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[WIP] [Fix] Fixing collect observation called on done #5375

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merged 4 commits into from
May 20, 2021
Merged

[WIP] [Fix] Fixing collect observation called on done #5375

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9562704
[WIP] [Fix] Fixing collect observation called on done
vincentpierre May 19, 2021
059cac9
Update com.unity.ml-agents/Runtime/Agent.cs
vincentpierre May 19, 2021
d07eb6c
:warning: Modifying the test of stacking sensor when the agent is done
vincentpierre May 19, 2021
874ffa7
modifying the documentation for BufferSensor to specify to call AddOb…
vincentpierre May 20, 2021
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11 changes: 4 additions & 7 deletions com.unity.ml-agents/Runtime/Agent.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -562,14 +562,11 @@ void NotifyAgentDone(DoneReason doneReason)
m_Info.done = true;
m_Info.maxStepReached = doneReason == DoneReason.MaxStepReached;
m_Info.groupId = m_GroupId;
if (collectObservationsSensor != null)
UpdateSensors();
// Make sure the latest observations are being passed to training.
using (m_CollectObservationsChecker.Start())
{
// Make sure the latest observations are being passed to training.
collectObservationsSensor.Reset();
using (m_CollectObservationsChecker.Start())
{
CollectObservations(collectObservationsSensor);
}
CollectObservations(collectObservationsSensor);
}
// Request the last decision with no callbacks
// We request a decision so Python knows the Agent is done immediately
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11 changes: 9 additions & 2 deletions com.unity.ml-agents/Tests/Runtime/Sensor/StackingSensorTests.cs
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Expand Up @@ -59,10 +59,17 @@ public void AssertStackingReset()
agent1.RequestDecision();
aca.EnvironmentStep();
}

policy.OnRequestDecision = () => SensorTestHelper.CompareObservation(sensor, new[] { 18f, 19f, 21f });
SensorTestHelper.CompareObservation(sensor, new[] { 18f, 19f, 20f });
policy.OnRequestDecision = () => SensorTestHelper.CompareObservation(sensor, new[] { 19f, 20f, 21f });
agent1.EndEpisode();
policy.OnRequestDecision = () => { };
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f });
for (int i = 0; i < 20; i++)
{
agent1.RequestDecision();
aca.EnvironmentStep();
SensorTestHelper.CompareObservation(sensor, new[] { Math.Max(0, i - 1f), i, i + 1 });
}
}

[Test]
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6 changes: 4 additions & 2 deletions docs/Learning-Environment-Design-Agents.md
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Expand Up @@ -612,7 +612,8 @@ The `BufferSensorComponent` Editor inspector has two arguments:
the `BufferSensor` will be able to collect.

To add an entity's observations to a `BufferSensorComponent`, you need
to call `BufferSensorComponent.AppendObservation()`
to call `BufferSensorComponent.AppendObservation()` in the
Agent.CollectObservations() method
with a float array of size `Observation Size` as argument.

__Note__: Currently, the observations put into the `BufferSensor` are
Expand All @@ -621,7 +622,8 @@ between -1 and 1.

#### Variable Length Observation Summary & Best Practices
- Attach `BufferSensorComponent` to use.
- Call `BufferSensorComponent.AppendObservation()` to add the observations
- Call `BufferSensorComponent.AppendObservation()` in the
Agent.CollectObservations() methodto add the observations
of an entity to the `BufferSensor`.
- Normalize the entities observations before feeding them into the `BufferSensor`.

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