d.com/2018/05/24/imitation-learning-in-unity-the-workflow/) -- (March 15, 2018) - [ML-Agents Toolkit v0.3 Beta released: Imitation Learning, feedback-driven features, and more](https://blogs.unity3d.com/2018/03/15/ml-agents-v0-3-beta-released-imitation-learning-feedback-driven-features-and-more/) -- (December 11, 2017) - [Using Machine Learning Agents in a real game: a beginner’s guide](https://blogs.unity3d.com/2017/12/11/using-machine-learning-agents-in-a-real-game-a-beginners-guide/) -- (December 8, 2017) - [Introducing ML-Agents Toolkit v0.2: Curriculum Learning, new environments, and more](https://blogs.unity3d.com/2017/12/08/introducing-ml-agents-v0-2-curriculum-learning-new-environments-and-more/) -- (September 19, 2017) - [Introducing: Unity Machine Learning Agents Toolkit](https://blogs.unity3d.com/2017/09/19/introducing-unity-machine-learning-agents/) -- Overviewing reinforcement learning concepts - ([multi-armed bandit](https://blogs.unity3d.com/2017/06/26/unity-ai-themed-blog-entries/) - and - [Q-learning](https://blogs.unity3d.com/2017/08/22/unity-ai-reinforcement-learning-with-q-learning/)) - -### More from Unity - -- [Unity Robotics](https://github.com/Unity-Technologies/Unity-Robotics-Hub) -- [Unity Computer Vision](https://unity.com/computer-vision) -- [Unity Game Simulation](https://unity.com/products/game-simulation) - -## Community and Feedback - -The ML-Agents Toolkit is an open-source project and we encourage and welcome -contributions. If you wish to contribute, be sure to review our -[contribution guidelines](com.unity.ml-agents/CONTRIBUTING.md) and -[code of conduct](CODE_OF_CONDUCT.md). - -For problems with the installation and setup of the ML-Agents Toolkit, or -discussions about how to best setup or train your agents, please create a new -thread on the -[Unity ML-Agents forum](https://forum.unity.com/forums/ml-agents.453/) and make -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 -[let us know about it](https://unitysoftware.co1.qualtrics.com/jfe/form/SV_55pQKCZ578t0kbc). - -For any other questions or feedback, connect directly with the ML-Agents team at -ml-agents@unity3d.com. - -## Privacy - -In order to improve the developer experience for Unity ML-Agents Toolkit, we have added in-editor analytics. -Please refer to "Information that is passively collected by Unity" in the -[Unity Privacy Policy](https://unity3d.com/legal/privacy-policy). - -## License - -[Apache License 2.0](LICENSE.md) diff --git a/SURVEY.md b/SURVEY.md index 8523a19d81..1eb6bb1b7b 100644 --- a/SURVEY.md +++ b/SURVEY.md @@ -2,6 +2,6 @@ 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 let us know about it. +minutes to let us know about it. Please email us at [ml-agents@unity3d.com](mailto:ml-agents@unity3d.com). -[Fill out the survey](https://goo.gl/forms/qFMYSYr5TlINvG6f1) + diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb index f27fc3ff5d..d431c3d14f 100644 --- a/colab/Colab_UnityEnvironment_1_Run.ipynb +++ b/colab/Colab_UnityEnvironment_1_Run.ipynb @@ -145,7 +145,7 @@ " import mlagents\n", " print(\"ml-agents already installed\")\n", "except ImportError:\n", - " !python -m pip install -q mlagents==0.28.0\n", + " !python -m pip install -q mlagents==0.29.0\n", " print(\"Installed ml-agents\")" ], "execution_count": null, @@ -500,4 +500,4 @@ "outputs": [] } ] -} \ No newline at end of file +} diff --git a/colab/Colab_UnityEnvironment_2_Train.ipynb b/colab/Colab_UnityEnvironment_2_Train.ipynb index 2c6cb798a1..dda37a4e18 100644 --- a/colab/Colab_UnityEnvironment_2_Train.ipynb +++ b/colab/Colab_UnityEnvironment_2_Train.ipynb @@ -135,7 +135,7 @@ " import mlagents\n", " print(\"ml-agents already installed\")\n", "except ImportError:\n", - " !python -m pip install -q mlagents==0.28.0\n", + " !python -m pip install -q mlagents==0.29.0\n", " print(\"Installed ml-agents\")" ], "execution_count": null, @@ -686,4 +686,4 @@ "outputs": [] } ] -} \ No newline at end of file +} diff --git a/colab/Colab_UnityEnvironment_3_SideChannel.ipynb b/colab/Colab_UnityEnvironment_3_SideChannel.ipynb index 735a23380a..c053fff759 100644 --- a/colab/Colab_UnityEnvironment_3_SideChannel.ipynb +++ b/colab/Colab_UnityEnvironment_3_SideChannel.ipynb @@ -136,7 +136,7 @@ " import mlagents\n", " print(\"ml-agents already installed\")\n", "except ImportError:\n", - " !python -m pip install -q mlagents==0.28.0\n", + " !python -m pip install -q mlagents==0.29.0\n", " print(\"Installed ml-agents\")" ], "execution_count": null, @@ -290,4 +290,4 @@ ] } ] -} \ No newline at end of file +} diff --git a/colab/Colab_UnityEnvironment_4_SB3VectorEnv.ipynb b/colab/Colab_UnityEnvironment_4_SB3VectorEnv.ipynb index 24685404be..8c2e671c05 100644 --- a/colab/Colab_UnityEnvironment_4_SB3VectorEnv.ipynb +++ b/colab/Colab_UnityEnvironment_4_SB3VectorEnv.ipynb @@ -1,20 +1,4 @@ { - "nbformat": 4, - "nbformat_minor": 0, - "metadata": { - "colab": { - "name": "Colab-UnityEnvironment-1-Run.ipynb", - "private_outputs": true, - "provenance": [], - "collapsed_sections": [], - "toc_visible": true - }, - "kernelspec": { - "name": "python3", - "language": "python", - "display_name": "Python 3" - } - }, "cells": [ { "cell_type": "markdown", @@ -38,6 +22,11 @@ { "cell_type": "code", "execution_count": null, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "#@title Install Rendering Dependencies { display-mode: \"form\" }\n", @@ -112,13 +101,7 @@ " !bash frame-buffer start\n", " os.environ[\"DISPLAY\"] = \":1\"\n", "pro_bar.update(progress(100, 100))" - ], - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n" - } - } + ] }, { "cell_type": "markdown", @@ -131,22 +114,22 @@ }, { "cell_type": "code", + "execution_count": null, "metadata": { "id": "N8yfQqkbebQ5", "pycharm": { "is_executing": true } }, + "outputs": [], "source": [ "try:\n", " import mlagents\n", " print(\"ml-agents already installed\")\n", "except ImportError:\n", - " !python -m pip install -q mlagents==0.28.0\n", + " !python -m pip install -q mlagents==0.29.0\n", " print(\"Installed ml-agents\")" - ], - "execution_count": null, - "outputs": [] + ] }, { "cell_type": "markdown", @@ -168,38 +151,161 @@ }, { "cell_type": "code", + "execution_count": null, "metadata": { "id": "YSf-WhxbqtLw" }, + "outputs": [], "source": [ - "from math import ceil\n", + "from dataclasses import dataclass\n", + "from pathlib import Path\n", + "from typing import Callable, Any\n", + "\n", + "import gym\n", + "from gym import Env\n", "\n", "from stable_baselines3 import PPO\n", - "from stable_baselines3.common.vec_env import VecMonitor\n", + "from stable_baselines3.common.vec_env import VecMonitor, VecEnv, SubprocVecEnv\n", + "from supersuit import observation_lambda_v0\n", "\n", - "from mlagents_envs.envs.unity_vec_env import make_mla_sb3_env, LimitedConfig\n", "\n", - "# 250K should train to a reward ~= 0.90 for the \"Basic\" environment.\n", - "# We set the value lower here to demonstrate just a small amount of trianing.\n", - "TOTAL_TAINING_STEPS_GOAL = 40 * 1000\n", - "NUM_ENVS = 12\n", - "STEPS_PER_UPDATE = 2048" - ], - "execution_count": 29, - "outputs": [] + "from mlagents_envs.environment import UnityEnvironment\n", + "from mlagents_envs.envs.unity_gym_env import UnityToGymWrapper\n", + "from mlagents_envs.registry import UnityEnvRegistry, default_registry\n", + "from mlagents_envs.side_channel.engine_configuration_channel import (\n", + " EngineConfig,\n", + " EngineConfigurationChannel,\n", + ")\n", + "\n", + "NUM_ENVS = 8" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Environment and Engine Configurations" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Default values from CLI (See cli_utils.py)\n", + "DEFAULT_ENGINE_CONFIG = EngineConfig(\n", + " width=84,\n", + " height=84,\n", + " quality_level=4,\n", + " time_scale=20,\n", + " target_frame_rate=-1,\n", + " capture_frame_rate=60,\n", + ")\n", + "\n", + "# Some config subset of an actual config.yaml file for MLA.\n", + "@dataclass\n", + "class LimitedConfig:\n", + " # The local path to a Unity executable or the name of an entry in the registry.\n", + " env_path_or_name: str\n", + " base_port: int\n", + " base_seed: int = 0\n", + " num_env: int = 1\n", + " engine_config: EngineConfig = DEFAULT_ENGINE_CONFIG\n", + " visual_obs: bool = False\n", + " # TODO: Decide if we should just tell users to always use MultiInputPolicy so we can simplify the user workflow.\n", + " # WARNING: Make sure to use MultiInputPolicy if you turn this on.\n", + " allow_multiple_obs: bool = False\n", + " env_registry: UnityEnvRegistry = default_registry" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Unity Environment SB3 Factory" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "def _unity_env_from_path_or_registry(\n", + " env: str, registry: UnityEnvRegistry, **kwargs: Any\n", + ") -> UnityEnvironment:\n", + " if Path(env).expanduser().absolute().exists():\n", + " return UnityEnvironment(file_name=env, **kwargs)\n", + " elif env in registry:\n", + " return registry.get(env).make(**kwargs)\n", + " else:\n", + " raise ValueError(f\"Environment '{env}' wasn't a local path or registry entry\")\n", + " \n", + "def make_mla_sb3_env(config: LimitedConfig, **kwargs: Any) -> VecEnv:\n", + " def handle_obs(obs, space):\n", + " if isinstance(space, gym.spaces.Tuple):\n", + " if len(space) == 1:\n", + " return obs[0]\n", + " # Turn the tuple into a dict (stable baselines can handle spaces.Dict but not spaces.Tuple).\n", + " return {str(i): v for i, v in enumerate(obs)}\n", + " return obs\n", + "\n", + " def handle_obs_space(space):\n", + " if isinstance(space, gym.spaces.Tuple):\n", + " if len(space) == 1:\n", + " return space[0]\n", + " # Turn the tuple into a dict (stable baselines can handle spaces.Dict but not spaces.Tuple).\n", + " return gym.spaces.Dict({str(i): v for i, v in enumerate(space)})\n", + " return space\n", + "\n", + " def create_env(env: str, worker_id: int) -> Callable[[], Env]:\n", + " def _f() -> Env:\n", + " engine_configuration_channel = EngineConfigurationChannel()\n", + " engine_configuration_channel.set_configuration(config.engine_config)\n", + " kwargs[\"side_channels\"] = kwargs.get(\"side_channels\", []) + [\n", + " engine_configuration_channel\n", + " ]\n", + " unity_env = _unity_env_from_path_or_registry(\n", + " env=env,\n", + " registry=config.env_registry,\n", + " worker_id=worker_id,\n", + " base_port=config.base_port,\n", + " seed=config.base_seed + worker_id,\n", + " **kwargs,\n", + " )\n", + " new_env = UnityToGymWrapper(\n", + " unity_env=unity_env,\n", + " uint8_visual=config.visual_obs,\n", + " allow_multiple_obs=config.allow_multiple_obs,\n", + " )\n", + " new_env = observation_lambda_v0(new_env, handle_obs, handle_obs_space)\n", + " return new_env\n", + "\n", + " return _f\n", + "\n", + " env_facts = [\n", + " create_env(config.env_path_or_name, worker_id=x) for x in range(config.num_env)\n", + " ]\n", + " return SubprocVecEnv(env_facts)" + ] }, { "cell_type": "markdown", + "metadata": {}, "source": [ "### Start Environment from the registry" - ], - "metadata": { - "collapsed": false - } + ] }, { "cell_type": "code", "execution_count": null, + "metadata": { + "pycharm": { + "is_executing": true, + "name": "#%%\n" + } + }, "outputs": [], "source": [ "# -----------------\n", @@ -220,78 +326,84 @@ " ),\n", " no_graphics=True, # Set to false if you are running locally and want to watch the environments move around as they train.\n", ")" - ], - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n", - "is_executing": true - } - } + ] }, { "cell_type": "markdown", + "metadata": {}, "source": [ "### Create the model" - ], - "metadata": { - "collapsed": false - } + ] }, { "cell_type": "code", "execution_count": null, + "metadata": { + "pycharm": { + "is_executing": true, + "name": "#%%\n" + } + }, "outputs": [], "source": [ + "# 250K should train to a reward ~= 0.90 for the \"Basic\" environment.\n", + "# We set the value lower here to demonstrate just a small amount of trianing.\n", + "BATCH_SIZE = 32\n", + "BUFFER_SIZE = 256\n", + "UPDATES = 50\n", + "TOTAL_TAINING_STEPS_GOAL = BUFFER_SIZE * UPDATES\n", + "BETA = 0.0005\n", + "N_EPOCHS = 3 \n", + "STEPS_PER_UPDATE = BUFFER_SIZE / NUM_ENVS\n", + "\n", "# Helps gather stats for our eval() calls later so we can see reward stats.\n", "env = VecMonitor(env)\n", - "# Attempt to approximate settings from 3DBall.yaml\n", + "\n", + "#Policy and Value function with 2 layers of 128 units each and no shared layers.\n", + "policy_kwargs = {\"net_arch\" : [{\"pi\": [32,32], \"vf\": [32,32]}]}\n", + "\n", "model = PPO(\n", " \"MlpPolicy\",\n", " env,\n", " verbose=1,\n", - " learning_rate=lambda prog: 0.0003 * (1.0 - prog),\n", + " learning_rate=lambda progress: 0.0003 * (1.0 - progress),\n", + " clip_range=lambda progress: 0.2 * (1.0 - progress),\n", + " clip_range_vf=lambda progress: 0.2 * (1.0 - progress),\n", " # Uncomment this if you want to log tensorboard results when running this notebook locally.\n", " # tensorboard_log=\"results\",\n", + " policy_kwargs=policy_kwargs,\n", " n_steps=int(STEPS_PER_UPDATE),\n", + " batch_size=BATCH_SIZE,\n", + " n_epochs=N_EPOCHS,\n", + " ent_coef=BETA,\n", ")" - ], - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n", - "is_executing": true - } - } + ] }, { "cell_type": "markdown", + "metadata": {}, "source": [ "### Train the model" - ], - "metadata": { - "collapsed": false - } + ] }, { "cell_type": "code", "execution_count": null, + "metadata": { + "pycharm": { + "is_executing": true, + "name": "#%%\n" + } + }, "outputs": [], "source": [ - "training_rounds = ceil(TOTAL_TAINING_STEPS_GOAL / int(STEPS_PER_UPDATE * NUM_ENVS))\n", - "for i in range(training_rounds):\n", - " print(f\"Training round {i + 1}/{training_rounds}\")\n", + "# 0.93 is considered solved for the Basic environment\n", + "for i in range(UPDATES):\n", + " print(f\"Training round {i + 1}/{UPDATES}\")\n", " # NOTE: rest_num_timesteps should only happen the first time so that tensorboard logs are consistent.\n", - " model.learn(total_timesteps=6000, reset_num_timesteps=(i == 0))\n", + " model.learn(total_timesteps=BUFFER_SIZE, reset_num_timesteps=(i == 0))\n", " model.policy.eval()" - ], - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n", - "is_executing": true - } - } + ] }, { "cell_type": "markdown", @@ -305,6 +417,7 @@ }, { "cell_type": "code", + "execution_count": null, "metadata": { "id": "vdWG6_SqtNtv", "pycharm": { @@ -312,12 +425,46 @@ "name": "#%%\n" } }, + "outputs": [], "source": [ "env.close()\n", "print(\"Closed environment\")\n" - ], + ] + }, + { + "cell_type": "code", "execution_count": null, - "outputs": [] + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "colab": { + "collapsed_sections": [], + "name": "Colab-UnityEnvironment-1-Run.ipynb", + "private_outputs": true, + "provenance": [], + "toc_visible": true + }, + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.8" } - ] -} \ No newline at end of file + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/com.unity.ml-agents b/com.unity.ml-agents deleted file mode 160000 index 24ce875a0c..0000000000 --- a/com.unity.ml-agents +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 24ce875a0ce256bffd06d7c80e944459c5b9ba8d diff --git a/com.unity.ml-agents.extensions/package.json b/com.unity.ml-agents.extensions/package.json index 636102c730..436ba05296 100644 --- a/com.unity.ml-agents.extensions/package.json +++ b/com.unity.ml-agents.extensions/package.json @@ -2,10 +2,10 @@ "name": "com.unity.ml-agents.extensions", "displayName": "ML Agents Extensions", "version": "0.6.1-preview", - "unity": "2020.3", + "unity": "2021.3", "description": "A source-only package for new features based on ML-Agents", "dependencies": { - "com.unity.ml-agents": "2.2.1-exp.1", + "com.unity.ml-agents": "2.3.0-exp.3", "com.unity.modules.physics": "1.0.0" } } diff --git a/com.unity.ml-agents/.gitignore b/com.unity.ml-agents/.gitignore new file mode 100755 index 0000000000..b40e78e61a --- /dev/null +++ b/com.unity.ml-agents/.gitignore @@ -0,0 +1,30 @@ +artifacts/** +build/** +.build_script/** +node_modules/** +.DS_Store +.npmrc +!Documentation~ +!.Documentation +npm-debug.log +build.sh.meta +build.bat.meta +.idea/ +!Samples/*/*.unitypackage + +/[Ll]ibrary/ +/Logs/ +/[Tt]emp/ +/[Oo]bj/ +/[Bb]uild/ +/[Bb]uilds/ +/Assets/AssetStoreTools* +/Assets/Plugins* +/Assets/Demonstrations* +/csharp_timers.json + +# Visual Studio 2015 cache directory +/.vs/ + +*.api +*.api.meta diff --git a/com.unity.ml-agents/.npmignore b/com.unity.ml-agents/.npmignore new file mode 100755 index 0000000000..0f2d8d322c --- /dev/null +++ b/com.unity.ml-agents/.npmignore @@ -0,0 +1,20 @@ +artifacts/** +build/** +.build_script/** +node_modules/** +Documentation/ApiDocs/** +Documentation~/ApiDocs/** +.DS_Store +.npmrc +.npmignore +.gitignore +CONTRIBUTING.md +CONTRIBUTING.md.meta +QAReport.md +QAReport.md.meta +.gitlab-ci.yml +build.sh +build.sh.meta +build.bat +build.bat.meta +upm-ci.log diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md new file mode 100755 index 0000000000..45deb61b80 --- /dev/null +++ b/com.unity.ml-agents/CHANGELOG.md @@ -0,0 +1,902 @@ +# Changelog + +All notable changes to this package will be documented in this file. + +The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) +and this project adheres to +[Semantic Versioning](http://semver.org/spec/v2.0.0.html). + +## [2.3.0-exp.3] - 2022-11-21 +### Major Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- The minimum supported Unity version was updated to 2021.3. (#) + +#### ml-agents / ml-agents-envs +- Add your trainers to the package using Ml-Agents Custom Trainers plugin. (#) + - ML-Agents Custom Trainers plugin is an extensible plugin system to define new trainers based on the + High level trainer API, read more [here](../docs/Python-Custom-Trainer-Plugin.md). +- Refactored core modules to make ML-Agents internal classes more generalizable to various RL algorithms. (#) +- The minimum supported Python version for ML-agents has changed to 3.8.13. (#) +- The minimum supported version of PyTorch was changed to 1.8.0. (#) +- Add shared critic configurability for PPO. (#) +- We moved `UnityToGymWrapper` and `PettingZoo` API to `ml-agents-envs` package. All these environments will be +versioned under `ml-agents-envs` package in the future (#) + +### Minor Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Added switch to RayPerceptionSensor to allow rays to be ordered left to right. (#26) + - Current alternating order is still the default but will be deprecated. +- Added suppport for enabling/disabling camera object attached to camera sensor in order to improve performance. (#31) + +#### ml-agents / ml-agents-envs +- Renaming the path that shadows torch with "mlagents/trainers/torch_entities" and update respective imports (#) + + +### Bug Fixes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +#### ml-agents / ml-agents-envs + + +## [2.3.0-exp.2] - 2022-03-28 +### Major Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +#### ml-agents / ml-agents-envs +- Refactored to support the new ML-Agents Pro package. +- The minimum supported Python version for ML-Agents-envs is changed to 3.7.2 (#) +- Added support for the PettingZoo multi-agent API (#) +- Refactored `gym-unity` into the `ml-agents-envs` package (#) + +### Minor Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Upgrade barracuda dependency to 3.0.0 (#) +#### ml-agents / ml-agents-envs +- Added the new unity_vec_env file to the ml-agents-envs module +- Extended support to python 3.9.10 + +### Bug Fixes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +#### ml-agents / ml-agents-envs + +## [2.2.1-exp.1] - 2022-01-14 +### Major Changes + +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- The minimum supported Unity version was updated to 2020.3. (#5673) +- Added a new feature to replicate training areas dynamically during runtime. (#5568) +- Update Barracuda to 2.3.1-preview (#5591) +- Update Input System to 1.3.0 (#5661) + +#### ml-agents / ml-agents-envs / gym-unity (Python) + +### Minor Changes + +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Added the capacity to initialize behaviors from any checkpoint and not just the latest one (#5525) +- Added the ability to get a read-only view of the stacked observations (#5523) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Set gym version in gym-unity to gym release 0.20.0 (#5540) +- Added support for having `beta`, `epsilon`, and `learning rate` on separate schedules (affects only PPO and POCA). (#5538) +- Changed default behavior to restart crashed Unity environments rather than exiting. (#5553) + - Rate & lifetime limits on this are configurable via 3 new yaml options + 1. env_params.max_lifetime_restarts (--max-lifetime-restarts) [default=10] + 2. env_params.restarts_rate_limit_n (--restarts-rate-limit-n) [default=1] + 3. env_params.restarts_rate_limit_period_s (--restarts-rate-limit-period-s) [default=60] +- Deterministic action selection is now supported during training and inference(#5619) + - Added a new `--deterministic` cli flag to deterministically select the most probable actions in policy. The same thing can + be achieved by adding `deterministic: true` under `network_settings` of the run options configuration.(#5597) + - Extra tensors are now serialized to support deterministic action selection in onnx. (#5593) + - Support inference with deterministic action selection in editor (#5599) +- Added minimal analytics collection to LL-API (#5511) +- Update Colab notebooks for GridWorld example with DQN illustrating the use of the Python API and how to export to ONNX (#5643) + +### Bug Fixes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Update gRPC native lib to universal for arm64 and x86_64. This change should enable ml-agents usage on mac M1 (#5283, #5519) +- Fixed a bug where ml-agents code wouldn't compile on platforms that didn't support analytics (PS4/5, XBoxOne) (#5628) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed a bug where the critics were not being normalized during training. (#5595) +- Fixed the bug where curriculum learning would crash because of the incorrect run_options parsing. (#5586) +- Fixed a bug in multi-agent cooperative training where agents might not receive all of the states of +terminated teammates. (#5441) +- Fixed wrong attribute name in argparser for torch device option (#5433)(#5467) +- Fixed conflicting CLI and yaml options regarding resume & initialize_from (#5495) +- Fixed failing tests for gym-unity due to gym 0.20.0 release (#5540) +- Fixed a bug in VAIL where the variational bottleneck was not properly passing gradients (#5546) +- Harden user PII protection logic and extend TrainingAnalytics to expose detailed configuration parameters. (#5512) + +## [2.1.0-exp.1] - 2021-06-09 +### Minor Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- update Barracuda to 2.0.0-pre.3. (#5385) +- Fixed NullReferenceException when adding Behavior Parameters with no Agent. (#5382) +- Add stacking option in Editor for `VectorSensorComponent`. (#5376) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Lock cattrs dependency version to 1.6. (#5397) +- Added a fully connected visual encoder for environments with very small image inputs. (#5351) +- Colab notebooks illustrating the use of the Python API are now part of the repository. (#5399) + +### Bug Fixes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- RigidBodySensorComponent now displays a warning if it's used in a way that won't generate useful observations. (#5387) +- Update the documentation with a note saying that `GridSensor` does not work in 2D environments. (#5396) +- Fixed an error where sensors would not reset properly before collecting the last observation at the end of an +episode. (#5375) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The calculation of the target entropy of SAC with continuous actions was incorrect and has been fixed. (#5372) +- Fixed an issue where the histogram stats would not be reported correctly in TensorBoard. (#5410) +- Fixed error when importing models which use the ResNet encoder. (#5358) + + +## [2.0.0-exp.1] - 2021-04-22 +### Major Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- The minimum supported Unity version was updated to 2019.4. (#5166) +- Several breaking interface changes were made. See the +[Migration Guide](https://github.com/Unity-Technologies/ml-agents/blob/release_17_docs/docs/Migrating.md) for more +details. +- Some methods previously marked as `Obsolete` have been removed. If you were using these methods, you need to replace them with their supported counterpart. +- The interface for disabling discrete actions in `IDiscreteActionMask` has changed. +`WriteMask(int branch, IEnumerable actionIndices)` was replaced with +`SetActionEnabled(int branch, int actionIndex, bool isEnabled)`. (#5060) +- IActuator now implements IHeuristicProvider. (#5110) +- `ISensor.GetObservationShape()` was removed, and `GetObservationSpec()` was added. The `ITypedSensor` +and `IDimensionPropertiesSensor` interfaces were removed. (#5127) +- `ISensor.GetCompressionType()` was removed, and `GetCompressionSpec()` was added. The `ISparseChannelSensor` +interface was removed. (#5164) +- The abstract method `SensorComponent.GetObservationShape()` was no longer being called, so it has been removed. (#5172) +- `SensorComponent.CreateSensor()` was replaced with `SensorComponent.CreateSensors()`, which returns an `ISensor[]`. (#5181) +- `Match3Sensor` was refactored to produce cell and special type observations separately, and `Match3SensorComponent` now +produces two `Match3Sensor`s (unless there are no special types). Previously trained models will have different observation +sizes and will need to be retrained. (#5181) +- The `AbstractBoard` class for integration with Match-3 games was changed to make it easier to support boards with +different sizes using the same model. For a summary of the interface changes, please see the Migration Guide. (##5189) +- Updated the Barracuda package to version `1.4.0-preview`(#5236) +- `GridSensor` has been refactored and moved to main package, with changes to both sensor interfaces and behaviors. +Exsisting GridSensor created by extension package will not work in newer version. Previously trained models will +need to be retrained. Please see the Migration Guide for more details. (#5256) +- Models trained with 1.x versions of ML-Agents will no longer work at inference if they were trained using recurrent neural networks (#5254) + +### Minor Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- The `.onnx` models input names have changed. All input placeholders will now use the prefix `obs_` removing the distinction between visual and vector observations. In addition, the inputs and outputs of LSTM changed. Models created with this version will not be usable with previous versions of the package (#5080, #5236) +- The `.onnx` models discrete action output now contains the discrete actions values and not the logits. Models created with this version will not be usable with previous versions of the package (#5080) +- Added ML-Agents package settings. (#5027) +- Make com.unity.modules.unityanalytics an optional dependency. (#5109) +- Make com.unity.modules.physics and com.unity.modules.physics2d optional dependencies. (#5112) +- The default `InferenceDevice` is now `InferenceDevice.Default`, which is equivalent to `InferenceDevice.Burst`. If you +depend on the previous behavior, you can explicitly set the Agent's `InferenceDevice` to `InferenceDevice.CPU`. (#5175) +- Added support for `Goal Signal` as a type of observation. Trainers can now use HyperNetworks to process `Goal Signal`. Trainers with HyperNetworks are more effective at solving multiple tasks. (#5142, #5159, #5149) +- Modified the [GridWorld environment](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Examples.md#gridworld) to use the new `Goal Signal` feature. (#5193) +- `DecisionRequester.ShouldRequestDecision()` and `ShouldRequestAction()`methods were added. These are used to +determine whether `Agent.RequestDecision()` and `Agent.RequestAction()` are called (respectively). (#5223) +- `RaycastPerceptionSensor` now caches its raycast results; they can be accessed via `RayPerceptionSensor.RayPerceptionOutput`. (#5222) +- `ActionBuffers` are now reset to zero before being passed to `Agent.Heuristic()` and +`IHeuristicProvider.Heuristic()`. (#5227) +- `Agent` will now call `IDisposable.Dispose()` on all `ISensor`s that implement the `IDisposable` interface. (#5233) +- `CameraSensor`, `RenderTextureSensor`, and `Match3Sensor` will now reuse their `Texture2D`s, reducing the +amount of memory that needs to be allocated during runtime. (#5233) +- Optimzed `ObservationWriter.WriteTexture()` so that it doesn't call `Texture2D.GetPixels32()` for `RGB24` textures. +This results in much less memory being allocated during inference with `CameraSensor` and `RenderTextureSensor`. (#5233) +- The Match-3 integration utilities were moved from `com.unity.ml-agents.extensions` to `com.unity.ml-agents`. (#5259) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Some console output have been moved from `info` to `debug` and will not be printed by default. If you want all messages to be printed, you can run `mlagents-learn` with the `--debug` option or add the line `debug: true` at the top of the yaml config file. (#5211) +- When using a configuration YAML, it is required to define all behaviors found in a Unity +executable in the trainer configuration YAML, or specify `default_settings`. (#5210) +- The embedding size of attention layers used when a BufferSensor is in the scene has been changed. It is now fixed to 128 units. It might be impossible to resume training from a checkpoint of a previous version. (#5272) + +### Bug Fixes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Fixed a bug where sensors and actuators could get sorted inconsistently on different systems to different Culture +settings. Unfortunately, this may require retraining models if it changes the resulting order of the sensors +or actuators on your system. (#5194) +- Removed additional memory allocations that were occurring due to assert messages and iterating of DemonstrationRecorders. (#5246) +- Fixed a bug where agent trying to access unintialized fields when creating a new RayPerceptionSensorComponent on an agent. (#5261) +- Fixed a bug where the DemonstrationRecorder would throw a null reference exception if Num Steps To Record was > 0 and Record was turned off. (#5274) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed a bug where --results-dir has no effect. (#5269) +- Fixed a bug where old `.pt` checkpoints were not deleted during training. (#5271) +- The `UnityToGymWrapper` initializer now accepts an optional `action_space_seed` seed. If this is specified, it will +be used to set the random seed on the resulting action space. (#5303) + + +## [1.9.1-preview] - 2021-04-13 +### Major Changes +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The `--resume` flag now supports resuming experiments with additional reward providers or + loading partial models if the network architecture has changed. See + [here](https://github.com/Unity-Technologies/ml-agents/blob/release_16_docs/docs/Training-ML-Agents.md#loading-an-existing-model) + for more details. (#5213) + +### Bug Fixes +#### com.unity.ml-agents (C#) +- Fixed erroneous warnings when using the Demonstration Recorder. (#5216) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed an issue which was causing increased variance when using LSTMs. Also fixed an issue with LSTM when used with POCA and `sequence_length` < `time_horizon`. (#5206) +- Fixed a bug where the SAC replay buffer would not be saved out at the end of a run, even if `save_replay_buffer` was enabled. (#5205) +- ELO now correctly resumes when loading from a checkpoint. (#5202) +- In the Python API, fixed `validate_action` to expect the right dimensions when `set_action_single_agent` is called. (#5208) +- In the `GymToUnityWrapper`, raise an appropriate warning if `step()` is called after an environment is done. (#5204) +- Fixed an issue where using one of the `gym` wrappers would override user-set log levels. (#5201) +## [1.9.0-preview] - 2021-03-17 +### Major Changes +#### com.unity.ml-agents (C#) +- The `BufferSensor` and `BufferSensorComponent` have been added. They allow the Agent to observe variable number of entities. For an example, see the [Sorter environment](https://github.com/Unity-Technologies/ml-agents/blob/release_15_docs/docs/Learning-Environment-Examples.md#sorter). (#4909) +- The `SimpleMultiAgentGroup` class and `IMultiAgentGroup` interface have been added. These allow Agents to be given rewards and + end episodes in groups. For examples, see the [Cooperative Push Block](https://github.com/Unity-Technologies/ml-agents/blob/release_15_docs/docs/Learning-Environment-Examples.md#cooperative-push-block), [Dungeon Escape](https://github.com/Unity-Technologies/ml-agents/blob/release_15_docs/docs/Learning-Environment-Examples.md#dungeon-escape) and [Soccer](https://github.com/Unity-Technologies/ml-agents/blob/release_15_docs/docs/Learning-Environment-Examples.md#soccer-twos) environments. (#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) +- Added 3D Ball to the `com.unity.ml-agents` samples. (#5077) +- Make com.unity.modules.unityanalytics an optional dependency. (#5109) + +#### 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 / 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 +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- TensorFlow trainers have been removed, please use the Torch trainers instead. (#4707) +- A plugin system for `mlagents-learn` has been added. You can now define custom + `StatsWriter` implementations and register them to be called during training. + More types of plugins will be added in the future. (#4788) + +### Minor Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- The `ActionSpec` constructor is now public. Previously, it was not possible to create an + ActionSpec with both continuous and discrete actions from code. (#4896) +- `StatAggregationMethod.Sum` can now be passed to `StatsRecorder.Add()`. This + will result in the values being summed (instead of averaged) when written to + TensorBoard. Thanks to @brccabral for the contribution! (#4816) +- The upper limit for the time scale (by setting the `--time-scale` paramater in mlagents-learn) was + removed when training with a player. The Editor still requires it to be clamped to 100. (#4867) +- Added the IHeuristicProvider interface to allow IActuators as well as Agent implement the Heuristic function to generate actions. + Updated the Basic example and the Match3 Example to use Actuators. + Changed the namespace and file names of classes in com.unity.ml-agents.extensions. (#4849) +- Added `VectorSensor.AddObservation(IList)`. `VectorSensor.AddObservation(IEnumerable)` + is deprecated. The `IList` version is recommended, as it does not generate any + additional memory allocations. (#4887) +- Added `ObservationWriter.AddList()` and deprecated `ObservationWriter.AddRange()`. + `AddList()` is recommended, as it does not generate any additional memory allocations. (#4887) +- The Barracuda dependency was upgraded to 1.3.0. (#4898) +- Added `ActuatorComponent.CreateActuators`, and deprecate `ActuatorComponent.CreateActuator`. The + default implementation will wrap `ActuatorComponent.CreateActuator` in an array and return that. (#4899) +- `InferenceDevice.Burst` was added, indicating that Agent's model will be run using Barracuda's Burst backend. + This is the default for new Agents, but existing ones that use `InferenceDevice.CPU` should update to + `InferenceDevice.Burst`. (#4925) +- Add an InputActuatorComponent to allow the generation of Agent action spaces from an InputActionAsset. + Projects wanting to use this feature will need to add the + [Input System Package](https://docs.unity3d.com/Packages/com.unity.inputsystem@1.1/manual/index.html) + at version 1.1.0-preview.3 or later. (#4881) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Tensorboard now logs the Environment Reward as both a scalar and a histogram. (#4878) +- Added a `--torch-device` commandline option to `mlagents-learn`, which sets the default + [`torch.device`](https://pytorch.org/docs/stable/tensor_attributes.html#torch.torch.device) used for training. (#4888) +- The `--cpu` commandline option had no effect and was removed. Use `--torch-device=cpu` to force CPU training. (#4888) +- The `mlagents_env` API has changed, `BehaviorSpec` now has a `observation_specs` property containing a list of `ObservationSpec`. For more information on `ObservationSpec` see [here](https://github.com/Unity-Technologies/ml-agents/blob/release_13_docs/docs/Python-API.md#behaviorspec). (#4763, #4825) + +### Bug Fixes +#### com.unity.ml-agents (C#) +- Fix a compile warning about using an obsolete enum in `GrpcExtensions.cs`. (#4812) +- CameraSensor now logs an error if the GraphicsDevice is null. (#4880) +- Removed unnecessary memory allocations in `ActuatorManager.UpdateActionArray()` (#4877) +- Removed unnecessary memory allocations in `SensorShapeValidator.ValidateSensors()` (#4879) +- Removed unnecessary memory allocations in `SideChannelManager.GetSideChannelMessage()` (#4886) +- Removed several memory allocations that happened during inference. On a test scene, this + reduced the amount of memory allocated by approximately 25%. (#4887) +- Removed several memory allocations that happened during inference with discrete actions. (#4922) +- Properly catch permission errors when writing timer files. (#4921) +- Unexpected exceptions during training initialization and shutdown are now logged. If you see + "noisy" logs, please let us know! (#4930, #4935) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed a bug that would cause an exception when `RunOptions` was deserialized via `pickle`. (#4842) +- Fixed a bug that can cause a crash if a behavior can appear during training in multi-environment training. (#4872) +- Fixed the computation of entropy for continuous actions. (#4869) +- Fixed a bug that would cause `UnityEnvironment` to wait the full timeout + period and report a misleading error message if the executable crashed + without closing the connection. It now periodically checks the process status + while waiting for a connection, and raises a better error message if it crashes. (#4880) +- Passing a `-logfile` option in the `--env-args` option to `mlagents-learn` is + no longer overwritten. (#4880) +- The `load_weights` function was being called unnecessarily often in the Ghost Trainer leading to training slowdowns. (#4934) + + +## [1.7.2-preview] - 2020-12-22 +### Bug Fixes +#### com.unity.ml-agents (C#) +- Add analytics package dependency to the package manifest. (#4794) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed the docker build process. (#4791) + + +## [1.7.0-preview] - 2020-12-21 +### Major Changes +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- PyTorch trainers now support training agents with both continuous and discrete action spaces. (#4702) +The `.onnx` models generated by the trainers of this release are incompatible with versions of Barracuda before `1.2.1-preview`. If you upgrade the trainers, you must upgrade the version of the Barracuda package as well (which can be done by upgrading the `com.unity.ml-agents` package). +### Minor Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- Agents with both continuous and discrete actions are now supported. You can specify +both continuous and discrete action sizes in Behavior Parameters. (#4702, #4718) +- In order to improve the developer experience for Unity ML-Agents Toolkit, we have added in-editor analytics. +Please refer to "Information that is passively collected by Unity" in the +[Unity Privacy Policy](https://unity3d.com/legal/privacy-policy). (#4677) +- The FoodCollector example environment now uses continuous actions for moving and +discrete actions for shooting. (#4746) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- `ActionSpec.validate_action()` now enforces that `UnityEnvironment.set_action_for_agent()` receives a 1D `np.array`. (#4691) + +### Bug Fixes +#### com.unity.ml-agents (C#) +- Removed noisy warnings about API minor version mismatches in both the C# and python code. (#4688) +#### ml-agents / ml-agents-envs / gym-unity (Python) + + +## [1.6.0-preview] - 2020-11-18 +### Major Changes +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) + - PyTorch trainers are now the default. See the + [installation docs](https://github.com/Unity-Technologies/ml-agents/blob/release_10_docs/docs/Installation.md) for + more information on installing PyTorch. For the time being, TensorFlow is still available; + you can use the TensorFlow backend by adding `--tensorflow` to the CLI, or + adding `framework: tensorflow` in the configuration YAML. (#4517) + +### Minor Changes +#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#) +- The Barracuda dependency was upgraded to 1.1.2 (#4571) +- Utilities were added to `com.unity.ml-agents.extensions` to make it easier to +integrate with match-3 games. See the [readme](https://github.com/Unity-Technologies/ml-agents/blob/release_10_docs/com.unity.ml-agents.extensions/Documentation~/Match3.md) +for more details. (#4515) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The `action_probs` node is no longer listed as an output in TensorFlow models (#4613). + +### Bug Fixes +#### com.unity.ml-agents (C#) +- `Agent.CollectObservations()` and `Agent.EndEpisode()` will now throw an exception +if they are called recursively (for example, if they call `Agent.EndEpisode()`). +Previously, this would result in an infinite loop and cause the editor to hang. (#4573) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed an issue where runs could not be resumed when using TensorFlow and Ghost Training. (#4593) +- Change the tensor type of step count from int32 to int64 to address the overflow issue when step +goes larger than 2^31. Previous Tensorflow checkpoints will become incompatible and cannot be loaded. (#4607) +- Remove extra period after "Training" in console log. (#4674) + + +## [1.5.0-preview] - 2020-10-14 +### Major Changes +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) + - Added the Random Network Distillation (RND) intrinsic reward signal to the Pytorch + trainers. To use RND, add a `rnd` section to the `reward_signals` section of your + yaml configuration file. [More information here](https://github.com/Unity-Technologies/ml-agents/blob/release_9_docs/docs/Training-Configuration-File.md#rnd-intrinsic-reward) (#4473) +### Minor Changes +#### com.unity.ml-agents (C#) + - Stacking for compressed observations is now supported. An additional setting + option `Observation Stacks` is added in editor to sensor components that support + compressed observations. A new class `ISparseChannelSensor` with an + additional method `GetCompressedChannelMapping()`is added to generate a mapping + of the channels in compressed data to the actual channel after decompression, + for the python side to decompress correctly. (#4476) + - Added a new visual 3DBall environment. (#4513) +#### ml-agents / ml-agents-envs / gym-unity (Python) + - The Communication API was changed to 1.2.0 to indicate support for stacked + compressed observation. A new entry `compressed_channel_mapping` is added to the + proto to handle decompression correctly. Newer versions of the package that wish to + make use of this will also need a compatible version of the Python trainers. (#4476) + - In the `VisualFoodCollector` scene, a vector flag representing the frozen state of + the agent is added to the input observations in addition to the original first-person + camera frame. The scene is able to train with the provided default config file. (#4511) + - Added conversion to string for sampler classes to increase the verbosity of + the curriculum lesson changes. The lesson updates would now output the sampler + stats in addition to the lesson and parameter name to the console. (#4484) + - Localized documentation in Russian is added. Thanks to @SergeyMatrosov for + the contribution. (#4529) +### Bug Fixes +#### com.unity.ml-agents (C#) + - Fixed a bug where accessing the Academy outside of play mode would cause the + Academy to get stepped multiple times when in play mode. (#4532) +#### ml-agents / ml-agents-envs / gym-unity (Python) + + +## [1.4.0-preview] - 2020-09-16 +### Major Changes +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) + +### Minor Changes +#### com.unity.ml-agents (C#) +- The `IActuator` interface and `ActuatorComponent` abstract class were added. +These are analogous to `ISensor` and `SensorComponent`, but for applying actions +for an Agent. They allow you to control the action space more programmatically +than defining the actions in the Agent's Behavior Parameters. See +[BasicActuatorComponent.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_7_docs/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicActuatorComponent.cs) + for an example of how to use them. (#4297, #4315) +- Update Barracuda to 1.1.1-preview (#4482) +- Enabled C# formatting using `dotnet-format`. (#4362) +- GridSensor was added to the `com.unity.ml-agents.extensions` package. Thank you +to Jaden Travnik from Eidos Montreal for the contribution! (#4399) +- Added `Agent.EpisodeInterrupted()`, which can be used to reset the agent when +it has reached a user-determined maximum number of steps. This behaves similarly +to `Agent.EndEpsiode()` but has a slightly different effect on training (#4453). +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Experimental PyTorch support has been added. Use `--torch` when running `mlagents-learn`, or add +`framework: pytorch` to your trainer configuration (under the behavior name) to enable it. +Note that PyTorch 1.6.0 or greater should be installed to use this feature; see +[the PyTorch website](https://pytorch.org/) for installation instructions and +[the relevant ML-Agents docs](https://github.com/Unity-Technologies/ml-agents/blob/release_7_docs/docs/Training-ML-Agents.md#using-pytorch-experimental) for usage. (#4335) +- The minimum supported version of TensorFlow was increased to 1.14.0. (#4411) +- Compressed visual observations with >3 channels are now supported. In +`ISensor.GetCompressedObservation()`, this can be done by writing 3 channels at a +time to a PNG and concatenating the resulting bytes. (#4399) +- The Communication API was changed to 1.1.0 to indicate support for concatenated PNGs +(see above). Newer versions of the package that wish to make use of this will also need +a compatible version of the trainer. (#4462) +- A CNN (`vis_encode_type: match3`) for smaller grids, e.g. board games, has been added. +(#4434) +- You can now again specify a default configuration for your behaviors. Specify `default_settings` in +your trainer configuration to do so. (#4448) +- Improved the executable detection logic for environments on Windows. (#4485) + +### Bug Fixes +#### com.unity.ml-agents (C#) +- Previously, `com.unity.ml-agents` was not declaring built-in packages as +dependencies in its package.json. The relevant dependencies are now listed. (#4384) +- Agents no longer try to send observations when they become disabled if the +Academy has been shut down. (#4489) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed the sample code in the custom SideChannel example. (#4466) +- A bug in the observation normalizer that would cause rewards to decrease +when using `--resume` was fixed. (#4463) +- Fixed a bug in exporting Pytorch models when using multiple discrete actions. (#4491) + +## [1.3.0-preview] - 2020-08-12 + +### Major Changes +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The minimum supported Python version for ml-agents-envs was changed to 3.6.1. (#4244) +- The interaction between EnvManager and TrainerController was changed; EnvManager.advance() was split into to stages, +and TrainerController now uses the results from the first stage to handle new behavior names. This change speeds up +Python training by approximately 5-10%. (#4259) + +### Minor Changes +#### com.unity.ml-agents (C#) +- StatsSideChannel now stores multiple values per key. This means that multiple +calls to `StatsRecorder.Add()` with the same key in the same step will no +longer overwrite each other. (#4236) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The versions of `numpy` supported by ml-agents-envs were changed to disallow 1.19.0 or later. This was done to reflect +a similar change in TensorFlow's requirements. (#4274) +- Model checkpoints are now also saved as .nn files during training. (#4127) +- Model checkpoint info is saved in TrainingStatus.json after training is concluded (#4127) +- CSV statistics writer was removed (#4300). + +### Bug Fixes +#### com.unity.ml-agents (C#) +- Academy.EnvironmentStep() will now throw an exception if it is called +recursively (for example, by an Agent's CollectObservations method). +Previously, this would result in an infinite loop and cause the editor to hang. +(#4226) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The algorithm used to normalize observations was introducing NaNs if the initial observations were too large +due to incorrect initialization. The initialization was fixed and is now the observation means from the +first trajectory processed. (#4299) + +## [1.2.0-preview] - 2020-07-15 + +### Major Changes +#### ml-agents / ml-agents-envs / gym-unity (Python) +- The Parameter Randomization feature has been refactored to enable sampling of new parameters per episode to improve robustness. The + `resampling-interval` parameter has been removed and the config structure updated. More information [here](https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Training-ML-Agents.md). (#4065) +- The Parameter Randomization feature has been merged with the Curriculum feature. It is now possible to specify a sampler +in the lesson of a Curriculum. Curriculum has been refactored and is now specified at the level of the parameter, not the +behavior. More information +[here](https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Training-ML-Agents.md).(#4160) + +### Minor Changes +#### com.unity.ml-agents (C#) +- `SideChannelsManager` was renamed to `SideChannelManager`. The old name is still supported, but deprecated. (#4137) +- `RayPerceptionSensor.Perceive()` now additionally store the GameObject that was hit by the ray. (#4111) +- The Barracuda dependency was upgraded to 1.0.1 (#4188) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Added new Google Colab notebooks to show how to use `UnityEnvironment'. (#4117) + +### Bug Fixes +#### com.unity.ml-agents (C#) +- Fixed an issue where RayPerceptionSensor would raise an exception when the +list of tags was empty, or a tag in the list was invalid (unknown, null, or +empty string). (#4155) + +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Fixed an error when setting `initialize_from` in the trainer confiiguration YAML to +`null`. (#4175) +- Fixed issue with FoodCollector, Soccer, and WallJump when playing with keyboard. (#4147, #4174) +- Fixed a crash in StatsReporter when using threaded trainers with very frequent summary writes +(#4201) +- `mlagents-learn` will now raise an error immediately if `--num-envs` is greater than 1 without setting the `--env` +argument. (#4203) + +## [1.1.0-preview] - 2020-06-10 +### Major Changes +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Added new Walker environments. Improved ragdoll stability/performance. (#4037) +- `max_step` in the `TerminalStep` and `TerminalSteps` objects was renamed `interrupted`. +- `beta` and `epsilon` in `PPO` are no longer decayed by default but follow the same schedule as learning rate. (#3940) +- `get_behavior_names()` and `get_behavior_spec()` on UnityEnvironment were replaced by the `behavior_specs` property. (#3946) +- The first version of the Unity Environment Registry (Experimental) has been released. More information [here](https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Unity-Environment-Registry.md)(#3967) +- `use_visual` and `allow_multiple_visual_obs` in the `UnityToGymWrapper` constructor +were replaced by `allow_multiple_obs` which allows one or more visual observations and +vector observations to be used simultaneously. (#3981) Thank you @shakenes ! +- Curriculum and Parameter Randomization configurations have been merged + into the main training configuration file. Note that this means training + configuration files are now environment-specific. (#3791) +- The format for trainer configuration has changed, and the "default" behavior has been deprecated. + See the [Migration Guide](https://github.com/Unity-Technologies/ml-agents/blob/release_5_docs/docs/Migrating.md) for more details. (#3936) +- Training artifacts (trained models, summaries) are now found in the `results/` + directory. (#3829) +- When using Curriculum, the current lesson will resume if training is quit and resumed. As such, + the `--lesson` CLI option has been removed. (#4025) +### Minor Changes +#### com.unity.ml-agents (C#) +- `ObservableAttribute` was added. Adding the attribute to fields or properties on an Agent will allow it to generate + observations via reflection. (#3925, #4006) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- Unity Player logs are now written out to the results directory. (#3877) +- Run configuration YAML files are written out to the results directory at the end of the run. (#3815) +- The `--save-freq` CLI option has been removed, and replaced by a `checkpoint_interval` option in the trainer configuration YAML. (#4034) +- When trying to load/resume from a checkpoint created with an earlier verison of ML-Agents, + a warning will be thrown. (#4035) +### Bug Fixes +- Fixed an issue where SAC would perform too many model updates when resuming from a + checkpoint, and too few when using `buffer_init_steps`. (#4038) +- Fixed a bug in the onnx export that would cause constants needed for inference to not be visible to some versions of + the Barracuda importer. (#4073) +#### com.unity.ml-agents (C#) +#### ml-agents / ml-agents-envs / gym-unity (Python) + + +## [1.0.2-preview] - 2020-05-20 +### Bug Fixes +#### com.unity.ml-agents (C#) +- Fix missing .meta file + + +## [1.0.1-preview] - 2020-05-19 +### Bug Fixes +#### com.unity.ml-agents (C#) +- A bug that would cause the editor to go into a loop when a prefab was selected was fixed. (#3949) +- BrainParameters.ToProto() no longer throws an exception if none of the fields have been set. (#3930) +- The Barracuda dependency was upgraded to 0.7.1-preview. (#3977) +#### ml-agents / ml-agents-envs / gym-unity (Python) +- An issue was fixed where using `--initialize-from` would resume from the past step count. (#3962) +- The gym wrapper error for the wrong number of agents now fires more consistently, and more details + were added to the error message when the input dimension is wrong. (#3963) + + +## [1.0.0-preview] - 2020-04-30 +### Major Changes +#### com.unity.ml-agents (C#) + +- The `MLAgents` C# namespace was renamed to `Unity.MLAgents`, and other nested + namespaces were similarly renamed. (#3843) +- The offset logic was removed from DecisionRequester. (#3716) +- The signature of `Agent.Heuristic()` was changed to take a float array as a + parameter, instead of returning the array. This was done to prevent a common + source of error where users would return arrays of the wrong size. (#3765) +- The communication API version has been bumped up to 1.0.0 and will use + [Semantic Versioning](https://semver.org/) to do compatibility checks for + communication between Unity and the Python process. (#3760) +- The obsolete `Agent` methods `GiveModel`, `Done`, `InitializeAgent`, + `AgentAction` and `AgentReset` have been removed. (#3770) +- The SideChannel API has changed: + - Introduced the `SideChannelManager` to register, unregister and access side + channels. (#3807) + - `Academy.FloatProperties` was replaced by `Academy.EnvironmentParameters`. + See the [Migration Guide](https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Migrating.md) + for more details on upgrading. (#3807) + - `SideChannel.OnMessageReceived` is now a protected method (was public) + - SideChannel IncomingMessages methods now take an optional default argument, + which is used when trying to read more data than the message contains. (#3751) + - Added a feature to allow sending stats from C# environments to TensorBoard + (and other python StatsWriters). To do this from your code, use + `Academy.Instance.StatsRecorder.Add(key, value)`. (#3660) +- `CameraSensorComponent.m_Grayscale` and + `RenderTextureSensorComponent.m_Grayscale` were changed from `public` to + `private`. These can still be accessed via their corresponding properties. + (#3808) +- Public fields and properties on several classes were renamed to follow Unity's + C# style conventions. All public fields and properties now use "PascalCase" + instead of "camelCase"; for example, `Agent.maxStep` was renamed to + `Agent.MaxStep`. For a full list of changes, see the pull request. (#3828) +- `WriteAdapter` was renamed to `ObservationWriter`. If you have a custom + `ISensor` implementation, you will need to change the signature of its + `Write()` method. (#3834) +- The Barracuda dependency was upgraded to 0.7.0-preview (which has breaking + namespace and assembly name changes). (#3875) + +#### ml-agents / ml-agents-envs / gym-unity (Python) + +- The `--load` and `--train` command-line flags have been deprecated. Training + now happens by default, and use `--resume` to resume training instead of + `--load`. (#3705) +- The Jupyter notebooks have been removed from the repository. (#3704) +- The multi-agent gym option was removed from the gym wrapper. For multi-agent + scenarios, use the [Low Level Python API](https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Python-API.md). (#3681) +- The low level Python API has changed. You can look at the document + [Low Level Python API](https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Python-API.md) + documentation for more information. If you use `mlagents-learn` for training, this should be a + transparent change. (#3681) +- Added ability to start training (initialize model weights) from a previous run + ID. (#3710) +- The GhostTrainer has been extended to support asymmetric games and the + asymmetric example environment Strikers Vs. Goalie has been added. (#3653) +- The `UnityEnv` class from the `gym-unity` package was renamed + `UnityToGymWrapper` and no longer creates the `UnityEnvironment`. Instead, the + `UnityEnvironment` must be passed as input to the constructor of + `UnityToGymWrapper` (#3812) + +### Minor Changes + +#### com.unity.ml-agents (C#) + +- Added new 3-joint Worm ragdoll environment. (#3798) +- `StackingSensor` was changed from `internal` visibility to `public`. (#3701) +- The internal event `Academy.AgentSetStatus` was renamed to + `Academy.AgentPreStep` and made public. (#3716) +- Academy.InferenceSeed property was added. This is used to initialize the + random number generator in ModelRunner, and is incremented for each + ModelRunner. (#3823) +- `Agent.GetObservations()` was added, which returns a read-only view of the + observations added in `CollectObservations()`. (#3825) +- `UnityRLCapabilities` was added to help inform users when RL features are + mismatched between C# and Python packages. (#3831) + +#### ml-agents / ml-agents-envs / gym-unity (Python) + +- Format of console output has changed slightly and now matches the name of the + model/summary directory. (#3630, #3616) +- Renamed 'Generalization' feature to 'Environment Parameter Randomization'. + (#3646) +- Timer files now contain a dictionary of metadata, including things like the + package version numbers. (#3758) +- The way that UnityEnvironment decides the port was changed. If no port is + specified, the behavior will depend on the `file_name` parameter. If it is + `None`, 5004 (the editor port) will be used; otherwise 5005 (the base + environment port) will be used. (#3673) +- Running `mlagents-learn` with the same `--run-id` twice will no longer + overwrite the existing files. (#3705) +- Model updates can now happen asynchronously with environment steps for better + performance. (#3690) +- `num_updates` and `train_interval` for SAC were replaced with + `steps_per_update`. (#3690) +- The maximum compatible version of tensorflow was changed to allow tensorflow + 2.1 and 2.2. This will allow use with python 3.8 using tensorflow 2.2.0rc3. + (#3830) +- `mlagents-learn` will no longer set the width and height of the executable + window to 84x84 when no width nor height arguments are given. (#3867) + +### Bug Fixes + +#### com.unity.ml-agents (C#) + +- Fixed a display bug when viewing Demonstration files in the inspector. The + shapes of the observations in the file now display correctly. (#3771) + +#### ml-agents / ml-agents-envs / gym-unity (Python) + +- Fixed an issue where exceptions from environments provided a return code of 0. + (#3680) +- Self-Play team changes will now trigger a full environment reset. This + prevents trajectories in progress during a team change from getting into the + buffer. (#3870) + +## [0.15.1-preview] - 2020-03-30 + +### Bug Fixes + +- Raise the wall in CrawlerStatic scene to prevent Agent from falling off. + (#3650) +- Fixed an issue where specifying `vis_encode_type` was required only for SAC. + (#3677) +- Fixed the reported entropy values for continuous actions (#3684) +- Fixed an issue where switching models using `SetModel()` during training would + use an excessive amount of memory. (#3664) +- Environment subprocesses now close immediately on timeout or wrong API + version. (#3679) +- Fixed an issue in the gym wrapper that would raise an exception if an Agent + called EndEpisode multiple times in the same step. (#3700) +- Fixed an issue where logging output was not visible; logging levels are now + set consistently. (#3703) + +## [0.15.0-preview] - 2020-03-18 + +### Major Changes + +- `Agent.CollectObservations` now takes a VectorSensor argument. (#3352, #3389) +- Added `Agent.CollectDiscreteActionMasks` virtual method with a + `DiscreteActionMasker` argument to specify which discrete actions are + unavailable to the Agent. (#3525) +- Beta support for ONNX export was added. If the `tf2onnx` python package is + installed, models will be saved to `.onnx` as well as `.nn` format. Note that + Barracuda 0.6.0 or later is required to import the `.onnx` files properly +- Multi-GPU training and the `--multi-gpu` option has been removed temporarily. + (#3345) +- All Sensor related code has been moved to the namespace `MLAgents.Sensors`. +- All SideChannel related code has been moved to the namespace + `MLAgents.SideChannels`. +- `BrainParameters` and `SpaceType` have been removed from the public API +- `BehaviorParameters` have been removed from the public API. +- The following methods in the `Agent` class have been deprecated and will be + removed in a later release: + - `InitializeAgent()` was renamed to `Initialize()` + - `AgentAction()` was renamed to `OnActionReceived()` + - `AgentReset()` was renamed to `OnEpisodeBegin()` + - `Done()` was renamed to `EndEpisode()` + - `GiveModel()` was renamed to `SetModel()` + +### Minor Changes + +- Monitor.cs was moved to Examples. (#3372) +- Automatic stepping for Academy is now controlled from the + AutomaticSteppingEnabled property. (#3376) +- The GetEpisodeCount, GetStepCount, GetTotalStepCount and methods of Academy + were changed to EpisodeCount, StepCount, TotalStepCount properties + respectively. (#3376) +- Several classes were changed from public to internal visibility. (#3390) +- Academy.RegisterSideChannel and UnregisterSideChannel methods were added. + (#3391) +- A tutorial on adding custom SideChannels was added (#3391) +- The stepping logic for the Agent and the Academy has been simplified (#3448) +- Update Barracuda to 0.6.1-preview + +* The interface for `RayPerceptionSensor.PerceiveStatic()` was changed to take + an input class and write to an output class, and the method was renamed to + `Perceive()`. + +- The checkpoint file suffix was changed from `.cptk` to `.ckpt` (#3470) +- The command-line argument used to determine the port that an environment will + listen on was changed from `--port` to `--mlagents-port`. +- `DemonstrationRecorder` can now record observations outside of the editor. +- `DemonstrationRecorder` now has an optional path for the demonstrations. This + will default to `Application.dataPath` if not set. +- `DemonstrationStore` was changed to accept a `Stream` for its constructor, and + was renamed to `DemonstrationWriter` +- The method `GetStepCount()` on the Agent class has been replaced with the + property getter `StepCount` +- `RayPerceptionSensorComponent` and related classes now display the debug + gizmos whenever the Agent is selected (not just Play mode). +- Most fields on `RayPerceptionSensorComponent` can now be changed while the + editor is in Play mode. The exceptions to this are fields that affect the + number of observations. +- Most fields on `CameraSensorComponent` and `RenderTextureSensorComponent` were + changed to private and replaced by properties with the same name. +- Unused static methods from the `Utilities` class (ShiftLeft, ReplaceRange, + AddRangeNoAlloc, and GetSensorFloatObservationSize) were removed. +- The `Agent` class is no longer abstract. +- SensorBase was moved out of the package and into the Examples directory. +- `AgentInfo.actionMasks` has been renamed to `AgentInfo.discreteActionMasks`. +- `DecisionRequester` has been made internal (you can still use the + DecisionRequesterComponent from the inspector). `RepeatAction` was renamed + `TakeActionsBetweenDecisions` for clarity. (#3555) +- The `IFloatProperties` interface has been removed. +- Fix #3579. +- Improved inference performance for models with multiple action branches. + (#3598) +- Fixed an issue when using GAIL with less than `batch_size` number of + demonstrations. (#3591) +- The interfaces to the `SideChannel` classes (on C# and python) have changed to + use new `IncomingMessage` and `OutgoingMessage` classes. These should make + reading and writing data to the channel easier. (#3596) +- Updated the ExpertPyramid.demo example demonstration file (#3613) +- Updated project version for example environments to 2018.4.18f1. (#3618) +- Changed the Product Name in the example environments to remove spaces, so that + the default build executable file doesn't contain spaces. (#3612) + +## [0.14.1-preview] - 2020-02-25 + +### Bug Fixes + +- Fixed an issue which caused self-play training sessions to consume a lot of + memory. (#3451) +- Fixed an IndexError when using GAIL or behavioral cloning with demonstrations + recorded with 0.14.0 or later (#3464) +- Updated the `gail_config.yaml` to work with per-Agent steps (#3475) +- Fixed demonstration recording of experiences when the Agent is done. (#3463) +- Fixed a bug with the rewards of multiple Agents in the gym interface (#3471, + #3496) + +## [0.14.0-preview] - 2020-02-13 + +### Major Changes + +- A new self-play mechanism for training agents in adversarial scenarios was + added (#3194) +- Tennis and Soccer environments were refactored to enable training with + self-play (#3194, #3331) +- UnitySDK folder was split into a Unity Package (com.unity.ml-agents) and our + examples were moved to the Project folder (#3267) +- Academy is now a singleton and is no longer abstract (#3210, #3184) +- In order to reduce the size of the API, several classes and methods were + marked as internal or private. Some public fields on the Agent were trimmed + (#3342, #3353, #3269) +- Decision Period and on-demand decision checkboxes were removed from the Agent. + on-demand decision is now the default (#3243) +- Calling Done() on the Agent will reset it immediately and call the AgentReset + virtual method (#3291, #3242) +- The "Reset on Done" setting in AgentParameters was removed; this is now always + true. AgentOnDone virtual method on the Agent was removed (#3311, #3222) +- Trainer steps are now counted per-Agent, not per-environment as in previous + versions. For instance, if you have 10 Agents in the scene, 20 environment + steps now correspond to 200 steps as printed in the terminal and in + Tensorboard (#3113) + +### Minor Changes + +- Barracuda was updated to 0.5.0-preview (#3329) +- --num-runs option was removed from mlagents-learn (#3155) +- Curriculum config files are now YAML formatted and all curricula for a + training run are combined into a single file (#3186) +- ML-Agents components, such as BehaviorParameters and various Sensor + implementations, now appear in the Components menu (#3231) +- Exceptions are now raised in Unity (in debug mode only) if NaN observations or + rewards are passed (#3221) +- RayPerception MonoBehavior, which was previously deprecated, was removed + (#3304) +- Uncompressed visual (i.e. 3d float arrays) observations are now supported. + CameraSensorComponent and RenderTextureSensor now have an option to write + uncompressed observations (#3148) +- Agent’s handling of observations during training was improved so that an extra + copy of the observations is no longer maintained (#3229) +- Error message for missing trainer config files was improved to include the + absolute path (#3230) +- Support for 2017.4 LTS was dropped (#3121, #3168) +- Some documentation improvements were made (#3296, #3292, #3295, #3281) + +### Bug Fixes + +- Numpy warning when stats don’t exist (#3251) +- A bug that caused RayPerceptionSensor to behave inconsistently with transforms + that have non-1 scale was fixed (#3321) +- Some small bugfixes to tensorflow_to_barracuda.py were backported from the + barracuda release (#3341) +- Base port in the jupyter notebook example was updated to use the same port + that the editor uses (#3283) + +## [0.13.0-preview] - 2020-01-24 + +### This is the first release of _Unity Package ML-Agents_. + +_Short description of this release_ diff --git a/com.unity.ml-agents/CHANGELOG.md.meta b/com.unity.ml-agents/CHANGELOG.md.meta new file mode 100644 index 0000000000..6331df01c1 --- /dev/null +++ b/com.unity.ml-agents/CHANGELOG.md.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: e19737407870a49abaaa1a90dae1a334 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/CODEOWNERS b/com.unity.ml-agents/CODEOWNERS new file mode 100644 index 0000000000..52cb7ada8f --- /dev/null +++ b/com.unity.ml-agents/CODEOWNERS @@ -0,0 +1,2 @@ +# see https://docs.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners for more information +* @unity/behavior-authoring \ No newline at end of file diff --git a/com.unity.ml-agents/CODEOWNERS.meta b/com.unity.ml-agents/CODEOWNERS.meta new file mode 100644 index 0000000000..f288a23537 --- /dev/null +++ b/com.unity.ml-agents/CODEOWNERS.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 5de323c2110f44676ba99dc49409363c +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/CONTRIBUTING.md b/com.unity.ml-agents/CONTRIBUTING.md new file mode 100644 index 0000000000..65b01e775b --- /dev/null +++ b/com.unity.ml-agents/CONTRIBUTING.md @@ -0,0 +1,97 @@ +# Contribution Guidelines + +Thank you for your interest in contributing to the ML-Agents Toolkit! We are +incredibly excited to see how members of our community will use and extend the +ML-Agents Toolkit. To facilitate your contributions, we've outlined a brief set +of guidelines to ensure that your extensions can be easily integrated. + +## Communication + +First, please read through our +[code of conduct](https://github.com/Unity-Technologies/ml-agents/blob/main/CODE_OF_CONDUCT.md), +as we expect all our contributors to follow it. + +Second, before starting on a project that you intend to contribute to the +ML-Agents Toolkit (whether environments or modifications to the codebase), we +**strongly** recommend posting on our +[Issues page](https://github.com/Unity-Technologies/ml-agents/issues) and +briefly outlining the changes you plan to make. This will enable us to provide +some context that may be helpful for you. This could range from advice and +feedback on how to optimally perform your changes or reasons for not doing it. + +Lastly, if you're looking for input on what to contribute, feel free to reach +out to us directly at ml-agents@unity3d.com and/or browse the GitHub issues with +the `Requests` or `Bug` label. + +## Git Branches + +The main branch corresponds to the most recent version of the project. Note +that this may be newer that the +[latest release](https://github.com/Unity-Technologies/ml-agents/releases/tag/latest_release). + +When contributing to the project, please make sure that your Pull Request (PR) +contains the following: + +- Detailed description of the changes performed +- Corresponding changes to documentation, unit tests and sample environments (if + applicable) +- Summary of the tests performed to validate your changes +- Issue numbers that the PR resolves (if any) + +## Environments + +We are currently not accepting environment contributions directly into ML-Agents. +However, we believe community created enviornments have a lot of value to the +community. If you have an interesting enviornment and are willing to share, +feel free to showcase it and share any relevant files in the +[ML-Agents forum](https://forum.unity.com/forums/ml-agents.453/). + +## Continuous Integration (CI) + +We run continuous integration on all PRs; all tests must be passing before the PR is merged. + +Several static checks are run on the codebase using the +[pre-commit framework](https://pre-commit.com/) during CI. To execute the same +checks locally, run: +```bash +pip install pre-commit>=2.8.0 +pip install identify>==2.1.3 +pre-commit run --all-files +``` + +Some hooks (for example, `black`) will output the corrected version of the code; +others (like `mypy`) may require more effort to fix. You can optionally run +`pre-commit install` to install it as a git hook; after this it will run on all +commits that you make. + +### Code style + +All python code should be formatted with +[`black`](https://github.com/psf/black). + +C# code is formatted using [`dotnet-format`](https://github.com/dotnet/format). +You must have [dotnet](https://dotnet.microsoft.com/download) installed first +(but don't need to install `dotnet-format` - `pre-commit` will do that for you). + +### Python type annotations + +We use [`mypy`](http://mypy-lang.org/) to perform static type checking on python +code. Currently not all code is annotated but we will increase coverage over +time. If you are adding or refactoring code, please + +1. Add type annotations to the new or refactored code. +2. Make sure that code calling or called by the modified code also has type + annotations. + +The +[type hint cheat sheet](https://mypy.readthedocs.io/en/stable/cheat_sheet_py3.html) +provides a good introduction to adding type hints. + +## Contributor License Agreements + +When you open a pull request, you will be asked to acknolwedge our Contributor +License Agreement. We allow both individual contributions and contributions made +on behalf of companies. We use an open source tool called CLA assistant. If you +have any questions on our CLA, please +[submit an issue](https://github.com/Unity-Technologies/ml-agents/issues) or +email us at ml-agents@unity3d.com. diff --git a/com.unity.ml-agents/CONTRIBUTING.md.meta b/com.unity.ml-agents/CONTRIBUTING.md.meta new file mode 100644 index 0000000000..acf109e975 --- /dev/null +++ b/com.unity.ml-agents/CONTRIBUTING.md.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 60b8c21afae8d449ebcdd512e85e97ac +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md b/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md new file mode 100644 index 0000000000..7e90deef39 --- /dev/null +++ b/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md @@ -0,0 +1,161 @@ +# About ML-Agents package (`com.unity.ml-agents`) + +The _ML-Agents_ package contains the primary C# SDK for the [Unity ML-Agents +Toolkit]. + +The package allows you to convert any Unity scene into a learning environment +and train character behaviors using a variety of machine learning algorithms. +Additionally, it allows you to embed these trained behaviors back into Unity +scenes to control your characters. More specifically, the package provides the +following core functionalities: + +- Define Agents: entities, or characters, whose behavior will be learned. Agents + are entities that generate observations (through sensors), take actions, and + receive rewards from the environment. +- Define Behaviors: entities that specify how an agent should act. Multiple + agents can share the same Behavior and a scene may have multiple Behaviors. +- Record demonstrations of an agent within the Editor. You can use + demonstrations to help train a behavior for that agent. +- Embedding a trained behavior into the scene via the [Unity Inference Engine]. + Embedded behaviors allow you to switch an Agent between learning and + inference. + +Note that the _ML-Agents_ package does not contain the machine learning +algorithms for training behaviors. The _ML-Agents_ package only supports +instrumenting a Unity scene, setting it up for training, and then embedding the +trained model back into your Unity scene. The machine learning algorithms that +orchestrate training are part of the companion [Python package]. + +Note that we also provide an _ML-Agents Extensions_ package +(`com.unity.ml-agents.extensions`) that contains early/experimental features +that you may find useful. This package is only available from the [ML-Agents +GitHub repo]. + +## Package contents + +The following table describes the package folder structure: + +| **Location** | **Description** | +| ---------------------- | ----------------------------------------------------------------------- | +| _Documentation~_ | Contains the documentation for the Unity package. | +| _Editor_ | Contains utilities for Editor windows and drawers. | +| _Plugins_ | Contains third-party DLLs. | +| _Runtime_ | Contains core C# APIs for integrating ML-Agents into your Unity scene. | +| _Runtime/Integrations_ | Contains utilities for integrating ML-Agents into specific game genres. | +| _Tests_ | Contains the unit tests for the package. | + + + +## Installation + +To install this _ML-Agents_ package, follow the instructions in the [Package +Manager documentation]. + +To install the companion Python package to enable training behaviors, follow the +[installation instructions] on our [GitHub repository]. + +### Advanced Installation +With the changes to Unity Package Manager in 2021, experimental packages will not show up in the package list and have to be installed manually. There are two recommended ways to install the package manually: + +#### 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_19_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#release_19 +``` + +You can also edit your project's `manifest.json` directly and add the following line to the `dependencies` +section: +``` +"com.unity.ml-agents": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents#release_19", +``` +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. + +#### Local Installation for Development + +[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_19_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_19_docs/docs/Installation.md#advanced-local-installation-for-development-1) +directions. + +## Requirements + +This version of the Unity ML-Agents package is compatible with the following +versions of the Unity Editor: + +- 2019.4 and later + +## Known Limitations + +### Training + +Training is limited to the Unity Editor and Standalone builds on Windows, MacOS, +and Linux with the Mono scripting backend. Currently, training does not work +with the IL2CPP scripting backend. Your environment will default to inference +mode if training is not supported or is not currently running. + +### Inference + +Inference is executed via the +[Unity Inference Engine](https://docs.unity3d.com/Packages/com.unity.barracuda@latest/index.html). + +**CPU** + +All platforms supported. + +**GPU** + +All platforms supported except: + +- WebGL and GLES 3/2 on Android / iPhone + +**NOTE:** Mobile platform support includes: + +- Vulkan for Android +- Metal for iOS. + +### Headless Mode + +If you enable Headless mode, you will not be able to collect visual observations +from your agents. + +### Rendering Speed and Synchronization + +Currently the speed of the game physics can only be increased to 100x real-time. +The Academy also moves in time with FixedUpdate() rather than Update(), so game +behavior implemented in Update() may be out of sync with the agent decision +making. See [Execution Order of Event Functions] for more information. + +You can control the frequency of Academy stepping by calling +`Academy.Instance.DisableAutomaticStepping()`, and then calling +`Academy.Instance.EnvironmentStep()` + +### Unity Inference Engine Models + +Currently, only models created with our trainers are supported for running +ML-Agents with a neural network behavior. + +## Helpful links + +If you are new to the Unity ML-Agents package, or have a question after reading +the documentation, you can checkout our [GitHub Repository], which also includes +a number of ways to [connect with us] including our [ML-Agents Forum]. + +In order to improve the developer experience for Unity ML-Agents Toolkit, we have added in-editor analytics. +Please refer to "Information that is passively collected by Unity" in the +[Unity Privacy Policy](https://unity3d.com/legal/privacy-policy). + +[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_19_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_19_docs/com.unity.ml-agents.extensions diff --git a/com.unity.ml-agents/Documentation~/filter.yml b/com.unity.ml-agents/Documentation~/filter.yml new file mode 100755 index 0000000000..ce144daf61 --- /dev/null +++ b/com.unity.ml-agents/Documentation~/filter.yml @@ -0,0 +1,14 @@ +apiRules: +- exclude: + uidRegex: .*Test.* + type: Namespace +- exclude: + uidRegex: ^Unity.MLAgents\.CommunicatorObjects$ + type: Namespace +- exclude: + uidRegex: ^Unity.MLAgents\.Editor$ + type: Namespace +- exclude: + uidRegex: ^Unity.MLAgentsExamples$ + type: Namespace + diff --git a/com.unity.ml-agents/Editor.meta b/com.unity.ml-agents/Editor.meta new file mode 100644 index 0000000000..89d980b088 --- /dev/null +++ b/com.unity.ml-agents/Editor.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: e9de88a64ac5c4d2eb8955836199d61b +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/AgentEditor.cs b/com.unity.ml-agents/Editor/AgentEditor.cs new file mode 100644 index 0000000000..fdebf1cb15 --- /dev/null +++ b/com.unity.ml-agents/Editor/AgentEditor.cs @@ -0,0 +1,31 @@ +using UnityEngine; +using UnityEditor; + +namespace Unity.MLAgents.Editor +{ + /* + This code is meant to modify the behavior of the inspector on Agent Components. + */ + [CustomEditor(typeof(Agent), true)] + [CanEditMultipleObjects] + internal class AgentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { + var serializedAgent = serializedObject; + serializedAgent.Update(); + + var maxSteps = serializedAgent.FindProperty("MaxStep"); + + EditorGUILayout.PropertyField( + maxSteps, + new GUIContent("Max Step", "The per-agent maximum number of steps.") + ); + + serializedAgent.ApplyModifiedProperties(); + + EditorGUILayout.LabelField("", GUI.skin.horizontalSlider); + base.OnInspectorGUI(); + } + } +} diff --git a/com.unity.ml-agents/Editor/AgentEditor.cs.meta b/com.unity.ml-agents/Editor/AgentEditor.cs.meta new file mode 100755 index 0000000000..66bc325f8b --- /dev/null +++ b/com.unity.ml-agents/Editor/AgentEditor.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: c3b291e1cd0c64781861652b579d0ac1 +timeCreated: 1503270350 +licenseType: Free +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs new file mode 100644 index 0000000000..a95b2846f3 --- /dev/null +++ b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs @@ -0,0 +1,192 @@ +using System.Collections.Generic; +using UnityEditor; +using Unity.Barracuda; +using Unity.MLAgents.Actuators; +using Unity.MLAgents.Policies; +using Unity.MLAgents.Sensors; +using Unity.MLAgents.Sensors.Reflection; +using CheckTypeEnum = Unity.MLAgents.Inference.BarracudaModelParamLoader.FailedCheck.CheckTypeEnum; + +namespace Unity.MLAgents.Editor +{ + /* + This code is meant to modify the behavior of the inspector on Agent Components. + */ + [CustomEditor(typeof(BehaviorParameters))] + [CanEditMultipleObjects] + internal class BehaviorParametersEditor : UnityEditor.Editor + { + const float k_TimeBetweenModelReloads = 2f; + // Time since the last reload of the model + float m_TimeSinceModelReload; + // Whether or not the model needs to be reloaded + bool m_RequireReload; + const string k_BehaviorName = "m_BehaviorName"; + const string k_BrainParametersName = "m_BrainParameters"; + const string k_ModelName = "m_Model"; + const string k_InferenceDeviceName = "m_InferenceDevice"; + const string k_DeterministicInference = "m_DeterministicInference"; + const string k_BehaviorTypeName = "m_BehaviorType"; + const string k_TeamIdName = "TeamId"; + const string k_UseChildSensorsName = "m_UseChildSensors"; + const string k_ObservableAttributeHandlingName = "m_ObservableAttributeHandling"; + + public override void OnInspectorGUI() + { + var so = serializedObject; + so.Update(); + bool needPolicyUpdate; // Whether the name, model, inference device, or BehaviorType changed. + + var behaviorParameters = (BehaviorParameters)target; + var agent = behaviorParameters.gameObject.GetComponent(); + if (agent == null) + { + EditorGUILayout.HelpBox( + "No Agent is associated with this Behavior Parameters. Attach an Agent to " + + "this GameObject to configure your Agent with these behavior parameters.", + MessageType.Warning); + } + + // Drawing the Behavior Parameters + EditorGUI.indentLevel++; + EditorGUI.BeginChangeCheck(); // global + + EditorGUI.BeginChangeCheck(); + { + EditorGUILayout.PropertyField(so.FindProperty(k_BehaviorName)); + } + needPolicyUpdate = EditorGUI.EndChangeCheck(); + + EditorGUI.BeginChangeCheck(); + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.PropertyField(so.FindProperty(k_BrainParametersName), true); + } + EditorGUI.EndDisabledGroup(); + + EditorGUI.BeginChangeCheck(); + { + EditorGUILayout.PropertyField(so.FindProperty(k_ModelName), true); + EditorGUI.indentLevel++; + EditorGUILayout.PropertyField(so.FindProperty(k_InferenceDeviceName), true); + EditorGUILayout.PropertyField(so.FindProperty(k_DeterministicInference), true); + EditorGUI.indentLevel--; + } + needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck(); + + EditorGUI.BeginChangeCheck(); + { + EditorGUILayout.PropertyField(so.FindProperty(k_BehaviorTypeName)); + } + needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck(); + + EditorGUILayout.PropertyField(so.FindProperty(k_TeamIdName)); + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.PropertyField(so.FindProperty(k_UseChildSensorsName), true); + EditorGUILayout.PropertyField(so.FindProperty(k_ObservableAttributeHandlingName), true); + } + EditorGUI.EndDisabledGroup(); + + EditorGUI.indentLevel--; + m_RequireReload = EditorGUI.EndChangeCheck(); + DisplayFailedModelChecks(); + so.ApplyModifiedProperties(); + + if (needPolicyUpdate) + { + UpdateAgentPolicy(); + } + } + + /// + /// Must be called within OnEditorGUI() + /// + void DisplayFailedModelChecks() + { + if (m_RequireReload && m_TimeSinceModelReload > k_TimeBetweenModelReloads) + { + m_RequireReload = false; + m_TimeSinceModelReload = 0; + } + // Display all failed checks + D.logEnabled = false; + Model barracudaModel = null; + var model = (NNModel)serializedObject.FindProperty(k_ModelName).objectReferenceValue; + var behaviorParameters = (BehaviorParameters)target; + + // Grab the sensor components, since we need them to determine the observation sizes. + // TODO make these methods of BehaviorParameters + var agent = behaviorParameters.gameObject.GetComponent(); + if (agent == null) + { + return; + } + agent.sensors = new List(); + agent.InitializeSensors(); + var sensors = agent.sensors.ToArray(); + + ActuatorComponent[] actuatorComponents; + if (behaviorParameters.UseChildActuators) + { + actuatorComponents = behaviorParameters.GetComponentsInChildren(); + } + else + { + actuatorComponents = behaviorParameters.GetComponents(); + } + + // Get the total size of the sensors generated by ObservableAttributes. + // If there are any errors (e.g. unsupported type, write-only properties), display them too. + int observableAttributeSensorTotalSize = 0; + if (agent != null && behaviorParameters.ObservableAttributeHandling != ObservableAttributeOptions.Ignore) + { + List observableErrors = new List(); + observableAttributeSensorTotalSize = ObservableAttribute.GetTotalObservationSize(agent, false, observableErrors); + foreach (var check in observableErrors) + { + EditorGUILayout.HelpBox(check, MessageType.Warning); + } + } + + var brainParameters = behaviorParameters.BrainParameters; + if (model != null) + { + barracudaModel = ModelLoader.Load(model); + } + if (brainParameters != null) + { + var failedChecks = Inference.BarracudaModelParamLoader.CheckModel( + barracudaModel, brainParameters, sensors, actuatorComponents, + observableAttributeSensorTotalSize, behaviorParameters.BehaviorType, behaviorParameters.DeterministicInference + ); + foreach (var check in failedChecks) + { + if (check != null) + { + switch (check.CheckType) + { + case CheckTypeEnum.Info: + EditorGUILayout.HelpBox(check.Message, MessageType.Info); + break; + case CheckTypeEnum.Warning: + EditorGUILayout.HelpBox(check.Message, MessageType.Warning); + break; + case CheckTypeEnum.Error: + EditorGUILayout.HelpBox(check.Message, MessageType.Error); + break; + default: + break; + } + } + } + } + } + + void UpdateAgentPolicy() + { + var behaviorParameters = (BehaviorParameters)target; + behaviorParameters.UpdateAgentPolicy(); + } + } +} diff --git a/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs.meta b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs.meta new file mode 100644 index 0000000000..6eb612f3e3 --- /dev/null +++ b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 72b0b21a2d4ee4bc2be0530fd134720d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/BrainParametersDrawer.cs b/com.unity.ml-agents/Editor/BrainParametersDrawer.cs new file mode 100644 index 0000000000..52f40e20d3 --- /dev/null +++ b/com.unity.ml-agents/Editor/BrainParametersDrawer.cs @@ -0,0 +1,172 @@ +using UnityEngine; +using UnityEditor; +using Unity.MLAgents.Policies; + +namespace Unity.MLAgents.Editor +{ + /// + /// PropertyDrawer for BrainParameters. Defines how BrainParameters are displayed in the + /// Inspector. + /// + [CustomPropertyDrawer(typeof(BrainParameters))] + internal class BrainParametersDrawer : PropertyDrawer + { + // The height of a line in the Unity Inspectors + const float k_LineHeight = 17f; + const int k_VecObsNumLine = 3; + const string k_ActionSpecName = "m_ActionSpec"; + const string k_ContinuousActionSizeName = "m_NumContinuousActions"; + const string k_DiscreteBranchSizeName = "BranchSizes"; + const string k_ActionDescriptionPropName = "VectorActionDescriptions"; + const string k_VecObsPropName = "VectorObservationSize"; + const string k_NumVecObsPropName = "NumStackedVectorObservations"; + + /// + public override float GetPropertyHeight(SerializedProperty property, GUIContent label) + { + return GetHeightDrawVectorObservation() + + GetHeightDrawVectorAction(property); + } + + /// + public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) + { + var indent = EditorGUI.indentLevel; + EditorGUI.indentLevel = 0; + position.height = k_LineHeight; + EditorGUI.BeginProperty(position, label, property); + EditorGUI.indentLevel++; + + // Vector Observations + DrawVectorObservation(position, property); + position.y += GetHeightDrawVectorObservation(); + + // Vector Action + DrawVectorAction(position, property); + position.y += GetHeightDrawVectorAction(property); + + EditorGUI.EndProperty(); + EditorGUI.indentLevel = indent; + } + + /// + /// Draws the Vector Observations for the Brain Parameters + /// + /// Rectangle on the screen to use for the property GUI. + /// The SerializedProperty of the BrainParameters + /// to make the custom GUI for. + static void DrawVectorObservation(Rect position, SerializedProperty property) + { + EditorGUI.LabelField(position, "Vector Observation"); + position.y += k_LineHeight; + + EditorGUI.indentLevel++; + EditorGUI.PropertyField(position, + property.FindPropertyRelative(k_VecObsPropName), + new GUIContent("Space Size", + "Length of state " + + "vector for brain (In Continuous state space)." + + "Or number of possible values (in Discrete state space).")); + position.y += k_LineHeight; + + EditorGUI.PropertyField(position, + property.FindPropertyRelative(k_NumVecObsPropName), + new GUIContent("Stacked Vectors", + "Number of states that will be stacked before " + + "being fed to the neural network.")); + position.y += k_LineHeight; + EditorGUI.indentLevel--; + } + + /// + /// The Height required to draw the Vector Observations paramaters + /// + /// The height of the drawer of the Vector Observations + static float GetHeightDrawVectorObservation() + { + return k_VecObsNumLine * k_LineHeight; + } + + /// + /// Draws the Vector Actions parameters for the Brain Parameters + /// + /// Rectangle on the screen to use for the property GUI. + /// The SerializedProperty of the BrainParameters + /// to make the custom GUI for. + static void DrawVectorAction(Rect position, SerializedProperty property) + { + EditorGUI.LabelField(position, "Actions"); + position.y += k_LineHeight; + EditorGUI.indentLevel++; + var actionSpecProperty = property.FindPropertyRelative(k_ActionSpecName); + DrawContinuousVectorAction(position, actionSpecProperty); + position.y += k_LineHeight; + DrawDiscreteVectorAction(position, actionSpecProperty); + } + + /// + /// Draws the Continuous Vector Actions parameters for the Brain Parameters + /// + /// Rectangle on the screen to use for the property GUI. + /// The SerializedProperty of the BrainParameters + /// to make the custom GUI for. + static void DrawContinuousVectorAction(Rect position, SerializedProperty property) + { + var continuousActionSize = property.FindPropertyRelative(k_ContinuousActionSizeName); + EditorGUI.PropertyField( + position, + continuousActionSize, + new GUIContent("Continuous Actions", "Number of continuous actions.")); + } + + /// + /// Draws the Discrete Vector Actions parameters for the Brain Parameters + /// + /// Rectangle on the screen to use for the property GUI. + /// The SerializedProperty of the BrainParameters + /// to make the custom GUI for. + static void DrawDiscreteVectorAction(Rect position, SerializedProperty property) + { + var branchSizes = property.FindPropertyRelative(k_DiscreteBranchSizeName); + var newSize = EditorGUI.IntField( + position, "Discrete Branches", branchSizes.arraySize); + + // This check is here due to: + // https://fogbugz.unity3d.com/f/cases/1246524/ + // If this case has been resolved, please remove this if condition. + if (newSize != branchSizes.arraySize) + { + branchSizes.arraySize = newSize; + } + + position.y += k_LineHeight; + position.x += 20; + position.width -= 20; + for (var branchIndex = 0; + branchIndex < branchSizes.arraySize; + branchIndex++) + { + var branchActionSize = + branchSizes.GetArrayElementAtIndex(branchIndex); + + EditorGUI.PropertyField( + position, + branchActionSize, + new GUIContent("Branch " + branchIndex + " Size", + "Number of possible actions for the branch number " + branchIndex + ".")); + position.y += k_LineHeight; + } + } + + /// + /// The Height required to draw the Vector Action parameters. + /// + /// The height of the drawer of the Vector Action. + static float GetHeightDrawVectorAction(SerializedProperty property) + { + var actionSpecProperty = property.FindPropertyRelative(k_ActionSpecName); + var numActionLines = 3 + actionSpecProperty.FindPropertyRelative(k_DiscreteBranchSizeName).arraySize; + return numActionLines * k_LineHeight; + } + } +} diff --git a/com.unity.ml-agents/Editor/BrainParametersDrawer.cs.meta b/com.unity.ml-agents/Editor/BrainParametersDrawer.cs.meta new file mode 100644 index 0000000000..9379a5f0eb --- /dev/null +++ b/com.unity.ml-agents/Editor/BrainParametersDrawer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: b060ae8e687cf49bcae88b24db17bfa6 +timeCreated: 1517291065 +licenseType: Free +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs b/com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs new file mode 100644 index 0000000000..f41edb2740 --- /dev/null +++ b/com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs @@ -0,0 +1,31 @@ +using UnityEditor; +using Unity.MLAgents.Sensors; + +namespace Unity.MLAgents.Editor +{ + [CustomEditor(typeof(BufferSensorComponent), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class BufferSensorComponentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { + var so = serializedObject; + so.Update(); + + // Drawing the BufferSensorComponent + + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + // These fields affect the sensor order or observation size, + // So can't be changed at runtime. + EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservableSize"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_MaxNumObservables"), true); + } + EditorGUI.EndDisabledGroup(); + + so.ApplyModifiedProperties(); + } + + } +} diff --git a/com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs.meta b/com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs.meta new file mode 100644 index 0000000000..62de961c7e --- /dev/null +++ b/com.unity.ml-agents/Editor/BufferSensorComponentEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b042fe65027f94c1eb38a2ee1362d38d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/CameraSensorComponentEditor.cs b/com.unity.ml-agents/Editor/CameraSensorComponentEditor.cs new file mode 100644 index 0000000000..1df66ee3c9 --- /dev/null +++ b/com.unity.ml-agents/Editor/CameraSensorComponentEditor.cs @@ -0,0 +1,49 @@ +using UnityEditor; +using Unity.MLAgents.Sensors; + +namespace Unity.MLAgents.Editor +{ + [CustomEditor(typeof(CameraSensorComponent), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class CameraSensorComponentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { + var so = serializedObject; + so.Update(); + + // Drawing the CameraSensorComponent + EditorGUI.BeginChangeCheck(); + + EditorGUILayout.PropertyField(so.FindProperty("m_Camera"), true); + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + // These fields affect the sensor order or observation size, + // So can't be changed at runtime. + EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_Width"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_Height"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_Grayscale"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationStacks"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationType"), true); + } + EditorGUI.EndDisabledGroup(); + EditorGUILayout.PropertyField(so.FindProperty("m_RuntimeCameraEnable"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_Compression"), true); + + var requireSensorUpdate = EditorGUI.EndChangeCheck(); + so.ApplyModifiedProperties(); + + if (requireSensorUpdate) + { + UpdateSensor(); + } + } + + void UpdateSensor() + { + var sensorComponent = serializedObject.targetObject as CameraSensorComponent; + sensorComponent?.UpdateSensor(); + } + } +} diff --git a/com.unity.ml-agents/Editor/CameraSensorComponentEditor.cs.meta b/com.unity.ml-agents/Editor/CameraSensorComponentEditor.cs.meta new file mode 100644 index 0000000000..70b1e31432 --- /dev/null +++ b/com.unity.ml-agents/Editor/CameraSensorComponentEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: fdda773c024894cf0ae47d1b1396c38d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/DemonstrationDrawer.cs b/com.unity.ml-agents/Editor/DemonstrationDrawer.cs new file mode 100644 index 0000000000..d15baa9a1d --- /dev/null +++ b/com.unity.ml-agents/Editor/DemonstrationDrawer.cs @@ -0,0 +1,137 @@ +using System.Collections.Generic; +using System.Text; +using UnityEditor; +using Unity.MLAgents.Demonstrations; + +namespace Unity.MLAgents.Editor +{ + /// + /// Renders a custom UI for DemonstrationSummary ScriptableObject. + /// + [CustomEditor(typeof(DemonstrationSummary))] + [CanEditMultipleObjects] + internal class DemonstrationEditor : UnityEditor.Editor + { + SerializedProperty m_BrainParameters; + SerializedProperty m_DemoMetaData; + SerializedProperty m_ObservationShapes; + const string k_BrainParametersName = "brainParameters"; + const string k_MetaDataName = "metaData"; + const string k_ObservationSummariesName = "observationSummaries"; + const string k_DemonstrationName = "demonstrationName"; + const string k_NumberStepsName = "numberSteps"; + const string k_NumberEpisodesName = "numberEpisodes"; + const string k_MeanRewardName = "meanReward"; + const string k_ActionSpecName = "m_ActionSpec"; + const string k_NumContinuousActionsName = "m_NumContinuousActions"; + const string k_NumDiscreteActionsName = "BranchSizes"; + const string k_ShapeName = "shape"; + + + void OnEnable() + { + m_BrainParameters = serializedObject.FindProperty(k_BrainParametersName); + m_DemoMetaData = serializedObject.FindProperty(k_MetaDataName); + m_ObservationShapes = serializedObject.FindProperty(k_ObservationSummariesName); + } + + /// + /// Renders Inspector UI for Demonstration metadata. + /// + void MakeMetaDataProperty(SerializedProperty property) + { + var nameProp = property.FindPropertyRelative(k_DemonstrationName); + var experiencesProp = property.FindPropertyRelative(k_NumberStepsName); + var episodesProp = property.FindPropertyRelative(k_NumberEpisodesName); + var rewardsProp = property.FindPropertyRelative(k_MeanRewardName); + + var nameLabel = nameProp.displayName + ": " + nameProp.stringValue; + var experiencesLabel = experiencesProp.displayName + ": " + experiencesProp.intValue; + var episodesLabel = episodesProp.displayName + ": " + episodesProp.intValue; + var rewardsLabel = rewardsProp.displayName + ": " + rewardsProp.floatValue; + + EditorGUILayout.LabelField(nameLabel); + EditorGUILayout.LabelField(experiencesLabel); + EditorGUILayout.LabelField(episodesLabel); + EditorGUILayout.LabelField(rewardsLabel); + } + + /// + /// Constructs label for a serialized integer array. + /// + static string BuildIntArrayLabel(SerializedProperty actionSizeProperty) + { + var actionSize = actionSizeProperty.arraySize; + var actionLabel = new StringBuilder("[ "); + for (var i = 0; i < actionSize; i++) + { + actionLabel.Append(actionSizeProperty.GetArrayElementAtIndex(i).intValue); + if (i < actionSize - 1) + { + actionLabel.Append(", "); + } + } + + actionLabel.Append(" ]"); + return actionLabel.ToString(); + } + + /// + /// Renders Inspector UI for BrainParameters of a DemonstrationSummary. + /// Only the Action size and type are used from the BrainParameters. + /// + void MakeActionsProperty(SerializedProperty property) + { + var actSpecProperty = property.FindPropertyRelative(k_ActionSpecName); + var continuousSizeProperty = actSpecProperty.FindPropertyRelative(k_NumContinuousActionsName); + var discreteSizeProperty = actSpecProperty.FindPropertyRelative(k_NumDiscreteActionsName); + var continuousSizeLabel = "Continuous Actions: " + continuousSizeProperty.intValue; + var discreteSizeLabel = "Discrete Action Branches: "; + discreteSizeLabel += discreteSizeProperty == null ? "[]" : BuildIntArrayLabel(discreteSizeProperty); + EditorGUILayout.LabelField(continuousSizeLabel); + EditorGUILayout.LabelField(discreteSizeLabel); + } + + /// + /// Render the observation shapes of a DemonstrationSummary. + /// + /// + void MakeObservationsProperty(SerializedProperty obsSummariesProperty) + { + var shapesLabels = new List(); + var numObservations = obsSummariesProperty.arraySize; + for (var i = 0; i < numObservations; i++) + { + var summary = obsSummariesProperty.GetArrayElementAtIndex(i); + var shapeProperty = summary.FindPropertyRelative(k_ShapeName); + shapesLabels.Add(BuildIntArrayLabel(shapeProperty)); + } + + var shapeLabel = $"Shapes: {string.Join(", ", shapesLabels)}"; + EditorGUILayout.LabelField(shapeLabel); + + } + + public override void OnInspectorGUI() + { + serializedObject.Update(); + + EditorGUILayout.LabelField("Meta Data", EditorStyles.boldLabel); + EditorGUI.indentLevel++; + MakeMetaDataProperty(m_DemoMetaData); + EditorGUI.indentLevel--; + + EditorGUILayout.LabelField("Observations", EditorStyles.boldLabel); + EditorGUI.indentLevel++; + MakeObservationsProperty(m_ObservationShapes); + EditorGUI.indentLevel--; + + EditorGUILayout.LabelField("Actions", EditorStyles.boldLabel); + EditorGUI.indentLevel++; + MakeActionsProperty(m_BrainParameters); + EditorGUI.indentLevel--; + + serializedObject.ApplyModifiedProperties(); + } + } +} diff --git a/com.unity.ml-agents/Editor/DemonstrationDrawer.cs.meta b/com.unity.ml-agents/Editor/DemonstrationDrawer.cs.meta new file mode 100644 index 0000000000..57c0681302 --- /dev/null +++ b/com.unity.ml-agents/Editor/DemonstrationDrawer.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 84f9cd83f56c74790a51444a6cfe4945 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/DemonstrationImporter.cs b/com.unity.ml-agents/Editor/DemonstrationImporter.cs new file mode 100644 index 0000000000..767f5556f9 --- /dev/null +++ b/com.unity.ml-agents/Editor/DemonstrationImporter.cs @@ -0,0 +1,75 @@ +using System; +using System.Collections.Generic; +using System.IO; +using Unity.MLAgents.CommunicatorObjects; +using UnityEditor; +using UnityEngine; +#if UNITY_2020_2_OR_NEWER +using UnityEditor.AssetImporters; +#else +using UnityEditor.Experimental.AssetImporters; +#endif +using Unity.MLAgents.Demonstrations; + +namespace Unity.MLAgents.Editor +{ + /// + /// Asset Importer used to parse demonstration files. + /// + [ScriptedImporter(1, new[] { "demo" })] + internal class DemonstrationImporter : ScriptedImporter + { + const string k_IconPath = "Packages/com.unity.ml-agents/Editor/Icons/DemoIcon.png"; + + public override void OnImportAsset(AssetImportContext ctx) + { + var inputType = Path.GetExtension(ctx.assetPath); + if (inputType == null) + { + throw new Exception("Demonstration import error."); + } + + try + { + // Read first three proto objects containing metadata, brain parameters, and observations. + Stream reader = File.OpenRead(ctx.assetPath); + + var metaDataProto = DemonstrationMetaProto.Parser.ParseDelimitedFrom(reader); + var metaData = metaDataProto.ToDemonstrationMetaData(); + + reader.Seek(DemonstrationWriter.MetaDataBytes + 1, 0); + var brainParamsProto = BrainParametersProto.Parser.ParseDelimitedFrom(reader); + var brainParameters = brainParamsProto.ToBrainParameters(); + + // Read the first AgentInfoActionPair so that we can get the observation sizes. + List observationSummaries; + try + { + var agentInfoActionPairProto = AgentInfoActionPairProto.Parser.ParseDelimitedFrom(reader); + observationSummaries = agentInfoActionPairProto.GetObservationSummaries(); + } + catch + { + // Just in case there weren't any AgentInfoActionPair or they couldn't be read. + observationSummaries = new List(); + } + + reader.Close(); + + var demonstrationSummary = ScriptableObject.CreateInstance(); + demonstrationSummary.Initialize(brainParameters, metaData, observationSummaries); + userData = demonstrationSummary.ToString(); + + var texture = (Texture2D) + AssetDatabase.LoadAssetAtPath(k_IconPath, typeof(Texture2D)); + + ctx.AddObjectToAsset(ctx.assetPath, demonstrationSummary, texture); + ctx.SetMainObject(demonstrationSummary); + } + catch + { + // ignored + } + } + } +} diff --git a/com.unity.ml-agents/Editor/DemonstrationImporter.cs.meta b/com.unity.ml-agents/Editor/DemonstrationImporter.cs.meta new file mode 100644 index 0000000000..bbdca977a3 --- /dev/null +++ b/com.unity.ml-agents/Editor/DemonstrationImporter.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 7bd65ce151aaa4a41a45312543c56be1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/EditorUtilities.cs b/com.unity.ml-agents/Editor/EditorUtilities.cs new file mode 100644 index 0000000000..8ef266f259 --- /dev/null +++ b/com.unity.ml-agents/Editor/EditorUtilities.cs @@ -0,0 +1,19 @@ +using UnityEngine; + +namespace Unity.MLAgents.Editor +{ + /// + /// A static helper class for the Editor components of the ML-Agents SDK. + /// + public static class EditorUtilities + { + /// + /// Whether or not properties that affect the model can be updated at the current time. + /// + /// + public static bool CanUpdateModelProperties() + { + return !Application.isPlaying; + } + } +} diff --git a/com.unity.ml-agents/Editor/EditorUtilities.cs.meta b/com.unity.ml-agents/Editor/EditorUtilities.cs.meta new file mode 100644 index 0000000000..2e58d7e8a3 --- /dev/null +++ b/com.unity.ml-agents/Editor/EditorUtilities.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 840f5a76642c24b789ee312f0aa8e33b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/GridSensorComponentEditor.cs b/com.unity.ml-agents/Editor/GridSensorComponentEditor.cs new file mode 100644 index 0000000000..fa9208e274 --- /dev/null +++ b/com.unity.ml-agents/Editor/GridSensorComponentEditor.cs @@ -0,0 +1,109 @@ +using UnityEditor; +using UnityEngine; +using Unity.MLAgents.Sensors; + +namespace Unity.MLAgents.Editor +{ + [CustomEditor(typeof(GridSensorComponent), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class GridSensorComponentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { +#if !MLA_UNITY_PHYSICS_MODULE + EditorGUILayout.HelpBox("The Physics Module is not currently present. " + + "Please add it to your project in order to use the GridSensor APIs in the " + + $"{nameof(GridSensorComponent)}", MessageType.Warning); +#endif + + var so = serializedObject; + so.Update(); + + // Drawing the GridSensorComponent + EditorGUI.BeginChangeCheck(); + + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + // These fields affect the sensor order or observation size, + // So can't be changed at runtime. + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_SensorName)), true); + + EditorGUILayout.LabelField("Grid Settings", EditorStyles.boldLabel); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CellScale)), true); + // We only supports 2D GridSensor now so lock gridSize.y to 1 + var gridSize = so.FindProperty(nameof(GridSensorComponent.m_GridSize)); + var gridSize2d = new Vector3Int(gridSize.vector3IntValue.x, 1, gridSize.vector3IntValue.z); + var newGridSize = EditorGUILayout.Vector3IntField("Grid Size", gridSize2d); + gridSize.vector3IntValue = new Vector3Int(newGridSize.x, 1, newGridSize.z); + } + EditorGUI.EndDisabledGroup(); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_AgentGameObject)), true); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RotateWithAgent)), true); + + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + // detectable tags + var detectableTags = so.FindProperty(nameof(GridSensorComponent.m_DetectableTags)); + var newSize = EditorGUILayout.IntField("Detectable Tags", detectableTags.arraySize); + if (newSize != detectableTags.arraySize) + { + detectableTags.arraySize = newSize; + } + EditorGUI.indentLevel++; + for (var i = 0; i < detectableTags.arraySize; i++) + { + var objectTag = detectableTags.GetArrayElementAtIndex(i); + EditorGUILayout.PropertyField(objectTag, new GUIContent("Tag " + i), true); + } + EditorGUI.indentLevel--; + } + EditorGUI.EndDisabledGroup(); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ColliderMask)), true); + EditorGUILayout.LabelField("Sensor Settings", EditorStyles.boldLabel); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ObservationStacks)), true); + EditorGUI.EndDisabledGroup(); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CompressionType)), true); + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.LabelField("Collider and Buffer", EditorStyles.boldLabel); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_InitialColliderBufferSize)), true); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_MaxColliderBufferSize)), true); + } + EditorGUI.EndDisabledGroup(); + + EditorGUILayout.LabelField("Debug Gizmo", EditorStyles.boldLabel); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ShowGizmos)), true); + EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_GizmoYOffset)), true); + + // detectable objects + var debugColors = so.FindProperty(nameof(GridSensorComponent.m_DebugColors)); + var detectableObjectSize = so.FindProperty(nameof(GridSensorComponent.m_DetectableTags)).arraySize; + if (detectableObjectSize != debugColors.arraySize) + { + debugColors.arraySize = detectableObjectSize; + } + EditorGUILayout.LabelField("Debug Colors"); + EditorGUI.indentLevel++; + for (var i = 0; i < debugColors.arraySize; i++) + { + var debugColor = debugColors.GetArrayElementAtIndex(i); + EditorGUILayout.PropertyField(debugColor, new GUIContent("Tag " + i + " Color"), true); + } + EditorGUI.indentLevel--; + + var requireSensorUpdate = EditorGUI.EndChangeCheck(); + so.ApplyModifiedProperties(); + + if (requireSensorUpdate) + { + UpdateSensor(); + } + } + + void UpdateSensor() + { + var sensorComponent = serializedObject.targetObject as GridSensorComponent; + sensorComponent?.UpdateSensor(); + } + } +} diff --git a/com.unity.ml-agents/Editor/GridSensorComponentEditor.cs.meta b/com.unity.ml-agents/Editor/GridSensorComponentEditor.cs.meta new file mode 100644 index 0000000000..c27459abce --- /dev/null +++ b/com.unity.ml-agents/Editor/GridSensorComponentEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 584686b36fcb2435c8be47d70c332ed0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/Icons.meta b/com.unity.ml-agents/Editor/Icons.meta new file mode 100644 index 0000000000..6071205cd3 --- /dev/null +++ b/com.unity.ml-agents/Editor/Icons.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: e6f6d464e3884bf883137660dee8aebf +timeCreated: 1581721596 \ No newline at end of file diff --git a/com.unity.ml-agents/Editor/Icons/DemoIcon.png b/com.unity.ml-agents/Editor/Icons/DemoIcon.png new file mode 100644 index 0000000000000000000000000000000000000000..ddc91181bf3b559fb8af0a08b2da22b7fbb1126e GIT binary patch literal 11317 zcmdsdby!qu`|g?{r5i+I7(qf{hR%T@B?SpV$zd2^B!=!z0Z9W?l#mca6p<3?G7wM@ zk(7{@kWSCSy|;UR=lWuw@BFUw$5|I#thnE&-sgGV`(2B8!}I5;DcC6h0HD^^Qa1ts z2zUws$VtIJmYxqCz&|J4wJv!9favMtUxJFj-KvCJ>9fNhodBf~*j(9f|e5I}t4#V4{;AT?#NPTxToD*Iv&=Y4Ic-{mX=!})K zhbt?=6#eBv0j@Z249wrv#m!6J9|iv@R~|e+zKwvxenPyRQE-)Gg)nn{Lzo)D69`HYUt-<7eh(8EFoZwG9U&%)Ja*|P&>s5>=kDX_@>97z z7J+lYx#HZsy+EwkFDw`(ef?kXe=641^%vU9Tf-N$=y%`#DcZ{cnk?XmI>1W#8C7-zgI#u0~bcXRxyOvvvJRk`4zf}bVq)SrNeQgt zSfAq@I3E97IoK1hpp0L^lgHX4W$lm-G9q%)GFTBi2}v;#IT=X@5u_bb3Wvo=$VuWP z{*Y$ii3ckZc5~XFtu=X-yQX+Oz4p)x!_?xb5!NA z;XkALn;68O0{%hKPsm@$%^#yc#&mr8i>iSazsMfW4eS}7AeGA~ctQdIJnh=*DklC} z-|ktsb9@Sz{ZVu(3PS2f2h+0D0wzg#1)%v?DOJ`YU*+kPb0}Q=oXp3kr<0KNIAMzS z>u5%Z;YRAvr;y2jVwUjAJWuO3llE0Q#1|4a+p^J+ zt=zhzAh$1;$hNMHAN*3Y(5{W!9l<}=@2x1zDyZt5P`xU1;bI*mI`v}|6n!-=7oeNO z2msOkY!mnV^NKD!&FGC5FM|wK>#L1gZ>!Fh7S(}87K)fj z8MhJlY>O5#f6io}h8B|0lwd3fwZ(4lxm}5-yQF+Bc7t*Qo z>DRhQk|rg|%#J5KpVeSz)%il|MzLW)QzD{a#|DD_wCP{PI{%`<(tzK`D#fDSyTe+V zE9IQH1|fzHN!5C_bLwOeh9|n$$Er_K#Cdpf%|E!-T9zfT-P`I@#(d1_OV&c**@O2^ zl6}tKygKd5zjkw`wA-m zp(rjcE+uqlB2EUw9!51YKGYC;XH#}Q>s&I&>n-|a%5y1PRv*_{b@?d5g$ne7pD=3_ zUtr=}oL$`w-YyQ{<<7qmKQ&m6{qcP)Xyx&6IkxlD?95E4=i%OFKxR3o!T^?*UpxU2 z%+k3_K25WcCWO|BM})2=8dN`j{=EO=$8YzuvJR%uuwG~mJsJfx`s{om4&LQ7=MmBd zmXrheDsKx%eS@&YM%+{ITRs?A?^(Hm$KM{R^IK5?sLNVub65(=2R&d3O%#TL9XIfk zw8ic&kX|27rR*oZ>xKH92FjcLQH!6RWZ%!s93;v)S;*fD z^z`$3uNulAbn}q{DH$0zCp-HPMJMIMI6-J75^E*|cx=pFNI=t@7}3$?ESORII`A3C zer-BBJWSJ4PwAXmvqiGi25v4;Wz|BLwN;mQiSmItNUAB{N1~?z82E!Llura z*l*vySpj!!1EG+7Vv-at)SDHLh}D)fQ~tM#lxvg9hkYixx^Fwm%gfI#EG`b)b`U|` zpAji#S_^CBp#9%#eg4otXuhA_xIc<={#3@ve(Kb)jj?ebRUaccOpYrjd@VdO2S_z- z?TpyY5AQx1PB|IJ$@FfLrreH2PJ*U+->xjB-}@}=k3Hzd4{q$8EYnI~V- zQvk(mG+eU1+%$1g`hD;T_Z>$W!r1c+n&G$g-_#TWHw2P71sHwg z2;F$EAA94f=7U5+!|u$Za`Ub&z-5~oS>=WYW;nKfhIGQSJ6> z$m3PLyFi~3(fwy93_{E&^)FjkEH$VT9lcUIY$}SdRdW+79lFy;JG*;vi+u+muFQqFjWnhlq;m=WcUC6$YxYZN@~+T zBqT)P8G@r^@7Tdf?IWkaKtma-lkw`2gqLd_2yd&N=@VKe0fA3TJ|?BQ>;x;}?1Enw z)zt-c_V@QgGA}`TOxeob&}wLjmf{Jt2czRh-@1>Ej^g9E0-b0%=wF#wJ{RhXVge@d zd;9yt*+E;MzkxwP)%Yw9e0%jW5P1RPzj^sGy8zI({?oCpJ_7>x$&&&3)z#Is$>cRC z2zLom;1vwUgEXVPJm0K^WDCZHhK`MS3j55vn--8g(s@TN7^_A`OA~zPY%^Rz7;or2 z2o0l5-#+>9&9PIemK^f_Pi;PJ5|x_^@9Zr;X^frbyxR96N~=u7(8DAqf&Q6M|G+@W z6c#&*LZRxmz71D%cen5;pqx61Ocwc=UDcRJ{Z)0E??^ebA1x1$kIBi(%FYk@3J){b zmKdyx}FISsEXIf* z9F{dVH`kvA4=roetg67L3=cD7(-+jqAv{9-iB-8zo@^2tHXpxt9j?+RjJ@22$TCKc zT#sJbu>CyDiUp#lUsvVkR)%e6gvpgG2J*5|iCWhAijcx+Bp7on;z+$h!_g;MSqs3n z+`PPb_TBGm&4jyuN+G@(^y=kvuqtB&p<*CC$h$^84l=KcoEl=NuQo5YhJ>nl{lN8p zslV9R?C#yWWQ9dV+{(U7gDDvHM%qHa$^9Aeo{+T9B>}+Rv^*)y+ncG}oGML=_`MU; 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+using UnityEngine; +using UnityEditor; +using UnityEditor.Build; +using UnityEditor.Build.Reporting; + + +namespace Unity.MLAgents.Editor +{ + internal class MLAgentsSettingsBuildProvider : IPreprocessBuildWithReport, IPostprocessBuildWithReport + { + private MLAgentsSettings m_SettingsAddedToPreloadedAssets; + + public int callbackOrder => 0; + + public void OnPreprocessBuild(BuildReport report) + { + var wasDirty = IsPlayerSettingsDirty(); + m_SettingsAddedToPreloadedAssets = null; + + var preloadedAssets = PlayerSettings.GetPreloadedAssets().ToList(); + if (!preloadedAssets.Contains(MLAgentsSettingsManager.Settings)) + { + m_SettingsAddedToPreloadedAssets = MLAgentsSettingsManager.Settings; + preloadedAssets.Add(m_SettingsAddedToPreloadedAssets); + PlayerSettings.SetPreloadedAssets(preloadedAssets.ToArray()); + } + + if (!wasDirty) + ClearPlayerSettingsDirtyFlag(); + } + + public void OnPostprocessBuild(BuildReport report) + { + if (m_SettingsAddedToPreloadedAssets == null) + return; + + var wasDirty = IsPlayerSettingsDirty(); + + var preloadedAssets = PlayerSettings.GetPreloadedAssets().ToList(); + if (preloadedAssets.Contains(m_SettingsAddedToPreloadedAssets)) + { + preloadedAssets.Remove(m_SettingsAddedToPreloadedAssets); + PlayerSettings.SetPreloadedAssets(preloadedAssets.ToArray()); + } + + m_SettingsAddedToPreloadedAssets = null; + + if (!wasDirty) + ClearPlayerSettingsDirtyFlag(); + } + + + private static bool IsPlayerSettingsDirty() + { + var settings = Resources.FindObjectsOfTypeAll(); + if (settings != null && settings.Length > 0) + return EditorUtility.IsDirty(settings[0]); + return false; + } + + private static void ClearPlayerSettingsDirtyFlag() + { + var settings = Resources.FindObjectsOfTypeAll(); + if (settings != null && settings.Length > 0) + EditorUtility.ClearDirty(settings[0]); + } + } +} diff --git a/com.unity.ml-agents/Editor/MLAgentsSettingsBuildProvider.cs.meta b/com.unity.ml-agents/Editor/MLAgentsSettingsBuildProvider.cs.meta new file mode 100644 index 0000000000..214ea9863f --- /dev/null +++ b/com.unity.ml-agents/Editor/MLAgentsSettingsBuildProvider.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: bd59ff34305fa4259a2735e08afdb424 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/MLAgentsSettingsProvider.cs b/com.unity.ml-agents/Editor/MLAgentsSettingsProvider.cs new file mode 100644 index 0000000000..4077927a4e --- /dev/null +++ b/com.unity.ml-agents/Editor/MLAgentsSettingsProvider.cs @@ -0,0 +1,194 @@ +using System; +using System.Linq; +using System.IO; +using System.Runtime.CompilerServices; +using UnityEngine; +using UnityEditor; +using UnityEngine.UIElements; + +[assembly: InternalsVisibleTo("Unity.ML-Agents.DevTests.Editor")] +namespace Unity.MLAgents.Editor +{ + internal class MLAgentsSettingsProvider : SettingsProvider, IDisposable + { + const string k_SettingsPath = "Project/ML-Agents"; + private static MLAgentsSettingsProvider s_Instance; + private string[] m_AvailableSettingsAssets; + private int m_CurrentSelectedSettingsAsset; + private SerializedObject m_SettingsObject; + [SerializeField] + private MLAgentsSettings m_Settings; + + + private MLAgentsSettingsProvider(string path, SettingsScope scope = SettingsScope.Project) + : base(path, scope) + { + s_Instance = this; + } + + [SettingsProvider] + public static SettingsProvider CreateMLAgentsSettingsProvider() + { + return new MLAgentsSettingsProvider(k_SettingsPath, SettingsScope.Project); + } + + public override void OnActivate(string searchContext, VisualElement rootElement) + { + base.OnActivate(searchContext, rootElement); + MLAgentsSettingsManager.OnSettingsChange += Reinitialize; + } + + public override void OnDeactivate() + { + base.OnDeactivate(); + MLAgentsSettingsManager.OnSettingsChange -= Reinitialize; + } + + public void Dispose() + { + m_SettingsObject?.Dispose(); + } + + public override void OnTitleBarGUI() + { + if (EditorGUILayout.DropdownButton(EditorGUIUtility.IconContent("_Popup"), FocusType.Passive, EditorStyles.label)) + { + var menu = new GenericMenu(); + for (var i = 0; i < m_AvailableSettingsAssets.Length; i++) + { + menu.AddItem(ExtractDisplayName(m_AvailableSettingsAssets[i]), m_CurrentSelectedSettingsAsset == i, (path) => + { + MLAgentsSettingsManager.Settings = AssetDatabase.LoadAssetAtPath((string)path); + }, m_AvailableSettingsAssets[i]); + } + menu.AddSeparator(""); + menu.AddItem(new GUIContent("New Settings Asset…"), false, CreateNewSettingsAsset); + menu.ShowAsContext(); + Event.current.Use(); + } + } + + private GUIContent ExtractDisplayName(string name) + { + if (name.StartsWith("Assets/")) + name = name.Substring("Assets/".Length); + if (name.EndsWith(".asset")) + name = name.Substring(0, name.Length - ".asset".Length); + if (name.EndsWith(".mlagents.settings")) + name = name.Substring(0, name.Length - ".mlagents.settings".Length); + + // Ugly hack: GenericMenu interprets "/" as a submenu path. But luckily, "/" is not the only slash we have in Unicode. + return new GUIContent(name.Replace("/", "\u29f8")); + } + + private void CreateNewSettingsAsset() + { + // Asset database always use forward slashes. Use forward slashes for all the paths. + var projectName = PlayerSettings.productName; + var path = EditorUtility.SaveFilePanel("Create ML-Agents Settings File", "Assets", + projectName + ".mlagents.settings", "asset"); + if (string.IsNullOrEmpty(path)) + { + return; + } + + path = path.Replace("\\", "/"); // Make sure we only get '/' separators. + var assetPath = Application.dataPath + "/"; + if (!path.StartsWith(assetPath, StringComparison.CurrentCultureIgnoreCase)) + { + Debug.LogError(string.Format( + "Settings must be stored in Assets folder of the project (got: '{0}')", path)); + return; + } + + var extension = Path.GetExtension(path); + if (string.Compare(extension, ".asset", StringComparison.InvariantCultureIgnoreCase) != 0) + { + path += ".asset"; + } + var relativePath = "Assets/" + path.Substring(assetPath.Length); + CreateNewSettingsAsset(relativePath); + } + + private static void CreateNewSettingsAsset(string relativePath) + { + var settings = ScriptableObject.CreateInstance(); + AssetDatabase.CreateAsset(settings, relativePath); + EditorGUIUtility.PingObject(settings); + // Install the settings. This will lead to an MLAgentsManager.OnSettingsChange event + // which in turn will cause this Provider to reinitialize + MLAgentsSettingsManager.Settings = settings; + } + + public override void OnGUI(string searchContext) + { + if (m_Settings == null) + { + InitializeWithCurrentSettings(); + } + + if (m_AvailableSettingsAssets.Length == 0) + { + EditorGUILayout.HelpBox( + "Click the button below to create a settings asset you can edit.", + MessageType.Info); + if (GUILayout.Button("Create settings asset", GUILayout.Height(30))) + CreateNewSettingsAsset(); + GUILayout.Space(20); + } + + using (new EditorGUI.DisabledScope(m_AvailableSettingsAssets.Length == 0)) + { + EditorGUI.BeginChangeCheck(); + EditorGUILayout.LabelField("Trainer Settings", EditorStyles.boldLabel); + EditorGUI.indentLevel++; + EditorGUILayout.PropertyField(m_SettingsObject.FindProperty("m_ConnectTrainer"), new GUIContent("Connect to Trainer")); + EditorGUILayout.PropertyField(m_SettingsObject.FindProperty("m_EditorPort"), new GUIContent("Editor Training Port")); + EditorGUI.indentLevel--; + if (EditorGUI.EndChangeCheck()) + m_SettingsObject.ApplyModifiedProperties(); + } + } + + internal void InitializeWithCurrentSettings() + { + m_AvailableSettingsAssets = FindSettingsInProject(); + + m_Settings = MLAgentsSettingsManager.Settings; + var currentSettingsPath = AssetDatabase.GetAssetPath(m_Settings); + if (string.IsNullOrEmpty(currentSettingsPath)) + { + if (m_AvailableSettingsAssets.Length > 0) + { + m_CurrentSelectedSettingsAsset = 0; + m_Settings = AssetDatabase.LoadAssetAtPath(m_AvailableSettingsAssets[0]); + MLAgentsSettingsManager.Settings = m_Settings; + } + } + else + { + var settingsList = m_AvailableSettingsAssets.ToList(); + m_CurrentSelectedSettingsAsset = settingsList.IndexOf(currentSettingsPath); + + EditorBuildSettings.AddConfigObject(MLAgentsSettingsManager.EditorBuildSettingsConfigKey, m_Settings, true); + } + + m_SettingsObject = new SerializedObject(m_Settings); + } + + private static string[] FindSettingsInProject() + { + var guids = AssetDatabase.FindAssets("t:MLAgentsSettings"); + return guids.Select(guid => AssetDatabase.GUIDToAssetPath(guid)).ToArray(); + } + + private void Reinitialize() + { + if (m_Settings != null && MLAgentsSettingsManager.Settings != m_Settings) + { + InitializeWithCurrentSettings(); + } + Repaint(); + } + } +} diff --git a/com.unity.ml-agents/Editor/MLAgentsSettingsProvider.cs.meta b/com.unity.ml-agents/Editor/MLAgentsSettingsProvider.cs.meta new file mode 100644 index 0000000000..09eaa72b4e --- /dev/null +++ b/com.unity.ml-agents/Editor/MLAgentsSettingsProvider.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 162489862d7f64a40990a0c06bb73bd0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/Match3ActuatorComponentEditor.cs b/com.unity.ml-agents/Editor/Match3ActuatorComponentEditor.cs new file mode 100644 index 0000000000..0b072c5b52 --- /dev/null +++ b/com.unity.ml-agents/Editor/Match3ActuatorComponentEditor.cs @@ -0,0 +1,46 @@ +using UnityEditor; +using Unity.MLAgents.Integrations.Match3; +namespace Unity.MLAgents.Editor +{ + [CustomEditor(typeof(Match3ActuatorComponent), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class Match3ActuatorComponentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { + var so = serializedObject; + so.Update(); + + var component = (Match3ActuatorComponent)target; + var board = component.GetComponent(); + if (board == null) + { + EditorGUILayout.HelpBox("You must provide an implementation of an AbstractBoard.", MessageType.Warning); + return; + } + + // Drawing the RenderTextureComponent + EditorGUI.BeginChangeCheck(); + + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.PropertyField(so.FindProperty("m_ActuatorName"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_RandomSeed"), true); + } + EditorGUI.EndDisabledGroup(); + EditorGUILayout.PropertyField(so.FindProperty("m_ForceHeuristic"), true); + + var requireSensorUpdate = EditorGUI.EndChangeCheck(); + so.ApplyModifiedProperties(); + + if (requireSensorUpdate) + { + UpdateActuator(); + } + } + + void UpdateActuator() + { + } + } +} diff --git a/com.unity.ml-agents/Editor/Match3ActuatorComponentEditor.cs.meta b/com.unity.ml-agents/Editor/Match3ActuatorComponentEditor.cs.meta new file mode 100644 index 0000000000..ce515a1234 --- /dev/null +++ b/com.unity.ml-agents/Editor/Match3ActuatorComponentEditor.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: b545474cca77481bbc3c6c161dd6bbc3 +timeCreated: 1618441761 \ No newline at end of file diff --git a/com.unity.ml-agents/Editor/Match3SensorComponentEditor.cs b/com.unity.ml-agents/Editor/Match3SensorComponentEditor.cs new file mode 100644 index 0000000000..857bedeee8 --- /dev/null +++ b/com.unity.ml-agents/Editor/Match3SensorComponentEditor.cs @@ -0,0 +1,45 @@ +using UnityEditor; +using Unity.MLAgents.Integrations.Match3; +namespace Unity.MLAgents.Editor +{ + [CustomEditor(typeof(Match3SensorComponent), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class Match3SensorComponentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { + var so = serializedObject; + so.Update(); + + var component = (Match3SensorComponent)target; + var board = component.GetComponent(); + if (board == null) + { + EditorGUILayout.HelpBox("You must provide an implementation of an AbstractBoard.", MessageType.Warning); + return; + } + + // Drawing the RenderTextureComponent + EditorGUI.BeginChangeCheck(); + + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationType"), true); + } + EditorGUI.EndDisabledGroup(); + + var requireSensorUpdate = EditorGUI.EndChangeCheck(); + so.ApplyModifiedProperties(); + + if (requireSensorUpdate) + { + UpdateSensor(); + } + } + + void UpdateSensor() + { + } + } +} diff --git a/com.unity.ml-agents/Editor/Match3SensorComponentEditor.cs.meta b/com.unity.ml-agents/Editor/Match3SensorComponentEditor.cs.meta new file mode 100644 index 0000000000..82a80140ed --- /dev/null +++ b/com.unity.ml-agents/Editor/Match3SensorComponentEditor.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: ab55bf118d03479bb797c0037989c308 +timeCreated: 1618440499 \ No newline at end of file diff --git a/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs new file mode 100644 index 0000000000..4231c2776e --- /dev/null +++ b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs @@ -0,0 +1,111 @@ +using UnityEngine; +using UnityEditor; +using Unity.MLAgents.Sensors; + +namespace Unity.MLAgents.Editor +{ + internal class RayPerceptionSensorComponentBaseEditor : UnityEditor.Editor + { + bool m_RequireSensorUpdate; + + protected void OnRayPerceptionInspectorGUI(bool is3d) + { +#if !MLA_UNITY_PHYSICS_MODULE + if (is3d) + { + EditorGUILayout.HelpBox("The Physics Module is not currently present. " + + "Please add it to your project in order to use the Ray Perception APIs in the " + + $"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning); + } +#endif +#if !MLA_UNITY_PHYSICS2D_MODULE + if (!is3d) + { + EditorGUILayout.HelpBox("The Physics2D Module is not currently present. " + + "Please add it to your project in order to use the Ray Perception APIs in the " + + $"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning); + } +#endif + var so = serializedObject; + so.Update(); + + // Drawing the RayPerceptionSensorComponent + EditorGUI.BeginChangeCheck(); + EditorGUI.indentLevel++; + + // Don't allow certain fields to be modified during play mode. + // * SensorName affects the ordering of the Agent's observations + // * The number of tags and rays affects the size of the observations. + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_DetectableTags"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_RaysPerDirection"), true); + } + EditorGUI.EndDisabledGroup(); + + EditorGUILayout.PropertyField(so.FindProperty("m_MaxRayDegrees"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_SphereCastRadius"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_RayLength"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_RayLayerMask"), true); + + // Because the number of observation stacks affects the observation shape, + // it is not editable during play mode. + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationStacks"), new GUIContent("Stacked Raycasts"), true); + } + EditorGUI.EndDisabledGroup(); + + if (is3d) + { + EditorGUILayout.PropertyField(so.FindProperty("m_StartVerticalOffset"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_EndVerticalOffset"), true); + } + + EditorGUILayout.PropertyField(so.FindProperty("m_AlternatingRayOrder"), true); + + EditorGUILayout.PropertyField(so.FindProperty("rayHitColor"), true); + EditorGUILayout.PropertyField(so.FindProperty("rayMissColor"), true); + + EditorGUI.indentLevel--; + if (EditorGUI.EndChangeCheck()) + { + m_RequireSensorUpdate = true; + } + + so.ApplyModifiedProperties(); + UpdateSensorIfDirty(); + } + + void UpdateSensorIfDirty() + { + if (m_RequireSensorUpdate) + { + var sensorComponent = serializedObject.targetObject as RayPerceptionSensorComponentBase; + sensorComponent?.UpdateSensor(); + m_RequireSensorUpdate = false; + } + } + } + + [CustomEditor(typeof(RayPerceptionSensorComponent2D), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class RayPerceptionSensorComponent2DEditor : RayPerceptionSensorComponentBaseEditor + { + public override void OnInspectorGUI() + { + OnRayPerceptionInspectorGUI(false); + } + } + + [CustomEditor(typeof(RayPerceptionSensorComponent3D), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class RayPerceptionSensorComponent3DEditor : RayPerceptionSensorComponentBaseEditor + { + public override void OnInspectorGUI() + { + OnRayPerceptionInspectorGUI(true); + } + } +} diff --git a/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs.meta b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs.meta new file mode 100644 index 0000000000..c02a8ca2a9 --- /dev/null +++ b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c0182483e53c24d0e9f264f711ed89a9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/RenderTextureSensorComponentEditor.cs b/com.unity.ml-agents/Editor/RenderTextureSensorComponentEditor.cs new file mode 100644 index 0000000000..8e5fd892d3 --- /dev/null +++ b/com.unity.ml-agents/Editor/RenderTextureSensorComponentEditor.cs @@ -0,0 +1,43 @@ +using UnityEditor; +using Unity.MLAgents.Sensors; +namespace Unity.MLAgents.Editor +{ + [CustomEditor(typeof(RenderTextureSensorComponent), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class RenderTextureSensorComponentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { + var so = serializedObject; + so.Update(); + + // Drawing the RenderTextureComponent + EditorGUI.BeginChangeCheck(); + + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + EditorGUILayout.PropertyField(so.FindProperty("m_RenderTexture"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_Grayscale"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationStacks"), true); + } + EditorGUI.EndDisabledGroup(); + + EditorGUILayout.PropertyField(so.FindProperty("m_Compression"), true); + + var requireSensorUpdate = EditorGUI.EndChangeCheck(); + so.ApplyModifiedProperties(); + + if (requireSensorUpdate) + { + UpdateSensor(); + } + } + + void UpdateSensor() + { + var sensorComponent = serializedObject.targetObject as RenderTextureSensorComponent; + sensorComponent?.UpdateSensor(); + } + } +} diff --git a/com.unity.ml-agents/Editor/RenderTextureSensorComponentEditor.cs.meta b/com.unity.ml-agents/Editor/RenderTextureSensorComponentEditor.cs.meta new file mode 100644 index 0000000000..fd7a57d05e --- /dev/null +++ b/com.unity.ml-agents/Editor/RenderTextureSensorComponentEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: dab309e01d2964f0792de3ef914ca6b9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/Unity.ML-Agents.Editor.asmdef b/com.unity.ml-agents/Editor/Unity.ML-Agents.Editor.asmdef new file mode 100755 index 0000000000..27f67d0d1c --- /dev/null +++ b/com.unity.ml-agents/Editor/Unity.ML-Agents.Editor.asmdef @@ -0,0 +1,30 @@ +{ + "name": "Unity.ML-Agents.Editor", + "references": [ + "Unity.ML-Agents", + "Unity.Barracuda", + "Unity.ML-Agents.CommunicatorObjects" + ], + "optionalUnityReferences": [], + "includePlatforms": [ + "Editor" + ], + "excludePlatforms": [], + "allowUnsafeCode": false, + "overrideReferences": false, + "precompiledReferences": [], + "autoReferenced": true, + "defineConstraints": [], + "versionDefines": [ + { + "name": "com.unity.modules.physics", + "expression": "1.0.0", + "define": "MLA_UNITY_PHYSICS_MODULE" + }, + { + "name": "com.unity.modules.physics2d", + "expression": "1.0.0", + "define": "MLA_UNITY_PHYSICS2D_MODULE" + } + ] +} diff --git a/com.unity.ml-agents/Editor/Unity.ML-Agents.Editor.asmdef.meta b/com.unity.ml-agents/Editor/Unity.ML-Agents.Editor.asmdef.meta new file mode 100644 index 0000000000..0c031cb370 --- /dev/null +++ b/com.unity.ml-agents/Editor/Unity.ML-Agents.Editor.asmdef.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 42675ddec8c314cf08d17ee0f6f5e5a5 +AssemblyDefinitionImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/UnityColors.colors b/com.unity.ml-agents/Editor/UnityColors.colors new file mode 100644 index 0000000000..af773637c7 --- /dev/null +++ b/com.unity.ml-agents/Editor/UnityColors.colors @@ -0,0 +1,64 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!114 &1 +MonoBehaviour: + m_ObjectHideFlags: 52 + m_PrefabParentObject: {fileID: 0} + m_PrefabInternal: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 1 + m_Script: {fileID: 12323, guid: 0000000000000000e000000000000000, type: 0} + m_Name: UnityColors + m_EditorClassIdentifier: + m_Presets: + - m_Name: + m_Color: {r: 0.12941177, g: 0.5882353, b: 0.9529412, a: 1} + - m_Name: + m_Color: {r: 0, g: 0.34117648, b: 0.6039216, a: 1} + - m_Name: + m_Color: {r: 0.2627451, g: 0.7019608, b: 0.9019608, a: 1} + - m_Name: + m_Color: {r: 0.92156863, g: 0.25490198, b: 0.47843137, a: 1} 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0.8039216, b: 0.39607844, a: 1} + - m_Name: + m_Color: {r: 0.8235294, g: 0.8784314, b: 0.34901962, a: 1} + - m_Name: + m_Color: {r: 1, g: 0.79607844, b: 0.15294118, a: 1} + - m_Name: + m_Color: {r: 1, g: 0.93333334, b: 0.34509805, a: 1} + - m_Name: + m_Color: {r: 0.98039216, g: 0.6509804, b: 0.16078432, a: 1} + - m_Name: + m_Color: {r: 0.9529412, g: 0.4392157, b: 0.27450982, a: 1} + - m_Name: + m_Color: {r: 0.74509805, g: 0.22745098, b: 0.15294118, a: 1} + - m_Name: + m_Color: {r: 0.9529412, g: 0.4392157, b: 0.27450982, a: 1} diff --git a/com.unity.ml-agents/Editor/UnityColors.colors.meta b/com.unity.ml-agents/Editor/UnityColors.colors.meta new file mode 100644 index 0000000000..34519c21ce --- /dev/null +++ b/com.unity.ml-agents/Editor/UnityColors.colors.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: b20b0226063034686a6cf92ade284285 +NativeFormatImporter: + externalObjects: {} + mainObjectFileID: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs b/com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs new file mode 100644 index 0000000000..aae6fd796f --- /dev/null +++ b/com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs @@ -0,0 +1,31 @@ +using UnityEditor; +using Unity.MLAgents.Sensors; + +namespace Unity.MLAgents.Editor +{ + [CustomEditor(typeof(VectorSensorComponent), editorForChildClasses: true)] + [CanEditMultipleObjects] + internal class VectorSensorComponentEditor : UnityEditor.Editor + { + public override void OnInspectorGUI() + { + var so = serializedObject; + so.Update(); + + // Drawing the VectorSensorComponent + + EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); + { + // These fields affect the sensor order or observation size, + // So can't be changed at runtime. + EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationSize"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationType"), true); + EditorGUILayout.PropertyField(so.FindProperty("m_ObservationStacks"), true); + } + EditorGUI.EndDisabledGroup(); + + so.ApplyModifiedProperties(); + } + } +} diff --git a/com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs.meta b/com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs.meta new file mode 100644 index 0000000000..9862a23944 --- /dev/null +++ b/com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: aa0230c3402f04921acdbbdb61f6ff00 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/LICENSE.md b/com.unity.ml-agents/LICENSE.md new file mode 100644 index 0000000000..42863a2c98 --- /dev/null +++ b/com.unity.ml-agents/LICENSE.md @@ -0,0 +1,202 @@ +com.unity.ml-agents copyright © 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. diff --git a/com.unity.ml-agents/LICENSE.md.meta b/com.unity.ml-agents/LICENSE.md.meta new file mode 100644 index 0000000000..0497eff447 --- /dev/null +++ b/com.unity.ml-agents/LICENSE.md.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 3b008ccfd571c4bc08e5ae283e73db3f +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Plugins.meta b/com.unity.ml-agents/Plugins.meta new file mode 100644 index 0000000000..e4a9de128a --- /dev/null +++ b/com.unity.ml-agents/Plugins.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 694794cb53c6c4bfc9b84ca5022f4ae2 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Plugins/IL2CPP.DL.Stubs.c b/com.unity.ml-agents/Plugins/IL2CPP.DL.Stubs.c new file mode 100644 index 0000000000..843dafb645 --- /dev/null +++ b/com.unity.ml-agents/Plugins/IL2CPP.DL.Stubs.c @@ -0,0 +1,10 @@ +// These stubs fix an issue compiling GRPC on Windows with IL2CPP. +// For the moment, only Inference works. (training doesn't) + +void * dlopen(const char *filename, int flags) { + return 0; +} + +void * dlsym(void *handle, const char *symbol) { + return 0; +} \ No newline at end of file diff --git a/com.unity.ml-agents/Plugins/IL2CPP.DL.Stubs.c.meta b/com.unity.ml-agents/Plugins/IL2CPP.DL.Stubs.c.meta new file mode 100644 index 0000000000..9f2b819fa0 --- /dev/null +++ b/com.unity.ml-agents/Plugins/IL2CPP.DL.Stubs.c.meta @@ -0,0 +1,89 @@ +fileFormatVersion: 2 +guid: 3509a8908cf600c4f914a0705123a363 +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + defineConstraints: [] + isPreloaded: 1 + isOverridable: 0 + isExplicitlyReferenced: 0 + validateReferences: 1 + platformData: + - first: + : Any + second: + enabled: 0 + settings: + Exclude Editor: 1 + Exclude Linux: 1 + Exclude Linux64: 1 + Exclude LinuxUniversal: 1 + Exclude OSXUniversal: 1 + Exclude Win: 0 + Exclude Win64: 0 + - first: + Any: + second: + enabled: 0 + settings: {} + - first: + 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