[change] Make Agent non-abstract, update Basic scene.

Project/Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity

@@ -153,6 +153,53 @@ PrefabInstance:
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+--- !u!114 &1335907381 stripped
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+  m_Name: 
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+  basicController: {fileID: 1335907381}
 --- !u!1001 &1502457254
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@@ -395,6 +442,11 @@ PrefabInstance:
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       objectReference: {fileID: 0}
+    - target: {fileID: 114502619508238574, guid: c5eb289873aca4f5a8cc59c7464ab7c1,
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+      propertyPath: m_BrainParameters.vectorObservationSize
+      value: 0
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@@ -427,7 +479,6 @@ MonoBehaviour:
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-  monitorVerticalOffset: 0
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   maximumDeltaTime: 0.33333334
   solverIterations: 6

Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicController.cs

@@ -0,0 +1,110 @@
+using UnityEngine;
+using MLAgents;
+
+/// <summary>
+/// An example of how to use ML-Agents without inheriting from the Agent class.
+/// Observations are generated by the attached SensorComponent, and the actions
+/// are retrieved from the Agent.
+/// </summary>
+public class BasicController : MonoBehaviour
+{
+    public float timeBetweenDecisionsAtInference;
+    float m_TimeSinceDecision;
+    [HideInInspector]
+    public int m_Position;
+    const int k_SmallGoalPosition = 7;
+    const int k_LargeGoalPosition = 17;
+    public GameObject largeGoal;
+    public GameObject smallGoal;
+    const int k_MinPosition = 0;
+    const int k_MaxPosition = 20;
+    public const int k_Extents = k_MaxPosition - k_MinPosition;
+
+    Agent m_Agent;
+
+    public void OnEnable()
+    {
+        m_Agent = GetComponent<Agent>();
+        ResetAgent();
+    }
+
+    /// <summary>
+    /// Controls the movement of the GameObject based on the actions received.
+    /// </summary>
+    /// <param name="vectorAction"></param>
+    public void ApplyAction(float[] vectorAction)
+    {
+        var movement = (int)vectorAction[0];
+
+        var direction = 0;
+
+        switch (movement)
+        {
+            case 1:
+                direction = -1;
+                break;
+            case 2:
+                direction = 1;
+                break;
+        }
+
+        m_Position += direction;
+        if (m_Position < k_MinPosition) { m_Position = k_MinPosition; }
+        if (m_Position > k_MaxPosition) { m_Position = k_MaxPosition; }
+
+        gameObject.transform.position = new Vector3(m_Position - 10f, 0f, 0f);
+
+        m_Agent.AddReward(-0.01f);
+
+        if (m_Position == k_SmallGoalPosition)
+        {
+            m_Agent.AddReward(0.1f);
+            m_Agent.Done();
+            ResetAgent();
+        }
+
+        if (m_Position == k_LargeGoalPosition)
+        {
+            m_Agent.AddReward(1f);
+            m_Agent.Done();
+            ResetAgent();
+        }
+    }
+
+    public void ResetAgent()
+    {
+        m_Position = 10;
+        smallGoal.transform.position = new Vector3(k_SmallGoalPosition - 10f, 0f, 0f);
+        largeGoal.transform.position = new Vector3(k_LargeGoalPosition - 10f, 0f, 0f);
+    }
+
+    public void FixedUpdate()
+    {
+        WaitTimeInference();
+    }
+
+    void WaitTimeInference()
+    {
+        if (Academy.Instance.IsCommunicatorOn)
+        {
+            // Apply the previous step's actions
+            ApplyAction(m_Agent.GetAction());
+            m_Agent.RequestDecision();
+        }
+        else
+        {
+            if (m_TimeSinceDecision >= timeBetweenDecisionsAtInference)
+            {
+                // Apply the previous step's actions
+                ApplyAction(m_Agent.GetAction());
+
+                m_TimeSinceDecision = 0f;
+                m_Agent.RequestDecision();
+            }
+            else
+            {
+                m_TimeSinceDecision += Time.fixedDeltaTime;
+            }
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicSensorComponent.cs

@@ -0,0 +1,69 @@
+using System;
+using MLAgents.Sensors;
+using UnityEngine.Serialization;
+
+namespace MLAgentsExamples
+{
+    /// <summary>
+    /// A simple example of a SensorComponent.
+    /// This should be added to the same GameObject as the BasicController
+    /// </summary>
+    public class BasicSensorComponent : SensorComponent
+    {
+        public BasicController basicController;
+
+        /// <summary>
+        /// Creates a BasicSensor.
+        /// </summary>
+        /// <returns></returns>
+        public override ISensor CreateSensor()
+        {
+            return new BasicSensor(basicController);
+        }
+
+        /// <inheritdoc/>
+        public override int[] GetObservationShape()
+        {
+            return new[] { BasicController.k_Extents };
+        }
+    }
+
+    /// <summary>
+    /// Simple Sensor implementation that uses a one-hot encoding of the Agent's
+    /// position as the observation.
+    /// </summary>
+    public class BasicSensor : SensorBase
+    {
+        public BasicController basicController;
+
+        public BasicSensor(BasicController controller)
+        {
+            basicController = controller;
+        }
+
+        /// <summary>
+        /// Generate the observations for the sensor.
+        /// In this case, the observations are all 0 except for a 1 at the position of the agent.
+        /// </summary>
+        /// <param name="output"></param>
+        public override void WriteObservation(float[] output)
+        {
+            // One-hot encoding of the position
+            Array.Clear(output, 0, output.Length);
+            output[basicController.m_Position] = 1;
+        }
+
+        /// <inheritdoc/>
+        public override int[] GetObservationShape()
+        {
+            return new[] { BasicController.k_Extents };
+        }
+
+        /// <inheritdoc/>
+        public override string GetName()
+        {
+            return "Basic";
+        }
+
+    }
+}

com.unity.ml-agents/Runtime/Sensor/SensorBase.cs → Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs

@@ -1,7 +1,9 @@
-namespace MLAgents.Sensors
+using MLAgents.Sensors;
+
+namespace MLAgentsExamples
 {
     /// <summary>
-    /// A base sensor that provides a number default implementations.
+    /// A simple sensor that provides a number default implementations.
     /// </summary>
     public abstract class SensorBase : ISensor
     {

com.unity.ml-agents/CHANGELOG.md

@@ -32,6 +32,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
  - `RayPerceptionSensorComponent` and related classes now display the debug gizmos whenever the Agent is selected (not just Play mode).
  - Most fields on `RayPerceptionSensorComponent` can now be changed while the editor is in Play mode. The exceptions to this are fields that affect the number of observations.
  - Unused static methods from the `Utilities` class (ShiftLeft, ReplaceRange, AddRangeNoAlloc, and GetSensorFloatObservationSize) were removed.
+ - The `Agent` class is no longer abstract.
+ - SensorBase was moved out of the package and into the Examples directory.
 
 
 ## [0.14.1-preview] - 2020-02-25