Merge release 2 to master

README.md

@@ -2,7 +2,7 @@
 
 # Unity ML-Agents Toolkit
 
-[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_1_docs/docs/)
+[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_2_docs/docs/)
 
 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)
 
@@ -48,8 +48,8 @@ descriptions of all these features.
 
 ## Releases & Documentation
 
-**Our latest, stable release is `Release 1`. Click
-[here](https://github.com/Unity-Technologies/ml-agents/tree/release_1/docs/Readme.md)
+**Our latest, stable release is `Release 2`. Click
+[here](https://github.com/Unity-Technologies/ml-agents/tree/release_2_docs/docs/Readme.md)
 to get started with the latest release of ML-Agents.**
 
 The table below lists all our releases, including our `master` branch which is
@@ -67,16 +67,14 @@ under active development and may be unstable. A few helpful guidelines:
 | **Version** | **Release Date** | **Source** | **Documentation** | **Download** |
 |:-------:|:------:|:-------------:|:-------:|:------------:|
 | **master (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/master) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/master/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/master.zip) |
-| **Release 1** | **April 30, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_1)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_1/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_1.zip)** |
+| **Release 2** | **May 20, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_2)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_2/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_2.zip)** |
+| **Release 1** | April 30, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_1.zip) |
 | **0.15.1** | March 30, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.15.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.15.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.15.1.zip) |
 | **0.15.0** | March 18, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.15.0) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.15.0/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.15.0.zip) |
 | **0.14.1** | February 26, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.14.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.14.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.14.1.zip) |
 | **0.14.0** | February 13, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.14.0) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.14.0/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.14.0.zip) |
 | **0.13.1** | January 21, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.13.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.13.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.13.1.zip) |
 | **0.13.0** | January 8, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.13.0) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.13.0/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.13.0.zip) |
-| **0.12.1** | December 11, 2019 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.12.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.12.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.12.1.zip) |
-| **0.12.0** | December 2, 2019 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.12.0) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.12.0/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.12.0.zip) |
-
 ## Citation
 
 If you are a researcher interested in a discussion of Unity as an AI platform,

com.unity.ml-agents/CHANGELOG.md

@@ -27,14 +27,30 @@ and this project adheres to
 - Unity Player logs are now written out to the results directory. (#3877)
 - Run configuration YAML files are written out to the results directory at the end of the run. (#3815)
 ### Bug Fixes
-- An issue was fixed where using `--initialize-from` would resume from the past step count. (#3962)
 #### com.unity.ml-agents (C#)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 
-## [1.0.0-preview] - 2020-04-30
 
-### Major Changes
+## [1.0.2-preview] - 2020-05-20
+### Bug Fixes
+#### com.unity.ml-agents (C#)
+- Fix missing .meta file
+
+
+## [1.0.1-preview] - 2020-05-19
+### Bug Fixes
+#### com.unity.ml-agents (C#)
+- A bug that would cause the editor to go into a loop when a prefab was selected was fixed. (#3949)
+- BrainParameters.ToProto() no longer throws an exception if none of the fields have been set. (#3930)
+- The Barracuda dependency was upgraded to 0.7.1-preview. (#3977)
+#### ml-agents / ml-agents-envs / gym-unity (Python)
+- An issue was fixed where using `--initialize-from` would resume from the past step count. (#3962)
+- The gym wrapper error for the wrong number of agents now fires more consistently, and more details
+  were added to the error message when the input dimension is wrong. (#3963)
 
+
+## [1.0.0-preview] - 2020-04-30
+### Major Changes
 #### com.unity.ml-agents (C#)
 
 - The `MLAgents` C# namespace was renamed to `Unity.MLAgents`, and other nested

com.unity.ml-agents/Runtime/Academy.cs

@@ -19,7 +19,7 @@
  * API. For more information on each of these entities, in addition to how to
  * set-up a learning environment and train the behavior of characters in a
  * Unity scene, please browse our documentation pages on GitHub:
- * https://github.com/Unity-Technologies/ml-agents/tree/release_1_docs/docs/
+ * https://github.com/Unity-Technologies/ml-agents/tree/release_2_docs/docs/
  */
 
 namespace Unity.MLAgents
@@ -51,7 +51,7 @@ void FixedUpdate()
     /// fall back to inference or heuristic decisions. (You can also set agents to always use
     /// inference or heuristics.)
     /// </remarks>
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_1_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_2_docs/" +
         "docs/Learning-Environment-Design.md")]
     public class Academy : IDisposable
     {
@@ -68,7 +68,7 @@ public class Academy : IDisposable
         /// Unity package version of com.unity.ml-agents.
         /// This must match the version string in package.json and is checked in a unit test.
         /// </summary>
-        internal const string k_PackageVersion = "1.0.0-preview";
+        internal const string k_PackageVersion = "1.0.2-preview";
 
         const int k_EditorTrainingPort = 5004;
 

com.unity.ml-agents/Runtime/Agent.cs

@@ -145,13 +145,13 @@ internal struct AgentAction
     /// [OnDisable()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnDisable.html]
     /// [OnBeforeSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnBeforeSerialize.html
     /// [OnAfterSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnAfterSerialize.html
-    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md
-    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design.md
+    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md
+    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design.md
     /// [Unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents
-    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Readme.md
+    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Readme.md
     ///
     /// </remarks>
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/" +
         "docs/Learning-Environment-Design-Agents.md")]
     [Serializable]
     [RequireComponent(typeof(BehaviorParameters))]
@@ -603,8 +603,8 @@ public int CompletedEpisodes
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         /// </remarks>
         /// <param name="reward">The new value of the reward.</param>
         public void SetReward(float reward)
@@ -633,8 +633,8 @@ public void SetReward(float reward)
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         ///</remarks>
         /// <param name="increment">Incremental reward value.</param>
         public void AddReward(float increment)
@@ -786,8 +786,8 @@ public virtual void Initialize() {}
         /// implementing a simple heuristic function can aid in debugging agent actions and interactions
         /// with its environment.
         ///
-        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
-        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
+        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
         /// </remarks>
         /// <example>
@@ -989,7 +989,7 @@ void ResetSensors()
         /// For more information about observations, see [Observations and Sensors].
         ///
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
+        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
         /// </remarks>
         public virtual void CollectObservations(VectorSensor sensor)
         {
@@ -1020,7 +1020,7 @@ public ReadOnlyCollection<float> GetObservations()
         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="OnActionReceived(float[])"/>
         public virtual void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
@@ -1090,7 +1090,7 @@ public virtual void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker
         ///
         /// For more information about implementing agent actions see [Agents - Actions].
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="vectorAction">
         /// An array containing the action vector. The length of the array is specified

com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs

@@ -19,7 +19,7 @@ namespace Unity.MLAgents.Demonstrations
     /// See [Imitation Learning - Recording Demonstrations] for more information.
     ///
     /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
+    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
     /// </remarks>
     [RequireComponent(typeof(Agent))]
     [AddComponentMenu("ML Agents/Demonstration Recorder", (int)MenuGroup.Default)]

com.unity.ml-agents/Runtime/DiscreteActionMasker.cs

@@ -40,7 +40,7 @@ internal DiscreteActionMasker(BrainParameters brainParameters)
         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_1_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_2_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <param name="branch">The branch for which the actions will be masked.</param>
         /// <param name="actionIndices">The indices of the masked actions.</param>

com.unity.ml-agents/Runtime/Sensors/SensorShapeValidator.cs

@@ -34,7 +34,7 @@ public void ValidateSensors(List<ISensor> sensors)
                     Debug.Assert(cachedShape.Length == sensorShape.Length, "Sensor dimensions must match.");
                     for (var j = 0; j < Mathf.Min(cachedShape.Length, sensorShape.Length); j++)
                     {
-                        Debug.Assert(cachedShape[j] == sensorShape[j], "Sensor sizes much match.");
+                        Debug.Assert(cachedShape[j] == sensorShape[j], "Sensor sizes must match.");
                     }
                 }
             }

com.unity.ml-agents/Tests/Editor/Sensor/SensorShapeValidatorTests.cs

@@ -112,13 +112,13 @@ public void TestSizeMismatch()
             validator.ValidateSensors(sensorList1);
 
             var sensorList2 = new List<ISensor>() { new DummySensor(1), new DummySensor(2, 3), new DummySensor(4, 5, 7) };
-            LogAssert.Expect(LogType.Assert, "Sensor sizes much match.");
+            LogAssert.Expect(LogType.Assert, "Sensor sizes must match.");
             validator.ValidateSensors(sensorList2);
 
             // Add the sensors in the other order
             validator = new SensorShapeValidator();
             validator.ValidateSensors(sensorList2);
-            LogAssert.Expect(LogType.Assert, "Sensor sizes much match.");
+            LogAssert.Expect(LogType.Assert, "Sensor sizes must match.");
             validator.ValidateSensors(sensorList1);
         }
 
@@ -132,15 +132,15 @@ public void TestEverythingMismatch()
             var sensorList2 = new List<ISensor>() { new DummySensor(1), new DummySensor(9) };
             LogAssert.Expect(LogType.Assert, "Number of Sensors must match. 3 != 2");
             LogAssert.Expect(LogType.Assert, "Sensor dimensions must match.");
-            LogAssert.Expect(LogType.Assert, "Sensor sizes much match.");
+            LogAssert.Expect(LogType.Assert, "Sensor sizes must match.");
             validator.ValidateSensors(sensorList2);
 
             // Add the sensors in the other order
             validator = new SensorShapeValidator();
             validator.ValidateSensors(sensorList2);
             LogAssert.Expect(LogType.Assert, "Number of Sensors must match. 2 != 3");
             LogAssert.Expect(LogType.Assert, "Sensor dimensions must match.");
-            LogAssert.Expect(LogType.Assert, "Sensor sizes much match.");
+            LogAssert.Expect(LogType.Assert, "Sensor sizes must match.");
             validator.ValidateSensors(sensorList1);
         }
     }

com.unity.ml-agents/package.json

@@ -1,10 +1,10 @@
 {
   "name": "com.unity.ml-agents",
   "displayName": "ML Agents",
-  "version": "1.0.0-preview",
+  "version": "1.0.2-preview",
   "unity": "2018.4",
   "description": "Use state-of-the-art machine learning to create intelligent character behaviors in any Unity environment (games, robotics, film, etc.).",
   "dependencies": {
-    "com.unity.barracuda": "0.7.0-preview"
+    "com.unity.barracuda": "0.7.1-preview"
   }
-}
+}

docs/Training-ML-Agents.md

@@ -206,7 +206,9 @@ behaviors:
     normalize: false
     num_layers: 2
     time_horizon: 64
+    summary_freq: 10000
     vis_encoder_type: simple
+    init_path: null
 
     # PPO-specific configs
     beta: 5.0e-3
@@ -228,7 +230,6 @@ behaviors:
       batch_size: 512
       num_epoch: 3
       samples_per_update: 0
-      init_path:
 
     reward_signals:
       # environment reward
@@ -241,15 +242,15 @@ behaviors:
         strength: 0.02
         gamma: 0.99
         encoding_size: 256
-        learning_rate: 3e-4
+        learning_rate: 3.0e-4
 
       # GAIL
       gail:
         strength: 0.01
         gamma: 0.99
         encoding_size: 128
         demo_path: Project/Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo
-        learning_rate: 3e-4
+        learning_rate: 3.0e-4
         use_actions: false
         use_vail: false
 

utils/make_readme_table.py

@@ -62,6 +62,7 @@ def display_name(self) -> str:
     ReleaseInfo.from_simple_tag("0.15.0", "March 18, 2020"),
     ReleaseInfo.from_simple_tag("0.15.1", "March 30, 2020"),
     ReleaseInfo("release_1", "1.0.0", "0.16.0", "April 30, 2020"),
+    ReleaseInfo("release_2", "1.0.2", "0.16.1", "May 20, 2020"),
 ]
 
 MAX_DAYS = 150  # do not print releases older than this many days