diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab index 7bed06c708..50b1dae4cc 100644 --- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab +++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab @@ -281,11 +281,15 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 8 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 2 + BranchSizes: VectorActionSize: 02000000 VectorActionDescriptions: [] VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 20a7b83be6b0c493d9271c65c897eb9b, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: 3DBall TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab index 2f158a8537..b606224b80 100644 --- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab +++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallHardNew.prefab @@ -593,7 +593,7 @@ MonoBehaviour: VectorActionSpaceType: 1 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: d179c44c147aa4ffbbb725f009eca3b8, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: 3DBallHard TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab index 5ab8b2a368..e25e4d4f6f 100644 --- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab +++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab @@ -279,11 +279,15 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 2 + BranchSizes: VectorActionSize: 02000000 VectorActionDescriptions: [] VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 8eb5fecdbd2eb4ec48236d3fee1e1149, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Visual3DBall TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab b/Project/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab index 70a8be8fd6..bf83d97f24 100644 --- a/Project/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab +++ b/Project/Assets/ML-Agents/Examples/Basic/Prefabs/Basic.prefab @@ -438,11 +438,15 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: VectorActionSize: VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 468c183196f1844f69e125c99dd135a1, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Basic TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab b/Project/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab index f695e48650..6118f3010b 100644 --- a/Project/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab +++ b/Project/Assets/ML-Agents/Examples/Bouncer/Prefabs/Environment.prefab @@ -655,17 +655,23 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_BrainParameters: - vectorObservationSize: 6 - numStackedVectorObservations: 3 - vectorActionSize: 03000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 1 + VectorObservationSize: 6 + NumStackedVectorObservations: 3 + m_ActionSpec: + m_NumContinuousActions: 3 + BranchSizes: + VectorActionSize: 03000000 + VectorActionDescriptions: [] + VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 6c4ee6ab37d9b49b492a5cc49ed47ca0, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Bouncer TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114878620968301562 MonoBehaviour: m_ObjectHideFlags: 0 @@ -681,7 +687,7 @@ MonoBehaviour: agentParameters: maxStep: 0 hasUpgradedFromAgentParameters: 1 - maxStep: 0 + MaxStep: 0 target: {fileID: 1160631129428284} bodyObject: {fileID: 1680588139522898} strength: 500 @@ -697,6 +703,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3} m_Name: m_EditorClassIdentifier: + debugCommandLineOverride: --- !u!1 &1680588139522898 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/CrawlerBase.prefab b/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/CrawlerBase.prefab index 9f650be156..e71fb0ff8f 100644 --- a/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/CrawlerBase.prefab +++ b/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/CrawlerBase.prefab @@ -2782,11 +2782,15 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 32 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 20 + BranchSizes: VectorActionSize: 14000000 VectorActionDescriptions: [] VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: c6509001ba679447fba27f894761c3ba, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab index a414253886..4d6cfcc9e6 100644 --- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab +++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab @@ -2188,7 +2188,7 @@ MonoBehaviour: VectorActionSpaceType: 1 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: FoodCollector TeamId: 0 @@ -2534,7 +2534,7 @@ MonoBehaviour: VectorActionSpaceType: 1 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: FoodCollector TeamId: 0 @@ -2871,7 +2871,7 @@ MonoBehaviour: VectorActionSpaceType: 1 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: FoodCollector TeamId: 0 @@ -3471,7 +3471,7 @@ MonoBehaviour: VectorActionSpaceType: 1 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: FoodCollector TeamId: 0 @@ -3794,7 +3794,7 @@ MonoBehaviour: VectorActionSpaceType: 1 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 3210b528a2bc44a86bd6bd1d571070f8, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: FoodCollector TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab index 8da644e25a..fc99f3049c 100644 --- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab +++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/GridFoodCollectorArea.prefab @@ -2188,7 +2188,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: GridFoodCollector TeamId: 0 @@ -2546,7 +2546,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: GridFoodCollector TeamId: 0 @@ -2895,7 +2895,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: GridFoodCollector TeamId: 0 @@ -3507,7 +3507,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: GridFoodCollector TeamId: 0 @@ -3842,7 +3842,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 75910f45f20be49b18e2b95879a217b2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: GridFoodCollector TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/VisualFoodCollectorArea.prefab b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/VisualFoodCollectorArea.prefab index 07ddaf36d7..e59b13ab29 100644 --- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/VisualFoodCollectorArea.prefab +++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/VisualFoodCollectorArea.prefab @@ -634,7 +634,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: VisualFoodCollector TeamId: 0 @@ -1222,7 +1222,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: VisualFoodCollector TeamId: 0 @@ -1624,7 +1624,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: VisualFoodCollector TeamId: 0 @@ -3446,7 +3446,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: ec4b31b5d66ca4e51ae3ac41945facb2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: VisualFoodCollector TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab index 1b7505022a..94895aa997 100644 --- a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab +++ b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab @@ -364,17 +364,23 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_BrainParameters: - vectorObservationSize: 0 - numStackedVectorObservations: 1 - vectorActionSize: 05000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 0 + VectorObservationSize: 0 + NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 05000000 + VectorActionSize: 05000000 + VectorActionDescriptions: [] + VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: a812f1ce7763a4a0c912717f3594fe20, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: GridWorld TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114650561397225712 MonoBehaviour: m_ObjectHideFlags: 0 @@ -390,7 +396,7 @@ MonoBehaviour: agentParameters: maxStep: 0 hasUpgradedFromAgentParameters: 1 - maxStep: 100 + MaxStep: 100 area: {fileID: 114704252266302846} timeBetweenDecisionsAtInference: 0.15 renderCamera: {fileID: 0} @@ -412,6 +418,7 @@ MonoBehaviour: m_Width: 84 m_Height: 64 m_Grayscale: 0 + m_ObservationStacks: 1 m_Compression: 1 --- !u!114 &7980686505185502968 MonoBehaviour: @@ -425,6 +432,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3} m_Name: m_EditorClassIdentifier: + debugCommandLineOverride: --- !u!1 &1625008366184734 GameObject: m_ObjectHideFlags: 0 @@ -476,6 +484,7 @@ MonoBehaviour: trueAgent: {fileID: 1488387672112076} goalPref: {fileID: 1508142483324970, guid: 1ec4e4e96e7514d45b7ebc3ba5a9a481, type: 3} pitPref: {fileID: 1811317785436014, guid: d13ee2db77b3a4dcc8664d2fe2a0f219, type: 3} + numberOfObstacles: 1 --- !u!1 &1656910849934022 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity b/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity index 5bf6716301..ae76fed897 100644 --- a/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity +++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity @@ -38,7 +38,7 @@ RenderSettings: m_ReflectionIntensity: 1 m_CustomReflection: {fileID: 0} m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 0.44971228, g: 0.49977815, b: 0.57563734, a: 1} + m_IndirectSpecularColor: {r: 0.4497121, g: 0.49977785, b: 0.57563704, a: 1} m_UseRadianceAmbientProbe: 0 --- !u!157 &3 LightmapSettings: @@ -339,11 +339,15 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 05000000 VectorActionSize: 05000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: a812f1ce7763a4a0c912717f3594fe20, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: GridWorld TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab b/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab index 7caea19ab6..6b3eabbba8 100644 --- a/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab +++ b/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab @@ -1553,11 +1553,15 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 1 NumStackedVectorObservations: 3 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 05000000 VectorActionSize: 05000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 317f4f8da7e4846b3aae0969781824a2, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Hallway TeamId: 0 diff --git a/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab b/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab index a8c758e541..82fe739cd9 100644 --- a/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab +++ b/Project/Assets/ML-Agents/Examples/Hallway/Prefabs/VisualSymbolFinderArea.prefab @@ -731,17 +731,23 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_BrainParameters: - vectorObservationSize: 0 - numStackedVectorObservations: 1 - vectorActionSize: 05000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 0 + VectorObservationSize: 0 + NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 05000000 + VectorActionSize: 05000000 + VectorActionDescriptions: [] + VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 0} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: VisualHallway - m_TeamID: 0 - m_useChildSensors: 1 + TeamId: 0 + m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114451776683649118 MonoBehaviour: m_ObjectHideFlags: 0 @@ -754,7 +760,10 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: b446afae240924105b36d07e8d17a608, type: 3} m_Name: m_EditorClassIdentifier: - maxStep: 3000 + agentParameters: + maxStep: 0 + hasUpgradedFromAgentParameters: 1 + MaxStep: 3000 ground: {fileID: 1625056884785366} area: {fileID: 1689874756253538} symbolOGoal: {fileID: 1800868804754718} @@ -774,12 +783,13 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 282f342c2ab144bf38be65d4d0c4e07d, type: 3} m_Name: m_EditorClassIdentifier: - camera: {fileID: 20961984019151212} - sensorName: CameraSensor - width: 84 - height: 84 - grayscale: 0 - compression: 1 + m_Camera: {fileID: 20961984019151212} + m_SensorName: CameraSensor + m_Width: 84 + m_Height: 84 + m_Grayscale: 0 + m_ObservationStacks: 1 + m_Compression: 1 --- !u!114 &640264344416331590 MonoBehaviour: m_ObjectHideFlags: 0 @@ -793,8 +803,7 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: DecisionPeriod: 6 - RepeatAction: 1 - offsetStep: 0 + TakeActionsBetweenDecisions: 1 --- !u!1 &1377584197416466 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3Heuristic.prefab b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3Heuristic.prefab index adf6bbe161..c4b3750d61 100644 --- a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3Heuristic.prefab +++ b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3Heuristic.prefab @@ -59,7 +59,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: c34da50737a3c4a50918002b20b2b927, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Match3SmartHeuristic TeamId: 0 @@ -117,10 +117,10 @@ MonoBehaviour: Columns: 8 NumCellTypes: 6 NumSpecialTypes: 2 - RandomSeed: -1 BasicCellPoints: 1 SpecialCell1Points: 2 SpecialCell2Points: 3 + RandomSeed: -1 --- !u!114 &3508723250470608014 MonoBehaviour: m_ObjectHideFlags: 0 @@ -148,8 +148,8 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: ActuatorName: Match3 Actuator + RandomSeed: -1 ForceHeuristic: 1 - HeuristicQuality: 0 --- !u!1 &3508723250774301855 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab index 4177d3c687..167e475002 100644 --- a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab +++ b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VectorObs.prefab @@ -90,7 +90,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 9e89b8e81974148d3b7213530d00589d, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Match3VectorObs TeamId: 0 @@ -148,10 +148,10 @@ MonoBehaviour: Columns: 8 NumCellTypes: 6 NumSpecialTypes: 2 - RandomSeed: -1 BasicCellPoints: 1 SpecialCell1Points: 2 SpecialCell2Points: 3 + RandomSeed: -1 --- !u!114 &2118285884327540680 MonoBehaviour: m_ObjectHideFlags: 0 @@ -179,5 +179,5 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: ActuatorName: Match3 Actuator + RandomSeed: -1 ForceHeuristic: 0 - HeuristicQuality: 0 diff --git a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab index 2c78f72948..f22f007f3f 100644 --- a/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab +++ b/Project/Assets/ML-Agents/Examples/Match3/Prefabs/Match3VisualObs.prefab @@ -90,7 +90,7 @@ MonoBehaviour: VectorActionSpaceType: 0 hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 48d14da88fea74d0693c691c6e3f2e34, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Match3VisualObs TeamId: 0 @@ -148,10 +148,10 @@ MonoBehaviour: Columns: 8 NumCellTypes: 6 NumSpecialTypes: 2 - RandomSeed: -1 BasicCellPoints: 1 SpecialCell1Points: 2 SpecialCell2Points: 3 + RandomSeed: -1 --- !u!114 &3019509692332007783 MonoBehaviour: m_ObjectHideFlags: 0 @@ -179,5 +179,5 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: ActuatorName: Match3 Actuator + RandomSeed: -1 ForceHeuristic: 0 - HeuristicQuality: 0 diff --git a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab index eab979b694..73245d659d 100644 --- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab +++ b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab @@ -430,17 +430,23 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_BrainParameters: - vectorObservationSize: 0 - numStackedVectorObservations: 2 - vectorActionSize: 07000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 0 + VectorObservationSize: 0 + NumStackedVectorObservations: 2 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 07000000 + VectorActionSize: 07000000 + VectorActionDescriptions: [] + VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 70db47ab276e44fe0beb677ff8d69382, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: PushBlock TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114505490781873732 MonoBehaviour: m_ObjectHideFlags: 0 @@ -456,7 +462,7 @@ MonoBehaviour: agentParameters: maxStep: 0 hasUpgradedFromAgentParameters: 1 - maxStep: 5000 + MaxStep: 5000 ground: {fileID: 1500989011945850} area: {fileID: 1125452240183160} areaBounds: @@ -551,7 +557,6 @@ MonoBehaviour: m_EditorClassIdentifier: DecisionPeriod: 5 TakeActionsBetweenDecisions: 1 - offsetStep: 0 --- !u!114 &4081319787948195948 MonoBehaviour: m_ObjectHideFlags: 0 @@ -564,6 +569,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3} m_Name: m_EditorClassIdentifier: + debugCommandLineOverride: --- !u!1 &1500989011945850 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab index 6bca403623..df003ba196 100644 --- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab +++ b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab @@ -861,15 +861,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 07000000 VectorActionSize: 07000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 0} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: VisualPushBlock TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &114812843792483960 MonoBehaviour: @@ -926,6 +931,7 @@ MonoBehaviour: m_Width: 84 m_Height: 84 m_Grayscale: 0 + m_ObservationStacks: 1 m_Compression: 1 --- !u!114 &9049837659352187721 MonoBehaviour: diff --git a/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab b/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab index fd9e9b0b2f..e665a66219 100644 --- a/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab +++ b/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab @@ -615,17 +615,23 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_BrainParameters: - vectorObservationSize: 4 - numStackedVectorObservations: 1 - vectorActionSize: 05000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 0 + VectorObservationSize: 4 + NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 05000000 + VectorActionSize: 05000000 + VectorActionDescriptions: [] + VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: aa3fa19a09ec44a41be3da037783ad41, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Pyramids TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114937736047215868 MonoBehaviour: m_ObjectHideFlags: 0 @@ -641,7 +647,7 @@ MonoBehaviour: agentParameters: maxStep: 0 hasUpgradedFromAgentParameters: 1 - maxStep: 5000 + MaxStep: 5000 area: {fileID: 1464170487903594} areaSwitch: {fileID: 1432086782037750} useVectorObs: 1 @@ -672,7 +678,6 @@ MonoBehaviour: m_EditorClassIdentifier: DecisionPeriod: 5 TakeActionsBetweenDecisions: 1 - offsetStep: 0 --- !u!114 &5712624269609438939 MonoBehaviour: m_ObjectHideFlags: 0 @@ -781,6 +786,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3} m_Name: m_EditorClassIdentifier: + debugCommandLineOverride: --- !u!1 &1148882946833254 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab b/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab index a6b56bd9c7..1dbccce753 100644 --- a/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab +++ b/Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/VisualAreaPyramids.prefab @@ -2724,17 +2724,23 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_BrainParameters: - vectorObservationSize: 0 - numStackedVectorObservations: 1 - vectorActionSize: 05000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 0 + VectorObservationSize: 0 + NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 05000000 + VectorActionSize: 05000000 + VectorActionDescriptions: [] + VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 0} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: VisualPyramids - m_TeamID: 0 - m_useChildSensors: 1 + TeamId: 0 + m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114741503533626942 MonoBehaviour: m_ObjectHideFlags: 0 @@ -2747,7 +2753,10 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: b8db44472779248d3be46895c4d562d5, type: 3} m_Name: m_EditorClassIdentifier: - maxStep: 5000 + agentParameters: + maxStep: 0 + hasUpgradedFromAgentParameters: 1 + MaxStep: 5000 area: {fileID: 1055559745433172} areaSwitch: {fileID: 1212218760704844} useVectorObs: 0 @@ -2776,12 +2785,13 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 282f342c2ab144bf38be65d4d0c4e07d, type: 3} m_Name: m_EditorClassIdentifier: - camera: {fileID: 20712684238256298} - sensorName: CameraSensor - width: 84 - height: 84 - grayscale: 0 - compression: 1 + m_Camera: {fileID: 20712684238256298} + m_SensorName: CameraSensor + m_Width: 84 + m_Height: 84 + m_Grayscale: 0 + m_ObservationStacks: 1 + m_Compression: 1 --- !u!114 &9216598927300453297 MonoBehaviour: m_ObjectHideFlags: 0 @@ -2795,8 +2805,7 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: DecisionPeriod: 5 - RepeatAction: 1 - offsetStep: 0 + TakeActionsBetweenDecisions: 1 --- !u!1 &1747856067778386 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab b/Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab index 5f96daba24..210e9f6a78 100644 --- a/Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab +++ b/Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab @@ -442,17 +442,23 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_BrainParameters: - vectorObservationSize: 33 - numStackedVectorObservations: 1 - vectorActionSize: 04000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 1 + VectorObservationSize: 33 + NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 4 + BranchSizes: + VectorActionSize: 04000000 + VectorActionDescriptions: [] + VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: d7bdb6a78154f4cf99437d67e4a569a8, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Reacher TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114955921823023820 MonoBehaviour: m_ObjectHideFlags: 0 @@ -468,7 +474,7 @@ MonoBehaviour: agentParameters: maxStep: 0 hasUpgradedFromAgentParameters: 1 - maxStep: 4000 + MaxStep: 4000 pendulumA: {fileID: 1644872085946016} pendulumB: {fileID: 1053261483945176} hand: {fileID: 1654288206095398} @@ -487,7 +493,6 @@ MonoBehaviour: m_EditorClassIdentifier: DecisionPeriod: 4 TakeActionsBetweenDecisions: 1 - offsetStep: 0 --- !u!114 &7840105453417110232 MonoBehaviour: m_ObjectHideFlags: 0 @@ -500,6 +505,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3} m_Name: m_EditorClassIdentifier: + debugCommandLineOverride: --- !u!1 &1644872085946016 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab index b5a785dae4..3687472b56 100644 --- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab +++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab @@ -238,15 +238,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 030000000300000003000000 VectorActionSize: 030000000300000003000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos TeamId: 1 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &114492261207303438 MonoBehaviour: @@ -618,15 +623,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 030000000300000003000000 VectorActionSize: 030000000300000003000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &114850431417842684 MonoBehaviour: @@ -3629,15 +3639,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 030000000300000003000000 VectorActionSize: 030000000300000003000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos TeamId: 1 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &5320024511406682322 MonoBehaviour: @@ -4115,15 +4130,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 030000000300000003000000 VectorActionSize: 030000000300000003000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SoccerTwos TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &5379409612883756837 MonoBehaviour: diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab index e98a2c1700..c2dabb43bc 100644 --- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab +++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab @@ -237,15 +237,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 030000000300000003000000 VectorActionSize: 030000000300000003000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: e9c10c18f4eb745d19186a54dbe3ca2e, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Goalie TeamId: 1 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &114492261207303438 MonoBehaviour: @@ -615,15 +620,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 030000000300000003000000 VectorActionSize: 030000000300000003000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 75a830685bf8e43918adc4783a2abebf, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Striker TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &114850431417842684 MonoBehaviour: @@ -3655,15 +3665,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 0 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 030000000300000003000000 VectorActionSize: 030000000300000003000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 75a830685bf8e43918adc4783a2abebf, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Striker TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &5379409612883756837 MonoBehaviour: diff --git a/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab b/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab index 273aff4ecb..dc056fe069 100644 --- a/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab +++ b/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab @@ -206,15 +206,21 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 9 NumStackedVectorObservations: 3 + m_ActionSpec: + m_NumContinuousActions: 3 + BranchSizes: VectorActionSize: 03000000 VectorActionDescriptions: [] VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: d6c5e749e4ceb4cf79640a5955706d3d, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Tennis TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114915946461826994 MonoBehaviour: m_ObjectHideFlags: 0 @@ -263,6 +269,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3} m_Name: m_EditorClassIdentifier: + debugCommandLineOverride: --- !u!1 &1194790474478638 GameObject: m_ObjectHideFlags: 0 @@ -1361,15 +1368,21 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 9 NumStackedVectorObservations: 3 + m_ActionSpec: + m_NumContinuousActions: 3 + BranchSizes: VectorActionSize: 03000000 VectorActionDescriptions: [] VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: d6c5e749e4ceb4cf79640a5955706d3d, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: Tennis TeamId: 1 m_UseChildSensors: 1 + m_UseChildActuators: 1 + m_ObservableAttributeHandling: 0 --- !u!114 &114800310164848628 MonoBehaviour: m_ObjectHideFlags: 0 @@ -1418,6 +1431,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3} m_Name: m_EditorClassIdentifier: + debugCommandLineOverride: --- !u!1 &1969551055586186 GameObject: m_ObjectHideFlags: 0 diff --git a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollBase.prefab b/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollBase.prefab index 11b905137b..1079fb5a61 100644 --- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollBase.prefab +++ b/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollBase.prefab @@ -292,15 +292,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 243 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 39 + BranchSizes: VectorActionSize: 27000000 VectorActionDescriptions: [] VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: f598eaeeef9f94691989a2cfaaafb565, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: WalkerDynamic TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &7408209125961349353 MonoBehaviour: @@ -318,11 +323,8 @@ MonoBehaviour: maxStep: 0 hasUpgradedFromAgentParameters: 1 MaxStep: 5000 - targetWalkingSpeed: 10 + m_TargetWalkingSpeed: 10 randomizeWalkSpeedEachEpisode: 1 - walkDirectionMethod: 0 - worldDirToWalk: {x: 1, y: 0, z: 0} - worldPosToWalkTo: {x: 0, y: 0, z: 0} target: {fileID: 0} hips: {fileID: 895268871264836332} chest: {fileID: 7933235354845945071} diff --git a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollDySingleSpeedVariant.prefab b/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollDySingleSpeedVariant.prefab index 167c0acb57..53facaf57a 100644 --- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollDySingleSpeedVariant.prefab +++ b/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollDySingleSpeedVariant.prefab @@ -135,6 +135,11 @@ PrefabInstance: value: objectReference: {fileID: 11400000, guid: 47e7c480450ec4dcd9e4a04124e14ed4, type: 3} + - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f, + type: 3} + propertyPath: m_InferenceDevice + value: 2 + objectReference: {fileID: 0} - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f, type: 3} propertyPath: m_LocalPosition.x diff --git a/Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab b/Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab index 550c0dbad7..aaef2530a0 100644 --- a/Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab +++ b/Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab @@ -156,15 +156,20 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 4 NumStackedVectorObservations: 6 + m_ActionSpec: + m_NumContinuousActions: 0 + BranchSizes: 03000000030000000300000002000000 VectorActionSize: 03000000030000000300000002000000 VectorActionDescriptions: [] VectorActionSpaceType: 0 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: 0468bf44b1efd4992b6bf22cadb50d89, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: SmallWallJump TeamId: 0 m_UseChildSensors: 1 + m_UseChildActuators: 1 m_ObservableAttributeHandling: 0 --- !u!114 &114925928594762506 MonoBehaviour: diff --git a/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefab.prefab b/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefab.prefab index 69f834d39b..9f750eefbb 100644 --- a/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefab.prefab +++ b/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefab.prefab @@ -944,11 +944,15 @@ MonoBehaviour: m_BrainParameters: VectorObservationSize: 64 NumStackedVectorObservations: 1 + m_ActionSpec: + m_NumContinuousActions: 9 + BranchSizes: VectorActionSize: 09000000 VectorActionDescriptions: [] VectorActionSpaceType: 1 + hasUpgradedBrainParametersWithActionSpec: 1 m_Model: {fileID: 11400000, guid: e81305346bd9b408c8871523f9088c2a, type: 3} - m_InferenceDevice: 0 + m_InferenceDevice: 2 m_BehaviorType: 0 m_BehaviorName: WormDynamic TeamId: 0 diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md index 756083a32a..4e43ea188a 100755 --- a/com.unity.ml-agents/CHANGELOG.md +++ b/com.unity.ml-agents/CHANGELOG.md @@ -36,6 +36,9 @@ and this project adheres to - 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) #### ml-agents / ml-agents-envs / gym-unity (Python) - Tensorboard now logs the Environment Reward as both a scalar and a histogram. (#4878) diff --git a/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs b/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs index 7143b273cc..20e79e0ea9 100644 --- a/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs +++ b/com.unity.ml-agents/Runtime/Inference/ModelRunner.cs @@ -1,3 +1,4 @@ +using System; using System.Collections.Generic; using Unity.Barracuda; using UnityEngine.Profiling; @@ -53,7 +54,7 @@ internal class ModelRunner public ModelRunner( NNModel model, ActionSpec actionSpec, - InferenceDevice inferenceDevice = InferenceDevice.CPU, + InferenceDevice inferenceDevice, int seed = 0) { Model barracudaModel; @@ -70,9 +71,22 @@ public ModelRunner( D.logEnabled = m_Verbose; barracudaModel = ModelLoader.Load(model); - var executionDevice = inferenceDevice == InferenceDevice.GPU - ? WorkerFactory.Type.ComputePrecompiled - : WorkerFactory.Type.CSharp; + WorkerFactory.Type executionDevice; + switch (inferenceDevice) + { + case InferenceDevice.CPU: + executionDevice = WorkerFactory.Type.CSharp; + break; + case InferenceDevice.GPU: + executionDevice = WorkerFactory.Type.ComputePrecompiled; + break; + case InferenceDevice.Burst: + executionDevice = WorkerFactory.Type.CSharpBurst; + break; + default: + executionDevice = WorkerFactory.Type.CSharpBurst; + break; + } m_Engine = WorkerFactory.CreateWorker(executionDevice, barracudaModel, m_Verbose); } else diff --git a/com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs b/com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs index a83d0d121f..ef32e57a21 100644 --- a/com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs +++ b/com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs @@ -12,14 +12,20 @@ namespace Unity.MLAgents.Policies public enum InferenceDevice { /// - /// CPU inference + /// CPU inference. Corresponds to in WorkerFactory.Type.CSharp Barracuda. + /// Burst is recommended instead; this is kept for legacy compatibility. /// CPU = 0, /// - /// GPU inference + /// GPU inference. Corresponds to WorkerFactory.Type.ComputePrecompiled in Barracuda. /// - GPU = 1 + GPU = 1, + + /// + /// CPU inference using Burst. Corresponds to WorkerFactory.Type.CSharpBurst in Barracuda. + /// + Burst = 2, } /// diff --git a/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs b/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs index 49e00918c1..cf82437357 100644 --- a/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs +++ b/com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs @@ -98,7 +98,7 @@ public NNModel Model } [HideInInspector, SerializeField] - InferenceDevice m_InferenceDevice; + InferenceDevice m_InferenceDevice = InferenceDevice.Burst; /// /// How inference is performed for this Agent's model. diff --git a/com.unity.ml-agents/Tests/Editor/ModelRunnerTest.cs b/com.unity.ml-agents/Tests/Editor/ModelRunnerTest.cs index 74d544805b..2c36ead4e1 100644 --- a/com.unity.ml-agents/Tests/Editor/ModelRunnerTest.cs +++ b/com.unity.ml-agents/Tests/Editor/ModelRunnerTest.cs @@ -68,15 +68,16 @@ public void TestModelExist() [Test] public void TestCreation() { - var modelRunner = new ModelRunner(continuousONNXModel, GetContinuous2vis8vec2actionActionSpec()); + var inferenceDevice = InferenceDevice.Burst; + var modelRunner = new ModelRunner(continuousONNXModel, GetContinuous2vis8vec2actionActionSpec(), inferenceDevice); modelRunner.Dispose(); - modelRunner = new ModelRunner(discreteONNXModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec()); + modelRunner = new ModelRunner(discreteONNXModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec(), inferenceDevice); modelRunner.Dispose(); - modelRunner = new ModelRunner(hybridONNXModel, GetHybrid0vis53vec_3c_2dActionSpec()); + modelRunner = new ModelRunner(hybridONNXModel, GetHybrid0vis53vec_3c_2dActionSpec(), inferenceDevice); modelRunner.Dispose(); - modelRunner = new ModelRunner(continuousNNModel, GetContinuous2vis8vec2actionActionSpec()); + modelRunner = new ModelRunner(continuousNNModel, GetContinuous2vis8vec2actionActionSpec(), inferenceDevice); modelRunner.Dispose(); - modelRunner = new ModelRunner(discreteNNModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec()); + modelRunner = new ModelRunner(discreteNNModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec(), inferenceDevice); modelRunner.Dispose(); } @@ -94,7 +95,7 @@ public void TestHasModel() public void TestRunModel() { var actionSpec = GetDiscrete1vis0vec_2_3action_recurrModelActionSpec(); - var modelRunner = new ModelRunner(discreteONNXModel, actionSpec); + var modelRunner = new ModelRunner(discreteONNXModel, actionSpec, InferenceDevice.Burst); var info1 = new AgentInfo(); info1.episodeId = 1; modelRunner.PutObservations(info1, new[] { sensor_21_20_3.CreateSensor() }.ToList());