From c40dda7bebb5a2cf23189860a0a21d1a7be14867 Mon Sep 17 00:00:00 2001
From: Chris Elion <chris.elion@unity3d.com>
Date: Fri, 7 Feb 2020 14:51:46 -0800
Subject: [PATCH 1/3] clean up examples and tests

---
 .../Examples/SharedAssets/Scripts/ModelOverrider.cs   |  2 +-
 .../ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs  | 10 +++-------
 .../Examples/Soccer/Scripts/SoccerFieldArea.cs        |  7 -------
 .../Editor/EditModeTestInternalBrainTensorApplier.cs  |  8 +-------
 .../EditModeTestInternalBrainTensorGenerator.cs       |  1 -
 com.unity.ml-agents/Tests/Editor/SideChannelTests.cs  | 11 +++++------
 com.unity.ml-agents/Tests/Editor/TimerTest.cs         |  3 +--
 7 files changed, 11 insertions(+), 31 deletions(-)

diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
index 8bf4e1a20f..f42c342d14 100644
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs
@@ -143,7 +143,7 @@ void OverrideModel()
             var nnModel = GetModelForBehaviorName(bp.behaviorName);
             Debug.Log($"Overriding behavior {bp.behaviorName} for agent with model {nnModel?.name}");
             // This might give a null model; that's better because we'll fall back to the Heuristic
-            m_Agent.GiveModel($"Override_{bp.behaviorName}", nnModel, InferenceDevice.CPU);
+            m_Agent.GiveModel($"Override_{bp.behaviorName}", nnModel);
 
         }
     }
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
index 76611eaccb..d3637f3fd5 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
@@ -26,15 +26,14 @@ public enum Team
     [HideInInspector]
     public Rigidbody agentRb;
     SoccerSettings m_SoccerSettings;
-    Renderer m_AgentRenderer;
-    BehaviorParameters m_BP;
+    BehaviorParameters m_BehaviorParameters;
     Vector3 m_Transform;
 
     public override void InitializeAgent()
     {
         base.InitializeAgent();
-        m_BP = gameObject.GetComponent<BehaviorParameters>();
-        if (m_BP.m_TeamID == (int)Team.Blue)
+        m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>();
+        if (m_BehaviorParameters.m_TeamID == (int)Team.Blue)
         {
             team = Team.Blue;
             m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
@@ -44,7 +43,6 @@ public override void InitializeAgent()
             team = Team.Purple;
             m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
         }
-        m_AgentRenderer = GetComponentInChildren<Renderer>();
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
         agentRb = GetComponent<Rigidbody>();
         agentRb.maxAngularVelocity = 500;
@@ -65,8 +63,6 @@ public void MoveAgent(float[] act)
         var dirToGo = Vector3.zero;
         var rotateDir = Vector3.zero;
 
-        var action = Mathf.FloorToInt(act[0]);
-
         m_KickPower = 0f;
 
         var forwardAxis = (int)act[0];
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
index 9898113c5d..df2df664e1 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
@@ -30,16 +30,9 @@ public class SoccerFieldArea : MonoBehaviour
     public GameObject goalTextUI;
     [HideInInspector]
     public bool canResetBall;
-    Material m_GroundMaterial;
-    Renderer m_GroundRenderer;
-
-    SoccerSettings m_SoccerSettings;
 
     void Awake()
     {
-        m_SoccerSettings = FindObjectOfType<SoccerSettings>();
-        m_GroundRenderer = centerPitch.GetComponent<Renderer>();
-        m_GroundMaterial = m_GroundRenderer.material;
         canResetBall = true;
         if (goalTextUI) { goalTextUI.SetActive(false); }
         ballRb = ball.GetComponent<Rigidbody>();
diff --git a/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorApplier.cs b/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorApplier.cs
index e0fb738dfd..defa9ca9df 100644
--- a/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorApplier.cs
+++ b/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorApplier.cs
@@ -1,7 +1,6 @@
 using System.Collections.Generic;
 using NUnit.Framework;
 using UnityEngine;
-using System.Reflection;
 using Barracuda;
 using MLAgents.InferenceBrain;
 using System;
@@ -12,12 +11,7 @@ public class EditModeTestInternalBrainTensorApplier
     {
         class TestAgent : Agent
         {
-            public AgentAction GetAction()
-            {
-                var f = typeof(Agent).GetField(
-                    "m_Action", BindingFlags.Instance | BindingFlags.NonPublic);
-                return (AgentAction)f.GetValue(this);
-            }
+
         }
 
         [Test]
diff --git a/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorGenerator.cs b/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorGenerator.cs
index b7ebbd8d94..5b356b1562 100644
--- a/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorGenerator.cs
+++ b/com.unity.ml-agents/Tests/Editor/EditModeTestInternalBrainTensorGenerator.cs
@@ -3,7 +3,6 @@
 using NUnit.Framework;
 using UnityEngine;
 using MLAgents.InferenceBrain;
-using System.Reflection;
 
 
 namespace MLAgents.Tests
diff --git a/com.unity.ml-agents/Tests/Editor/SideChannelTests.cs b/com.unity.ml-agents/Tests/Editor/SideChannelTests.cs
index 3f1803f928..73c5813e55 100644
--- a/com.unity.ml-agents/Tests/Editor/SideChannelTests.cs
+++ b/com.unity.ml-agents/Tests/Editor/SideChannelTests.cs
@@ -1,6 +1,5 @@
 using System;
 using NUnit.Framework;
-using MLAgents;
 using System.Collections.Generic;
 using System.Text;
 
@@ -11,13 +10,13 @@ public class SideChannelTests
         // This test side channel only deals in integers
         public class TestSideChannel : SideChannel
         {
-            public List<int> m_MessagesReceived = new List<int>();
+            public List<int> messagesReceived = new List<int>();
 
             public override int ChannelType() { return -1; }
 
             public override void OnMessageReceived(byte[] data)
             {
-                m_MessagesReceived.Add(BitConverter.ToInt32(data, 0));
+                messagesReceived.Add(BitConverter.ToInt32(data, 0));
             }
 
             public void SendInt(int data)
@@ -41,9 +40,9 @@ public void TestIntegerSideChannel()
             byte[] fakeData = RpcCommunicator.GetSideChannelMessage(dictSender);
             RpcCommunicator.ProcessSideChannelData(dictReceiver, fakeData);
 
-            Assert.AreEqual(intReceiver.m_MessagesReceived[0], 4);
-            Assert.AreEqual(intReceiver.m_MessagesReceived[1], 5);
-            Assert.AreEqual(intReceiver.m_MessagesReceived[2], 6);
+            Assert.AreEqual(intReceiver.messagesReceived[0], 4);
+            Assert.AreEqual(intReceiver.messagesReceived[1], 5);
+            Assert.AreEqual(intReceiver.messagesReceived[2], 6);
         }
 
         [Test]
diff --git a/com.unity.ml-agents/Tests/Editor/TimerTest.cs b/com.unity.ml-agents/Tests/Editor/TimerTest.cs
index 54016508a9..8c39d7df56 100644
--- a/com.unity.ml-agents/Tests/Editor/TimerTest.cs
+++ b/com.unity.ml-agents/Tests/Editor/TimerTest.cs
@@ -1,5 +1,4 @@
 using NUnit.Framework;
-using UnityEditor.Graphs;
 using UnityEngine;
 
 namespace MLAgents.Tests
@@ -17,7 +16,7 @@ public void TestNested()
                 {
                     using (myTimer.Scoped("bar"))
                     {
-                        myTimer.SetGauge("my_gauge", (float)i);
+                        myTimer.SetGauge("my_gauge", i);
                     }
                 }
             }

From ec67e40821d4382655fb4fd771c81b955fe97a4d Mon Sep 17 00:00:00 2001
From: Chris Elion <chris.elion@unity3d.com>
Date: Fri, 7 Feb 2020 15:03:51 -0800
Subject: [PATCH 2/3] more cleanup

---
 com.unity.ml-agents/Runtime/Academy.cs        | 26 +++++++++----------
 com.unity.ml-agents/Runtime/Agent.cs          |  1 -
 .../Runtime/DecisionRequester.cs              | 12 +++------
 .../Runtime/EpisodeIdCounter.cs               |  4 +--
 .../Runtime/Grpc/GrpcExtensions.cs            |  1 -
 .../Runtime/Grpc/RpcCommunicator.cs           | 12 +++++----
 com.unity.ml-agents/Runtime/ICommunicator.cs  |  3 ---
 .../Runtime/InferenceBrain/ApplierImpl.cs     |  4 +--
 .../Runtime/InferenceBrain/GeneratorImpl.cs   |  2 +-
 .../Runtime/InferenceBrain/TensorApplier.cs   |  1 -
 .../Runtime/InferenceBrain/TensorGenerator.cs |  2 +-
 .../Runtime/Policy/BarracudaPolicy.cs         |  2 +-
 .../Runtime/Policy/BehaviorParameters.cs      |  9 +++----
 com.unity.ml-agents/Runtime/Policy/IPolicy.cs |  3 ++-
 .../Runtime/Sensor/RayPerceptionSensor.cs     |  1 +
 .../Runtime/Sensor/SensorShapeValidator.cs    |  2 +-
 .../SideChannel/EngineConfigurationChannel.cs |  1 -
 .../SideChannel/FloatPropertiesChannel.cs     |  8 +++---
 .../Runtime/SideChannel/RawBytesChannel.cs    |  4 +--
 19 files changed, 45 insertions(+), 53 deletions(-)

diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs
index a3670e6f07..adc03928cc 100644
--- a/com.unity.ml-agents/Runtime/Academy.cs
+++ b/com.unity.ml-agents/Runtime/Academy.cs
@@ -53,14 +53,14 @@ public class Academy : IDisposable
         const int k_EditorTrainingPort = 5004;
 
         // Lazy initializer pattern, see https://csharpindepth.com/articles/singleton#lazy
-        static Lazy<Academy> lazy = new Lazy<Academy>(() => new Academy());
+        static Lazy<Academy> s_Lazy = new Lazy<Academy>(() => new Academy());
 
         public static bool IsInitialized
         {
-            get { return lazy.IsValueCreated; }
+            get { return s_Lazy.IsValueCreated; }
         }
 
-        public static Academy Instance { get { return lazy.Value; } }
+        public static Academy Instance { get { return s_Lazy.Value; } }
 
         public IFloatProperties FloatProperties;
 
@@ -108,30 +108,30 @@ public bool IsCommunicatorOn
 
         // Signals to all the Agents at each environment step so they can use
         // their Policy to decide on their next action.
-        internal event System.Action DecideAction;
+        internal event Action DecideAction;
 
         // Signals to all the listeners that the academy is being destroyed
-        internal event System.Action DestroyAction;
+        internal event Action DestroyAction;
 
         // Signals to all the agents at each environment step along with the
         // Academy's maxStepReached, done and stepCount values. The agents rely
         // on this event to update their own values of max step reached and done
         // in addition to aligning on the step count of the global episode.
-        internal event System.Action<int> AgentSetStatus;
+        internal event Action<int> AgentSetStatus;
 
         // Signals to all the agents at each environment step so they can send
         // their state to their Policy if they have requested a decision.
-        internal event System.Action AgentSendState;
+        internal event Action AgentSendState;
 
         // Signals to all the agents at each environment step so they can act if
         // they have requested a decision.
-        internal event System.Action AgentAct;
+        internal event Action AgentAct;
 
         // Signals to all the agents each time the Academy force resets.
-        internal event System.Action AgentForceReset;
+        internal event Action AgentForceReset;
 
         // Signals that the Academy has been reset by the training process
-        public event System.Action OnEnvironmentReset;
+        public event Action OnEnvironmentReset;
 
         AcademyFixedUpdateStepper m_FixedUpdateStepper;
         GameObject m_StepperObject;
@@ -273,13 +273,13 @@ void InitializeEnvironment()
                 //environment must use Inference.
                 try
                 {
-                    var unityRLInitParameters = Communicator.Initialize(
+                    var unityRlInitParameters = Communicator.Initialize(
                         new CommunicatorInitParameters
                         {
                             version = k_ApiVersion,
                             name = "AcademySingleton",
                         });
-                    UnityEngine.Random.InitState(unityRLInitParameters.seed);
+                    UnityEngine.Random.InitState(unityRlInitParameters.seed);
                 }
                 catch
                 {
@@ -471,7 +471,7 @@ public void Dispose()
             m_Initialized = false;
 
             // Reset the Lazy instance
-            lazy = new Lazy<Academy>(() => new Academy());
+            s_Lazy = new Lazy<Academy>(() => new Academy());
         }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
index 72247c55a3..25329e3ba4 100644
--- a/com.unity.ml-agents/Runtime/Agent.cs
+++ b/com.unity.ml-agents/Runtime/Agent.cs
@@ -173,7 +173,6 @@ public abstract class Agent : MonoBehaviour
         /// List of sensors used to generate observations.
         /// Currently generated from attached SensorComponents, and a legacy VectorSensor
         /// </summary>
-        [FormerlySerializedAs("m_Sensors")]
         internal List<ISensor> sensors;
 
         /// <summary>
diff --git a/com.unity.ml-agents/Runtime/DecisionRequester.cs b/com.unity.ml-agents/Runtime/DecisionRequester.cs
index 87ac77c1cc..4678b7906f 100644
--- a/com.unity.ml-agents/Runtime/DecisionRequester.cs
+++ b/com.unity.ml-agents/Runtime/DecisionRequester.cs
@@ -1,9 +1,5 @@
 using System;
-using System.Collections.Generic;
 using UnityEngine;
-using Barracuda;
-using MLAgents.Sensor;
-using UnityEngine.Serialization;
 
 namespace MLAgents
 {
@@ -24,11 +20,11 @@ public class DecisionRequester : MonoBehaviour
         [Tooltip("Whether or not Agent decisions should start at a random offset.")]
         public bool offsetStep;
 
-        private Agent m_Agent;
-        private int offset;
+        Agent m_Agent;
+        int m_Offset;
         public void Awake()
         {
-            offset = offsetStep ? gameObject.GetInstanceID() : 0;
+            m_Offset = offsetStep ? gameObject.GetInstanceID() : 0;
             m_Agent = gameObject.GetComponent<Agent>();
             Academy.Instance.AgentSetStatus += MakeRequests;
         }
@@ -43,7 +39,7 @@ void OnDestroy()
 
         void MakeRequests(int count)
         {
-            if ((count + offset) % DecisionPeriod == 0)
+            if ((count + m_Offset) % DecisionPeriod == 0)
             {
                 m_Agent?.RequestDecision();
             }
diff --git a/com.unity.ml-agents/Runtime/EpisodeIdCounter.cs b/com.unity.ml-agents/Runtime/EpisodeIdCounter.cs
index 82f7fce019..3e94a09c1d 100644
--- a/com.unity.ml-agents/Runtime/EpisodeIdCounter.cs
+++ b/com.unity.ml-agents/Runtime/EpisodeIdCounter.cs
@@ -2,10 +2,10 @@ namespace MLAgents
 {
     internal static class EpisodeIdCounter
     {
-        private static int Counter;
+        static int s_Counter;
         public static int GetEpisodeId()
         {
-            return Counter++;
+            return s_Counter++;
         }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Grpc/GrpcExtensions.cs b/com.unity.ml-agents/Runtime/Grpc/GrpcExtensions.cs
index 900ca774ba..b42ddc1a84 100644
--- a/com.unity.ml-agents/Runtime/Grpc/GrpcExtensions.cs
+++ b/com.unity.ml-agents/Runtime/Grpc/GrpcExtensions.cs
@@ -2,7 +2,6 @@
 using System.Collections.Generic;
 using System.Linq;
 using Google.Protobuf;
-using Google.Protobuf.Collections;
 using MLAgents.CommunicatorObjects;
 using MLAgents.Sensor;
 using UnityEngine;
diff --git a/com.unity.ml-agents/Runtime/Grpc/RpcCommunicator.cs b/com.unity.ml-agents/Runtime/Grpc/RpcCommunicator.cs
index 5cd18d4f90..75fdd9d95d 100644
--- a/com.unity.ml-agents/Runtime/Grpc/RpcCommunicator.cs
+++ b/com.unity.ml-agents/Runtime/Grpc/RpcCommunicator.cs
@@ -233,7 +233,8 @@ public void DecideBatch()
         /// Sends the observations of one Agent.
         /// </summary>
         /// <param name="behaviorName">Batch Key.</param>
-        /// <param name="agent">Agent info.</param>
+        /// <param name="info">Agent info.</param>
+        /// <param name="sensors">Sensors that will produce the observations</param>
         public void PutObservations(string behaviorName, AgentInfo info, List<ISensor> sensors)
         {
 # if DEBUG
@@ -465,13 +466,14 @@ void UpdateSentBrainParameters(UnityRLInitializationOutputProto output)
         /// <param name="sideChannel"> The side channel to be registered.</param>
         public void RegisterSideChannel(SideChannel sideChannel)
         {
-            if (m_SideChannels.ContainsKey(sideChannel.ChannelType()))
+            var channelType = sideChannel.ChannelType();
+            if (m_SideChannels.ContainsKey(channelType))
             {
                 throw new UnityAgentsException(string.Format(
-                    "A side channel with type index {} is already registered. You cannot register multiple " +
-                    "side channels of the same type."));
+                    "A side channel with type index {0} is already registered. You cannot register multiple " +
+                    "side channels of the same type.", channelType));
             }
-            m_SideChannels.Add(sideChannel.ChannelType(), sideChannel);
+            m_SideChannels.Add(channelType, sideChannel);
         }
 
         /// <summary>
diff --git a/com.unity.ml-agents/Runtime/ICommunicator.cs b/com.unity.ml-agents/Runtime/ICommunicator.cs
index 952f3997bd..418a1a8808 100644
--- a/com.unity.ml-agents/Runtime/ICommunicator.cs
+++ b/com.unity.ml-agents/Runtime/ICommunicator.cs
@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
 using UnityEngine;
-using MLAgents.CommunicatorObjects;
 using MLAgents.Sensor;
 
 namespace MLAgents
@@ -44,7 +43,6 @@ internal struct UnityRLInputParameters
     /// <summary>
     /// Delegate for handling reset parameter updates sent from the communicator.
     /// </summary>
-    /// <param name="resetParams"></param>
     internal delegate void ResetCommandHandler();
 
     /// <summary>
@@ -122,7 +120,6 @@ internal interface ICommunicator : IDisposable
         /// <param name="brainKey">Batch Key.</param>
         /// <param name="info">Agent info.</param>
         /// <param name="sensors">The list of ISensors of the Agent.</param>
-        /// <param name="action">The action that will be called once the next AgentAction is ready.</param>
         void PutObservations(string brainKey, AgentInfo info, List<ISensor> sensors);
 
         /// <summary>
diff --git a/com.unity.ml-agents/Runtime/InferenceBrain/ApplierImpl.cs b/com.unity.ml-agents/Runtime/InferenceBrain/ApplierImpl.cs
index 501f4e57a1..0a5d968024 100644
--- a/com.unity.ml-agents/Runtime/InferenceBrain/ApplierImpl.cs
+++ b/com.unity.ml-agents/Runtime/InferenceBrain/ApplierImpl.cs
@@ -205,7 +205,7 @@ public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionar
             var memorySize = (int)tensorProxy.shape[tensorProxy.shape.Length - 1];
             foreach (int agentId in actionIds)
             {
-                List<float> memory = null;
+                List<float> memory;
                 if (!m_Memories.TryGetValue(agentId, out memory)
                     || memory.Count < memorySize)
                 {
@@ -243,7 +243,7 @@ public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionar
 
             foreach (int agentId in actionIds)
             {
-                List<float> memory = null;
+                List<float> memory;
                 if (!m_Memories.TryGetValue(agentId, out memory)
                     || memory.Count < memorySize * m_MemoriesCount)
                 {
diff --git a/com.unity.ml-agents/Runtime/InferenceBrain/GeneratorImpl.cs b/com.unity.ml-agents/Runtime/InferenceBrain/GeneratorImpl.cs
index 07077912ae..7771dd265f 100644
--- a/com.unity.ml-agents/Runtime/InferenceBrain/GeneratorImpl.cs
+++ b/com.unity.ml-agents/Runtime/InferenceBrain/GeneratorImpl.cs
@@ -139,7 +139,7 @@ public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentIn
     /// </summary>
     internal class RecurrentInputGenerator : TensorGenerator.IGenerator
     {
-        private readonly ITensorAllocator m_Allocator;
+        readonly ITensorAllocator m_Allocator;
         Dictionary<int, List<float>> m_Memories;
 
         public RecurrentInputGenerator(
diff --git a/com.unity.ml-agents/Runtime/InferenceBrain/TensorApplier.cs b/com.unity.ml-agents/Runtime/InferenceBrain/TensorApplier.cs
index f62d1ecb7f..3c063c05f4 100644
--- a/com.unity.ml-agents/Runtime/InferenceBrain/TensorApplier.cs
+++ b/com.unity.ml-agents/Runtime/InferenceBrain/TensorApplier.cs
@@ -30,7 +30,6 @@ public interface IApplier
             /// </param>
             /// <param name="actionIds"> List of Agents Ids that will be updated using the tensor's data</param>
             /// <param name="lastActions"> Dictionary of AgentId to Actions to be updated</param>
-            /// </param>
             void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions);
         }
 
diff --git a/com.unity.ml-agents/Runtime/InferenceBrain/TensorGenerator.cs b/com.unity.ml-agents/Runtime/InferenceBrain/TensorGenerator.cs
index 899dd9ce91..ca549eea67 100644
--- a/com.unity.ml-agents/Runtime/InferenceBrain/TensorGenerator.cs
+++ b/com.unity.ml-agents/Runtime/InferenceBrain/TensorGenerator.cs
@@ -122,7 +122,7 @@ public void InitializeObservations(List<ISensor> sensors, ITensorAllocator alloc
         /// <param name="tensors"> Enumerable of tensors that will be modified.</param>
         /// <param name="currentBatchSize"> The number of agents present in the current batch
         /// </param>
-        /// <param name="agents"> List of Agents that contains the
+        /// <param name="infos"> List of AgentsInfos and Sensors that contains the
         /// data that will be used to modify the tensors</param>
         /// <exception cref="UnityAgentsException"> One of the tensor does not have an
         /// associated generator.</exception>
diff --git a/com.unity.ml-agents/Runtime/Policy/BarracudaPolicy.cs b/com.unity.ml-agents/Runtime/Policy/BarracudaPolicy.cs
index 75e256f4fb..1145504f82 100644
--- a/com.unity.ml-agents/Runtime/Policy/BarracudaPolicy.cs
+++ b/com.unity.ml-agents/Runtime/Policy/BarracudaPolicy.cs
@@ -22,7 +22,7 @@ internal class BarracudaPolicy : IPolicy
     {
         protected ModelRunner m_ModelRunner;
 
-        private int m_AgentId;
+        int m_AgentId;
 
         /// <summary>
         /// Sensor shapes for the associated Agents. All Agents must have the same shapes for their Sensors.
diff --git a/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs b/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
index 9e5f251cd5..8a0dd7455c 100644
--- a/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
+++ b/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
@@ -1,6 +1,5 @@
 using Barracuda;
 using System;
-using System.Collections.Generic;
 using UnityEngine;
 
 namespace MLAgents
@@ -13,7 +12,7 @@ namespace MLAgents
     public class BehaviorParameters : MonoBehaviour
     {
         [Serializable]
-        private enum BehaviorType
+        enum BehaviorType
         {
             Default,
             HeuristicOnly,
@@ -37,7 +36,7 @@ private enum BehaviorType
         string m_BehaviorName = "My Behavior";
         [HideInInspector]
         [SerializeField]
-        public int m_TeamID = 0;
+        public int m_TeamID;
         [HideInInspector]
         [SerializeField]
         [Tooltip("Use all Sensor components attached to child GameObjects of this Agent.")]
@@ -93,13 +92,13 @@ internal IPolicy GeneratePolicy(Func<float[]> heuristic)
         }
 
         public void GiveModel(
-            string behaviorName,
+            string newBehaviorName,
             NNModel model,
             InferenceDevice inferenceDevice = InferenceDevice.CPU)
         {
             m_Model = model;
             m_InferenceDevice = inferenceDevice;
-            m_BehaviorName = behaviorName;
+            m_BehaviorName = newBehaviorName;
         }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Policy/IPolicy.cs b/com.unity.ml-agents/Runtime/Policy/IPolicy.cs
index 14e9154aab..b56da09a2a 100644
--- a/com.unity.ml-agents/Runtime/Policy/IPolicy.cs
+++ b/com.unity.ml-agents/Runtime/Policy/IPolicy.cs
@@ -17,7 +17,8 @@ internal interface IPolicy : IDisposable
         /// will make the decision at a later time to allow possible
         /// batching of requests.
         /// </summary>
-        /// <param name="agent"></param>
+        /// <param name="info"></param>
+        /// <param name="sensors"></param>
         void RequestDecision(AgentInfo info, List<ISensor> sensors);
 
         /// <summary>
diff --git a/com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs b/com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs
index 4afc3c4145..ebe5e0e6df 100644
--- a/com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs
@@ -157,6 +157,7 @@ public virtual SensorCompressionType GetCompressionType()
         /// <param name="transform">Transform of the GameObject</param>
         /// <param name="castType">Whether to perform the casts in 2D or 3D.</param>
         /// <param name="perceptionBuffer">Output array of floats. Must be (num rays) * (num tags + 2) in size.</param>
+        /// <param name="layerMask">Filtering options for the casts</param>
         /// <param name="debugInfo">Optional debug information output, only used by RayPerceptionSensor.</param>
         ///
         public static void PerceiveStatic(float unscaledRayLength,
diff --git a/com.unity.ml-agents/Runtime/Sensor/SensorShapeValidator.cs b/com.unity.ml-agents/Runtime/Sensor/SensorShapeValidator.cs
index 0b92725c6a..b160856679 100644
--- a/com.unity.ml-agents/Runtime/Sensor/SensorShapeValidator.cs
+++ b/com.unity.ml-agents/Runtime/Sensor/SensorShapeValidator.cs
@@ -5,7 +5,7 @@ namespace MLAgents.Sensor
 {
     internal class SensorShapeValidator
     {
-        private List<int[]> m_SensorShapes;
+        List<int[]> m_SensorShapes;
 
         /// <summary>
         /// Check that the List Sensors are the same shape as the previous ones.
diff --git a/com.unity.ml-agents/Runtime/SideChannel/EngineConfigurationChannel.cs b/com.unity.ml-agents/Runtime/SideChannel/EngineConfigurationChannel.cs
index 1c6c76c3a9..7e859b2df4 100644
--- a/com.unity.ml-agents/Runtime/SideChannel/EngineConfigurationChannel.cs
+++ b/com.unity.ml-agents/Runtime/SideChannel/EngineConfigurationChannel.cs
@@ -1,4 +1,3 @@
-using System.Collections.Generic;
 using System.IO;
 using UnityEngine;
 
diff --git a/com.unity.ml-agents/Runtime/SideChannel/FloatPropertiesChannel.cs b/com.unity.ml-agents/Runtime/SideChannel/FloatPropertiesChannel.cs
index b39588688b..8c444bf9f4 100644
--- a/com.unity.ml-agents/Runtime/SideChannel/FloatPropertiesChannel.cs
+++ b/com.unity.ml-agents/Runtime/SideChannel/FloatPropertiesChannel.cs
@@ -39,8 +39,8 @@ public interface IFloatProperties
 
     public class FloatPropertiesChannel : SideChannel, IFloatProperties
     {
-        private Dictionary<string, float> m_FloatProperties = new Dictionary<string, float>();
-        private Dictionary<string, Action<float>> m_RegisteredActions = new Dictionary<string, Action<float>>();
+        Dictionary<string, float> m_FloatProperties = new Dictionary<string, float>();
+        Dictionary<string, Action<float>> m_RegisteredActions = new Dictionary<string, Action<float>>();
 
         public override int ChannelType()
         {
@@ -89,7 +89,7 @@ public IList<string> ListProperties()
             return new List<string>(m_FloatProperties.Keys);
         }
 
-        private static KeyValuePair<string, float> DeserializeMessage(byte[] data)
+        static KeyValuePair<string, float> DeserializeMessage(byte[] data)
         {
             using (var memStream = new MemoryStream(data))
             {
@@ -103,7 +103,7 @@ private static KeyValuePair<string, float> DeserializeMessage(byte[] data)
             }
         }
 
-        private static byte[] SerializeMessage(string key, float value)
+        static byte[] SerializeMessage(string key, float value)
         {
             using (var memStream = new MemoryStream())
             {
diff --git a/com.unity.ml-agents/Runtime/SideChannel/RawBytesChannel.cs b/com.unity.ml-agents/Runtime/SideChannel/RawBytesChannel.cs
index 01a97bf97c..415371dc70 100644
--- a/com.unity.ml-agents/Runtime/SideChannel/RawBytesChannel.cs
+++ b/com.unity.ml-agents/Runtime/SideChannel/RawBytesChannel.cs
@@ -3,8 +3,8 @@ namespace MLAgents
 {
     public class RawBytesChannel : SideChannel
     {
-        private List<byte[]> m_MessagesReceived = new List<byte[]>();
-        private int m_ChannelId;
+        List<byte[]> m_MessagesReceived = new List<byte[]>();
+        int m_ChannelId;
 
         /// <summary>
         /// RawBytesChannel provides a way to exchange raw byte arrays between Unity and Python.

From 177ca715034bf67d77eb182819af74b6742acbcc Mon Sep 17 00:00:00 2001
From: Chris Elion <chris.elion@unity3d.com>
Date: Fri, 7 Feb 2020 15:10:16 -0800
Subject: [PATCH 3/3] m_UseChildSensors

---
 com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs b/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
index 8a0dd7455c..5e651be866 100644
--- a/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
+++ b/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
@@ -1,6 +1,7 @@
 using Barracuda;
 using System;
 using UnityEngine;
+using UnityEngine.Serialization;
 
 namespace MLAgents
 {
@@ -37,10 +38,11 @@ enum BehaviorType
         [HideInInspector]
         [SerializeField]
         public int m_TeamID;
+        [FormerlySerializedAs("m_useChildSensors")]
         [HideInInspector]
         [SerializeField]
         [Tooltip("Use all Sensor components attached to child GameObjects of this Agent.")]
-        bool m_useChildSensors = true;
+        bool m_UseChildSensors = true;
 
         public BrainParameters brainParameters
         {
@@ -49,7 +51,7 @@ public BrainParameters brainParameters
 
         public bool useChildSensors
         {
-            get { return m_useChildSensors; }
+            get { return m_UseChildSensors; }
         }
 
         public string behaviorName