Integrate BrainParameters with ActionSpec, update BrainParametersDrawer

com.unity.ml-agents/CHANGELOG.md

@@ -11,13 +11,11 @@ and this project adheres to
 ### 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.
-Currently, this can only be done with Actuators. Please see
-[here](../Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicActuatorComponent.cs) for an
-example of how to use Actuators. (#4702)
-
+- PyTorch trainers now support training agents with both continuous and discrete action spaces. (#4702)
 ### Minor Changes
 #### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
+- Agent with both continuous and discrete actions is now supported. You can specify
+continuous and discrete action sizes repectively in Behavior Parameters. (#4702, #4718)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - `ActionSpec.validate_action()` now enforces that `UnityEnvironment.set_action_for_agent()` receives a 1D `np.array`.
 

com.unity.ml-agents/Editor/BehaviorParametersEditor.cs

@@ -21,49 +21,60 @@ internal class BehaviorParametersEditor : UnityEditor.Editor
         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_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.
+            bool needBrainParametersUpdate; // Whether the brain parameters changed
 
             // Drawing the Behavior Parameters
             EditorGUI.indentLevel++;
             EditorGUI.BeginChangeCheck(); // global
 
             EditorGUI.BeginChangeCheck();
             {
-                EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorName"));
+                EditorGUILayout.PropertyField(so.FindProperty(k_BehaviorName));
             }
             needPolicyUpdate = EditorGUI.EndChangeCheck();
 
+            EditorGUI.BeginChangeCheck();
             EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
             {
-                EditorGUILayout.PropertyField(so.FindProperty("m_BrainParameters"), true);
+                EditorGUILayout.PropertyField(so.FindProperty(k_BrainParametersName), true);
             }
             EditorGUI.EndDisabledGroup();
+            needBrainParametersUpdate = EditorGUI.EndChangeCheck();
 
             EditorGUI.BeginChangeCheck();
             {
-                EditorGUILayout.PropertyField(so.FindProperty("m_Model"), true);
+                EditorGUILayout.PropertyField(so.FindProperty(k_ModelName), true);
                 EditorGUI.indentLevel++;
-                EditorGUILayout.PropertyField(so.FindProperty("m_InferenceDevice"), true);
+                EditorGUILayout.PropertyField(so.FindProperty(k_InferenceDeviceName), true);
                 EditorGUI.indentLevel--;
             }
             needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck();
 
             EditorGUI.BeginChangeCheck();
             {
-                EditorGUILayout.PropertyField(so.FindProperty("m_BehaviorType"));
+                EditorGUILayout.PropertyField(so.FindProperty(k_BehaviorTypeName));
             }
             needPolicyUpdate = needPolicyUpdate || EditorGUI.EndChangeCheck();
 
-            EditorGUILayout.PropertyField(so.FindProperty("TeamId"));
+            EditorGUILayout.PropertyField(so.FindProperty(k_TeamIdName));
             EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
             {
-                EditorGUILayout.PropertyField(so.FindProperty("m_UseChildSensors"), true);
-                EditorGUILayout.PropertyField(so.FindProperty("m_ObservableAttributeHandling"), true);
+                EditorGUILayout.PropertyField(so.FindProperty(k_UseChildSensorsName), true);
+                EditorGUILayout.PropertyField(so.FindProperty(k_ObservableAttributeHandlingName), true);
             }
             EditorGUI.EndDisabledGroup();
 
@@ -91,7 +102,7 @@ void DisplayFailedModelChecks()
             // Display all failed checks
             D.logEnabled = false;
             Model barracudaModel = null;
-            var model = (NNModel)serializedObject.FindProperty("m_Model").objectReferenceValue;
+            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.

com.unity.ml-agents/Editor/BrainParametersDrawer.cs

@@ -14,8 +14,9 @@ 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_ActionSizePropName = "VectorActionSize";
-        const string k_ActionTypePropName = "VectorActionSpaceType";
+        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";
@@ -97,22 +98,10 @@ static void DrawVectorAction(Rect position, SerializedProperty property)
             EditorGUI.LabelField(position, "Vector Action");
             position.y += k_LineHeight;
             EditorGUI.indentLevel++;
-            var bpVectorActionType = property.FindPropertyRelative(k_ActionTypePropName);
-            EditorGUI.PropertyField(
-                position,
-                bpVectorActionType,
-                new GUIContent("Space Type",
-                    "Corresponds to whether state vector contains  a single integer (Discrete) " +
-                    "or a series of real-valued floats (Continuous)."));
+            var actionSpecProperty = property.FindPropertyRelative(k_ActionSpecName);
+            DrawContinuousVectorAction(position, actionSpecProperty);
             position.y += k_LineHeight;
-            if (bpVectorActionType.enumValueIndex == 1)
-            {
-                DrawContinuousVectorAction(position, property);
-            }
-            else
-            {
-                DrawDiscreteVectorAction(position, property);
-            }
+            DrawDiscreteVectorAction(position, actionSpecProperty);
         }
 
         /// <summary>
@@ -123,21 +112,11 @@ static void DrawVectorAction(Rect position, SerializedProperty property)
         /// to make the custom GUI for.</param>
         static void DrawContinuousVectorAction(Rect position, SerializedProperty property)
         {
-            var vecActionSize = property.FindPropertyRelative(k_ActionSizePropName);
-
-            // 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 (vecActionSize.arraySize != 1)
-            {
-                vecActionSize.arraySize = 1;
-            }
-            var continuousActionSize =
-                vecActionSize.GetArrayElementAtIndex(0);
+            var continuousActionSize = property.FindPropertyRelative(k_ContinuousActionSizeName);
             EditorGUI.PropertyField(
                 position,
                 continuousActionSize,
-                new GUIContent("Space Size", "Length of continuous action vector."));
+                new GUIContent("Continuous Action Size", "Length of continuous action vector."));
         }
 
         /// <summary>
@@ -148,27 +127,27 @@ static void DrawContinuousVectorAction(Rect position, SerializedProperty propert
         /// to make the custom GUI for.</param>
         static void DrawDiscreteVectorAction(Rect position, SerializedProperty property)
         {
-            var vecActionSize = property.FindPropertyRelative(k_ActionSizePropName);
+            var branchSizes = property.FindPropertyRelative(k_DiscreteBranchSizeName);
             var newSize = EditorGUI.IntField(
-                position, "Branches Size", vecActionSize.arraySize);
+                position, "Discrete Branch Size", 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 != vecActionSize.arraySize)
+            if (newSize != branchSizes.arraySize)
             {
-                vecActionSize.arraySize = newSize;
+                branchSizes.arraySize = newSize;
             }
 
             position.y += k_LineHeight;
             position.x += 20;
             position.width -= 20;
             for (var branchIndex = 0;
-                 branchIndex < vecActionSize.arraySize;
+                 branchIndex < branchSizes.arraySize;
                  branchIndex++)
             {
                 var branchActionSize =
-                    vecActionSize.GetArrayElementAtIndex(branchIndex);
+                    branchSizes.GetArrayElementAtIndex(branchIndex);
 
                 EditorGUI.PropertyField(
                     position,
@@ -185,12 +164,9 @@ static void DrawDiscreteVectorAction(Rect position, SerializedProperty property)
         /// <returns>The height of the drawer of the Vector Action.</returns>
         static float GetHeightDrawVectorAction(SerializedProperty property)
         {
-            var actionSize = 2 + property.FindPropertyRelative(k_ActionSizePropName).arraySize;
-            if (property.FindPropertyRelative(k_ActionTypePropName).enumValueIndex == 0)
-            {
-                actionSize += 1;
-            }
-            return actionSize * k_LineHeight;
+            var actionSpecProperty = property.FindPropertyRelative(k_ActionSpecName);
+            var numActionLines = 3 + actionSpecProperty.FindPropertyRelative(k_DiscreteBranchSizeName).arraySize;
+            return numActionLines * k_LineHeight;
         }
     }
 }

com.unity.ml-agents/Editor/DemonstrationDrawer.cs

@@ -2,7 +2,6 @@
 using System.Text;
 using UnityEditor;
 using Unity.MLAgents.Demonstrations;
-using Unity.MLAgents.Policies;
 
 
 namespace Unity.MLAgents.Editor
@@ -17,23 +16,35 @@ 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 = "ActionSpec";
+        const string k_NumContinuousActionsName = "m_NumContinuousActions";
+        const string k_NumDiscreteActionsName = "m_NumDiscreteActions";
+        const string k_ShapeName = "shape";
+
 
         void OnEnable()
         {
-            m_BrainParameters = serializedObject.FindProperty("brainParameters");
-            m_DemoMetaData = serializedObject.FindProperty("metaData");
-            m_ObservationShapes = serializedObject.FindProperty("observationSummaries");
+            m_BrainParameters = serializedObject.FindProperty(k_BrainParametersName);
+            m_DemoMetaData = serializedObject.FindProperty(k_MetaDataName);
+            m_ObservationShapes = serializedObject.FindProperty(k_ObservationSummariesName);
         }
 
         /// <summary>
         /// Renders Inspector UI for Demonstration metadata.
         /// </summary>
         void MakeMetaDataProperty(SerializedProperty property)
         {
-            var nameProp = property.FindPropertyRelative("demonstrationName");
-            var experiencesProp = property.FindPropertyRelative("numberSteps");
-            var episodesProp = property.FindPropertyRelative("numberEpisodes");
-            var rewardsProp = property.FindPropertyRelative("meanReward");
+            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;
@@ -72,16 +83,17 @@ static string BuildIntArrayLabel(SerializedProperty actionSizeProperty)
         /// </summary>
         void MakeActionsProperty(SerializedProperty property)
         {
-            var actSizeProperty = property.FindPropertyRelative("VectorActionSize");
-            var actSpaceTypeProp = property.FindPropertyRelative("VectorActionSpaceType");
+            var actSpecProperty = property.FindPropertyRelative(k_ActionSpecName);
+            var continuousSizeProperty = actSpecProperty.FindPropertyRelative(k_NumContinuousActionsName);
+            var discreteSizeProperty = actSpecProperty.FindPropertyRelative(k_NumDiscreteActionsName);
 
-            var vecActSizeLabel =
-                actSizeProperty.displayName + ": " + BuildIntArrayLabel(actSizeProperty);
-            var actSpaceTypeLabel = actSpaceTypeProp.displayName + ": " +
-                (SpaceType)actSpaceTypeProp.enumValueIndex;
+            var continuousSizeLabel =
+                continuousSizeProperty.displayName + ": " + continuousSizeProperty.intValue;
+            var discreteSizeLabel = discreteSizeProperty.displayName + ": " +
+                discreteSizeProperty.intValue;
 
-            EditorGUILayout.LabelField(vecActSizeLabel);
-            EditorGUILayout.LabelField(actSpaceTypeLabel);
+            EditorGUILayout.LabelField(continuousSizeLabel);
+            EditorGUILayout.LabelField(discreteSizeLabel);
         }
 
         /// <summary>
@@ -95,7 +107,7 @@ void MakeObservationsProperty(SerializedProperty obsSummariesProperty)
             for (var i = 0; i < numObservations; i++)
             {
                 var summary = obsSummariesProperty.GetArrayElementAtIndex(i);
-                var shapeProperty = summary.FindPropertyRelative("shape");
+                var shapeProperty = summary.FindPropertyRelative(k_ShapeName);
                 shapesLabels.Add(BuildIntArrayLabel(shapeProperty));
             }
 

com.unity.ml-agents/Runtime/Actuators/ActionSpec.cs

@@ -1,15 +1,19 @@
 using System;
-using System.Collections.Generic;
 using System.Linq;
 using Unity.MLAgents.Policies;
+using UnityEngine;
 
 namespace Unity.MLAgents.Actuators
 {
     /// <summary>
     /// Defines the structure of an Action Space to be used by the Actuator system.
     /// </summary>
-    public readonly struct ActionSpec
+    [Serializable]
+    public struct ActionSpec
     {
+        [SerializeField]
+        int m_NumContinuousActions;
+
         /// <summary>
         /// An array of branch sizes for our action space.
         ///
@@ -20,23 +24,23 @@ public readonly struct ActionSpec
         ///
         /// For an IActuator with a Continuous it will be null.
         /// </summary>
-        public readonly int[] BranchSizes;
+        public int[] BranchSizes;
 
         /// <summary>
         /// The number of actions for a Continuous <see cref="SpaceType"/>.
         /// </summary>
-        public int NumContinuousActions { get; }
+        public int NumContinuousActions { get { return m_NumContinuousActions; } set { m_NumContinuousActions = value; } }
 
         /// <summary>
         /// The number of branches for a Discrete <see cref="SpaceType"/>.
         /// </summary>
-        public int NumDiscreteActions { get; }
+        public int NumDiscreteActions { get { return BranchSizes == null ? 0 : BranchSizes.Length; } }
 
         /// <summary>
         /// Get the total number of Discrete Actions that can be taken by calculating the Sum
         /// of all of the Discrete Action branch sizes.
         /// </summary>
-        public int SumOfDiscreteBranchSizes { get; }
+        public int SumOfDiscreteBranchSizes { get { return BranchSizes == null ? 0 : BranchSizes.Sum(); } }
 
         /// <summary>
         /// Creates a Continuous <see cref="ActionSpec"/> with the number of actions available.
@@ -45,7 +49,7 @@ public readonly struct ActionSpec
         /// <returns>An Continuous ActionSpec initialized with the number of actions available.</returns>
         public static ActionSpec MakeContinuous(int numActions)
         {
-            var actuatorSpace = new ActionSpec(numActions, 0);
+            var actuatorSpace = new ActionSpec(numActions, null);
             return actuatorSpace;
         }
 
@@ -59,16 +63,14 @@ public static ActionSpec MakeContinuous(int numActions)
         public static ActionSpec MakeDiscrete(params int[] branchSizes)
         {
             var numActions = branchSizes.Length;
-            var actuatorSpace = new ActionSpec(0, numActions, branchSizes);
+            var actuatorSpace = new ActionSpec(0, branchSizes);
             return actuatorSpace;
         }
 
-        internal ActionSpec(int numContinuousActions, int numDiscreteActions, int[] branchSizes = null)
+        internal ActionSpec(int numContinuousActions, int[] branchSizes = null)
         {
-            NumContinuousActions = numContinuousActions;
-            NumDiscreteActions = numDiscreteActions;
+            m_NumContinuousActions = numContinuousActions;
             BranchSizes = branchSizes;
-            SumOfDiscreteBranchSizes = branchSizes?.Sum() ?? 0;
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Actuators/ActuatorManager.cs

@@ -137,7 +137,7 @@ internal static ActionSpec CombineActionSpecs(IList<IActuator> actuators)
                 }
             }
 
-            return new ActionSpec(numContinuousActions, numDiscreteActions, combinedBranchSizes);
+            return new ActionSpec(numContinuousActions, combinedBranchSizes);
         }
 
         /// <summary>