Updating the barracuda 1.4.0 (#5291)

Initial commit

second commit. The no-extrinsic was trained without the log reward (reward = prob) while the new  one is (reward = log_prob - log_prior)

A few results, it looks like Walker-diverse-r05-bigger.onnx is doing something

Modified pushblock

using next state and action. Did not help

Fixing bug that had 9 diversity settings instead of 8

removing results

Author: vincentpierre

Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab

@@ -54,6 +54,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -65,6 +66,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -171,6 +173,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -182,6 +185,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -249,6 +253,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -260,6 +265,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -339,6 +345,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -350,6 +357,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -379,6 +387,7 @@ GameObject:
   - component: {fileID: 114451319691753174}
   - component: {fileID: 8964598783836598940}
   - component: {fileID: 4081319787948195948}
+  - component: {fileID: 3604832710400578108}
   m_Layer: 0
   m_Name: Agent
   m_TagString: agent
@@ -570,6 +579,21 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   debugCommandLineOverride: 
+--- !u!114 &3604832710400578108
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1489716781518988}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 38b7cc1f5819445aa85e9a9b054552dc, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_SensorName: VectorSensor
+  m_ObservationSize: 8
+  m_ObservationType: 1
 --- !u!1 &1500989011945850
 GameObject:
   m_ObjectHideFlags: 0
@@ -625,6 +649,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -636,6 +661,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -715,6 +741,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -726,6 +753,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -781,9 +809,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -881,6 +910,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -892,6 +922,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -991,6 +1022,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1002,6 +1034,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1120,6 +1153,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1131,6 +1165,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0

Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs

@@ -4,6 +4,7 @@
 using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Sensors;
 
 public class PushAgentBasic : Agent
 {
@@ -75,6 +76,21 @@ public override void Initialize()
         m_ResetParams = Academy.Instance.EnvironmentParameters;
 
         SetResetParameters();
+        GetComponent<VectorSensorComponent>().CreateSensors();
+        m_DiversitySettingSensor = GetComponent<VectorSensorComponent>();
+    }
+
+    VectorSensorComponent m_DiversitySettingSensor;
+    public int m_DiversitySetting = 0;
+
+
+    /// <summary>
+    /// Loop over body parts to add them to observation.
+    /// </summary>
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        m_DiversitySettingSensor.GetSensor().Reset();
+        m_DiversitySettingSensor.GetSensor().AddOneHotObservation(m_DiversitySetting, 8);
     }
 
     /// <summary>
@@ -226,6 +242,7 @@ public override void OnEpisodeBegin()
         m_AgentRb.angularVelocity = Vector3.zero;
 
         SetResetParameters();
+        m_DiversitySetting = Random.Range(0, 8);
     }
 
     public void SetGroundMaterialFriction()