Merge branch 'release/v2.0.0-alpha.1'

.gitignore

@@ -94,3 +94,5 @@ ml-agents-protobuf/Grpc*
 # Ignore PyPi build files.
 dist/
 build/
+old_summaries/
+mono_crash.*

Changes.md

@@ -0,0 +1,274 @@
+
+
+-----
+### ‎⁨ml-agents/⁨mlagents⁩/trainers⁩/learn.py
+line 90 add (last param for `create_environment_factory()`)
+``` python
+        list([str(x) for t in run_options.items() for x in t]), # NOTE passes all arguments to Unity
+```
+line 210 add (last param for `create_environment_factory()`)
+``` python
+    unity_args={},
+```
+line 246 add (last param for `UnityEnvironment()`)
+``` python
+            args=unity_args,
+```
+line 298 add (two new options for `_USAGE`)
+``` 
+      --spawn-env=<name>          Inform environment which SpawnableEnv to use (if supported)  [default: None].
+      --num-spawn-envs=<n>        Inform environment how many SpawnableEnv to create (if supported)  [default: None].
+```
+
+-----
+## Editor - Add Files
+### ‎UnitySDK/Assets/ML-Agents/Editor/EnvSpawnerDrawer.cs
+-----
+## Scripts - Add Files
+### UnitySDK/Assets/ML-Agents/Scripts/EnvSpawner.cs
+### UnitySDK/Assets/ML-Agents/Scripts/SpawnableEnv.cs
+### UnitySDK/Assets/ML-Agents/Scripts/SelectEnvToSpawn.cs
+-----
+## Scripts - Edits
+### UnitySDK/Assets/ML-Agents/Scripts/Academy.cs
+line 240, replace
+```csharp
+        void Awake()
+        {
+            InitializeEnvironment();
+        }
+```
+with
+```csharp
+        void Awake()
+        {
+            if (ShouldInitalizeOnAwake())
+                InitializeEnvironment();
+            else
+                enabled = false;
+```
+then add
+```csharp
+        void OnEnable()
+        {
+            if (!ShouldInitalizeOnAwake())
+                InitializeEnvironment();
+        }
+        public bool ShouldInitalizeOnAwake()
+        {
+            if (agentSpawner != null && IsTrainingMode())
+                return true;
+            if (GetComponent<SelectEnvToSpawn>() == null)
+                return true;
+            return false;
+        }
+```
+line 291, replace
+```csharp
+            var exposedBrains = broadcastHub.broadcastingBrains.Where(x => x != null).ToList();;
+            var controlledBrains = broadcastHub.broadcastingBrains.Where(
+                x => x != null && x is LearningBrain && broadcastHub.IsControlled(x));
+            foreach (LearningBrain brain in controlledBrains)
+            {
+                brain.SetToControlledExternally();
+            }
+```
+with
+```csharp
+            var spawnPrefab = agentSpawner.GetPrefabFor(GetAgentId());
+            var spawnAgentPrefabs = spawnPrefab.GetComponentsInChildren<Agent>();
+            var spawnAgentPrefabBrains = spawnAgentPrefabs
+                .Where(x=>x.brain as LearningBrain != null)
+                .Select(x=>x.brain)
+                .ToList();
+            var spawnerEnabled = spawnAgentPrefabBrains.Count > 0;
+            var hubBrains = broadcastHub.broadcastingBrains.Where(x => x != null).ToList();;
+            var hubControlledBrains = broadcastHub.broadcastingBrains.Where(
+                x => x != null && x is LearningBrain && broadcastHub.IsControlled(x));
+
+            IEnumerable<Brain> exposedBrains = 
+                spawnerEnabled ? spawnAgentPrefabBrains : hubBrains;
+            IEnumerable<Brain> controlledBrains = hubControlledBrains;
+            if (spawnerEnabled)
+                controlledBrains = IsTrainingMode()
+                    ? spawnAgentPrefabBrains 
+                    : new List<Brain>();
+```
+line 336, add
+```csharp
+            foreach (LearningBrain brain in controlledBrains)
+            {
+                brain.SetToControlledExternally();
+            }
+```
+line 398, add
+```python
+            if (spawnerEnabled)
+                agentSpawner.SpawnSpawnableEnv(this.gameObject, GetNumAgents() ,spawnPrefab);
+```
+line 441, add
+```python
+        /// <summary>
+        /// Return the number of agents to spawn.
+        /// </summary>
+        public int GetNumAgents()
+        {
+            // try get from command line
+            List<string> commandLineArgs = new List<string>(System.Environment.GetCommandLineArgs());
+            int index = commandLineArgs.IndexOf("--num-spawn-envs");
+            if(index != -1) {
+                int numEnvs;
+                if (int.TryParse(commandLineArgs[index + 1], out numEnvs))
+                    return numEnvs;
+            }
+            return isInference ? agentSpawner.inferenceNumEnvsDefault : agentSpawner.trainingNumEnvsDefault;
+        }
+
+        /// <summary>
+        /// Return the agentId to spawn.
+        /// </summary>
+        public string GetAgentId()
+        {
+            // try get from command line
+            List<string> commandLineArgs = new List<string>(System.Environment.GetCommandLineArgs());
+            int index = commandLineArgs.IndexOf("--spawn-env");
+            if(index != -1) {
+                return commandLineArgs[index + 1];
+            }
+            return agentSpawner.envIdDefault;
+        }
+
+        /// <summary>
+        /// Return if training mode.
+        /// </summary>
+        bool IsTrainingMode()
+        {
+            if (agentSpawner != null && agentSpawner.trainingMode)
+                return true;
+            List<string> commandLineArgs = new List<string>(System.Environment.GetCommandLineArgs());
+            int index = commandLineArgs.IndexOf("--train");
+            bool trainingMode = index != -1;
+            return trainingMode;
+        }
+```
+line 688, add to `FixedUpdate()`
+```python
+            SpawnableEnv.TriggerPhysicsStep();
+```
+line 699, add tp `OnDestroy()`
+```python
+            broadcastHub.Clear();
+            broadcastHub = null;
+            agentSpawner = null;
+```
+-----
+### UnitySDK/Assets/ML-Agents/Scripts/Agent.cs
+line 181, add
+```csharp
+
+        /// <summary>
+        /// If numberOfActionsBetweenDecisions > 1, setting this to true will 
+        /// only send Actions on decisions steps. This is useful when running 
+        /// physics at high frequencies on continious control agents. (used 
+        /// when On Demand Decisions is turned off).
+        /// </summary>
+        public bool skipActionsWithDecisions;
+```
+line 902, add
+```csharp
+        protected AgentInfo GetInfo()
+        {
+            return info;
+        }
+```
+line 1026, replace
+```csharp
+        void MakeRequests(int academyStepCounter)
+        {
+            agentParameters.numberOfActionsBetweenDecisions =
+                Mathf.Max(agentParameters.numberOfActionsBetweenDecisions, 1);
+            if (!agentParameters.onDemandDecision)
+            {
+                RequestAction();
+                if (academyStepCounter %
+                    agentParameters.numberOfActionsBetweenDecisions == 0)
+                {
+                    RequestDecision();
+                }
+            }
+        }
+```
+with
+```csharp
+        void MakeRequests(int academyStepCounter)
+        {
+            agentParameters.numberOfActionsBetweenDecisions =
+                Mathf.Max(agentParameters.numberOfActionsBetweenDecisions, 1);
+            if (!agentParameters.onDemandDecision)
+            {
+                bool skipDecision = false;
+                bool skipAction = false;
+                if (academyStepCounter %
+                    agentParameters.numberOfActionsBetweenDecisions != 0)
+                {
+                    skipDecision = true;
+                    skipAction = agentParameters.skipActionsWithDecisions;
+                }
+                if (!skipAction)
+                    RequestAction();
+                if (!skipDecision)
+                    RequestDecision();
+            }
+        }
+```
+line 1101, add
+```csharp
+        /// <summary>
+        /// Cleanup function
+        /// </summary>
+        protected virtual void OnDestroy()
+        {
+            brain?.Clear();
+            Monitor.RemoveAllValues(transform);
+        }
+     }
+```
+-----
+### UnitySDK/Assets/ML-Agents/Scripts/Brain.cs
+line 92, add
+```csharp
+        public void Clear()
+        {
+            var academy = FindObjectOfType<Academy>();
+            if (academy != null)
+                academy.BrainDecideAction -= BrainDecideAction;
+            agentInfos.Clear();
+            _isInitialized = false;
+        }
+```
+-----
+### UnitySDK/Assets/ML-Agents/Scripts/Monitor.cs
+line 33 repace
+``` csharp
+        static bool isInstantiated;
+```
+with
+``` csharp
+        static bool isInstantiated{ get {return canvas!=null;} }
+``` 
+line 89, within `if (!isInstantiated)` remove 
+``` csharp
+        isInstantiated = true; 
+```
+line 159, within `if (!isInstantiated)` remove 
+``` csharp
+        isInstantiated = true; 
+```
+line 221, within `if (!isInstantiated)` remove 
+``` csharp
+        isInstantiated = true; 
+```
+line 335, within `if (!isInstantiated)` remove 
+``` csharp
+        isInstantiated = true; 
+```

Dockerfile

@@ -122,9 +122,15 @@ RUN apt-get update && apt-get -y upgrade
 # xvfb is used to do CPU based rendering of Unity
 RUN apt-get install -y xvfb
 
+# Install ml-agents-envs package locally
+COPY ml-agents-envs /ml-agents-envs
+WORKDIR /ml-agents-envs
+RUN pip install -e .
+
+# Install ml-agents package next
 COPY ml-agents /ml-agents
 WORKDIR /ml-agents
-RUN pip install .
+RUN pip install -e .
 
 # port 5005 is the port used in in Editor training.
 EXPOSE 5005

LICENSE

@@ -178,15 +178,15 @@
    APPENDIX: How to apply the Apache License to your work.
 
       To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "[]"
+      boilerplate notice, with the fields enclosed by brackets "{}"
       replaced with your own identifying information. (Don't include
       the brackets!)  The text should be enclosed in the appropriate
       comment syntax for the file format. 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.
 
-   Copyright [yyyy] [name of copyright owner]
+   Copyright 2017 Unity Technologies
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.