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Merged
merged 4 commits into from
Feb 8, 2021
Merged

[MLA-1743] Backport inference GC Optimizations #4916

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3b2635f
replace IEnumerables in TensorApplier&Generator
Feb 5, 2021
b332c21
use IList in ObservationWriter
Feb 6, 2021
056ae65
Merge remote-tracking branch 'origin/release_2_verified' into r2v-bac…
Feb 8, 2021
e1a6556
changelog
Feb 8, 2021
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3 changes: 2 additions & 1 deletion com.unity.ml-agents/CHANGELOG.md
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Expand Up @@ -17,7 +17,8 @@ Please refer to "Information that is passively collected by Unity" in the
#### com.unity.ml-agents (C#)
- Removed unnecessary memory allocations in `SensorShapeValidator.ValidateSensors()` (#4915)
- Removed unnecessary memory allocations in `SideChannelManager.GetSideChannelMessage()` (#4915)

- Removed several memory allocations that happened during inference. On a test scene, this
reduced the amount of memory allocated by approximately 25%. (#4916)

## [1.0.6] - 2020-11-13
### Minor Changes
Expand Down
21 changes: 13 additions & 8 deletions com.unity.ml-agents/Runtime/Inference/ApplierImpl.cs
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@@ -1,4 +1,5 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using Unity.MLAgents.Inference.Utils;
Expand All @@ -13,12 +14,13 @@ namespace Unity.MLAgents.Inference
/// </summary>
internal class ContinuousActionOutputApplier : TensorApplier.IApplier
{
public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions)
public void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int, float[]> lastActions)
{
var actionSize = tensorProxy.shape[tensorProxy.shape.Length - 1];
var agentIndex = 0;
foreach (int agentId in actionIds)
for (var i = 0; i < actionIds.Count; i++)
{
var agentId = actionIds[i];
if (lastActions.ContainsKey(agentId))
{
var actionValue = lastActions[agentId];
Expand Down Expand Up @@ -54,7 +56,7 @@ public DiscreteActionOutputApplier(int[] actionSize, int seed, ITensorAllocator
m_Allocator = allocator;
}

public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions)
public void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int, float[]> lastActions)
{
//var tensorDataProbabilities = tensorProxy.Data as float[,];
var idActionPairList = actionIds as List<int> ?? actionIds.ToList();
Expand Down Expand Up @@ -99,8 +101,9 @@ public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionar
outputTensor.data.Dispose();
}
var agentIndex = 0;
foreach (int agentId in actionIds)
for (var i = 0; i < actionIds.Count; i++)
{
var agentId = actionIds[i];
if (lastActions.ContainsKey(agentId))
{
var actionVal = lastActions[agentId];
Expand Down Expand Up @@ -197,12 +200,13 @@ public MemoryOutputApplier(
m_Memories = memories;
}

public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions)
public void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int, float[]> lastActions)
{
var agentIndex = 0;
var memorySize = (int)tensorProxy.shape[tensorProxy.shape.Length - 1];
foreach (int agentId in actionIds)
for (var i = 0; i < actionIds.Count; i++)
{
var agentId = actionIds[i];
List<float> memory;
if (!m_Memories.TryGetValue(agentId, out memory)
|| memory.Count < memorySize)
Expand Down Expand Up @@ -234,13 +238,14 @@ public BarracudaMemoryOutputApplier(
m_Memories = memories;
}

public void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions)
public void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int, float[]> lastActions)
{
var agentIndex = 0;
var memorySize = (int)tensorProxy.shape[tensorProxy.shape.Length - 1];

foreach (int agentId in actionIds)
for (var i = 0; i < actionIds.Count; i++)
{
var agentId = actionIds[i];
List<float> memory;
if (!m_Memories.TryGetValue(agentId, out memory)
|| memory.Count < memorySize * m_MemoriesCount)
Expand Down
46 changes: 29 additions & 17 deletions com.unity.ml-agents/Runtime/Inference/GeneratorImpl.cs
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Expand Up @@ -21,7 +21,7 @@ public BiDimensionalOutputGenerator(ITensorAllocator allocator)
m_Allocator = allocator;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
}
Expand All @@ -40,7 +40,7 @@ public BatchSizeGenerator(ITensorAllocator allocator)
m_Allocator = allocator;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
tensorProxy.data?.Dispose();
tensorProxy.data = m_Allocator.Alloc(new TensorShape(1, 1));
Expand All @@ -63,7 +63,7 @@ public SequenceLengthGenerator(ITensorAllocator allocator)
m_Allocator = allocator;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
tensorProxy.shape = new long[0];
tensorProxy.data?.Dispose();
Expand Down Expand Up @@ -94,13 +94,14 @@ public void AddSensorIndex(int sensorIndex)
m_SensorIndices.Add(sensorIndex);
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
var vecObsSizeT = tensorProxy.shape[tensorProxy.shape.Length - 1];
var agentIndex = 0;
foreach (var info in infos)
for (var infoIndex = 0; infoIndex < infos.Count; infoIndex++)
{
var info = infos[infoIndex];
if (info.agentInfo.done)
{
// If the agent is done, we might have a stale reference to the sensors
Expand All @@ -112,8 +113,10 @@ public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentIn
{
var tensorOffset = 0;
// Write each sensor consecutively to the tensor
foreach (var sensorIndex in m_SensorIndices)
// TOOD
for (var sensorIndexIndex = 0; sensorIndexIndex < m_SensorIndices.Count; sensorIndexIndex++)
{
var sensorIndex = m_SensorIndices[sensorIndexIndex];
var sensor = info.sensors[sensorIndex];
m_ObservationWriter.SetTarget(tensorProxy, agentIndex, tensorOffset);
var numWritten = sensor.Write(m_ObservationWriter);
Expand Down Expand Up @@ -151,14 +154,15 @@ public RecurrentInputGenerator(
}

public void Generate(
TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);

var memorySize = tensorProxy.shape[tensorProxy.shape.Length - 1];
var agentIndex = 0;
foreach (var infoSensorPair in infos)
for (var infoIndex = 0; infoIndex < infos.Count; infoIndex++)
{
var infoSensorPair = infos[infoIndex];
var info = infoSensorPair.agentInfo;
List<float> memory;

Expand Down Expand Up @@ -206,14 +210,16 @@ public BarracudaRecurrentInputGenerator(
m_Memories = memories;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);

var memorySize = (int)tensorProxy.shape[tensorProxy.shape.Length - 1];
var agentIndex = 0;
foreach (var infoSensorPair in infos)
for (var infoIndex = 0; infoIndex < infos.Count; infoIndex++)
{
var infoSensorPair = infos[infoIndex];

var info = infoSensorPair.agentInfo;
var offset = memorySize * m_MemoryIndex;
List<float> memory;
Expand Down Expand Up @@ -259,14 +265,16 @@ public PreviousActionInputGenerator(ITensorAllocator allocator)
m_Allocator = allocator;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);

var actionSize = tensorProxy.shape[tensorProxy.shape.Length - 1];
var agentIndex = 0;
foreach (var infoSensorPair in infos)
for (var infoIndex = 0; infoIndex < infos.Count; infoIndex++)
{
var infoSensorPair = infos[infoIndex];

var info = infoSensorPair.agentInfo;
var pastAction = info.storedVectorActions;
if (pastAction != null)
Expand Down Expand Up @@ -297,14 +305,16 @@ public ActionMaskInputGenerator(ITensorAllocator allocator)
m_Allocator = allocator;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);

var maskSize = tensorProxy.shape[tensorProxy.shape.Length - 1];
var agentIndex = 0;
foreach (var infoSensorPair in infos)
for (var infoIndex = 0; infoIndex < infos.Count; infoIndex++)
{
var infoSensorPair = infos[infoIndex];

var agentInfo = infoSensorPair.agentInfo;
var maskList = agentInfo.discreteActionMasks;
for (var j = 0; j < maskSize; j++)
Expand Down Expand Up @@ -333,7 +343,7 @@ public RandomNormalInputGenerator(int seed, ITensorAllocator allocator)
m_Allocator = allocator;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
TensorUtils.FillTensorWithRandomNormal(tensorProxy, m_RandomNormal);
Expand All @@ -359,12 +369,14 @@ public VisualObservationInputGenerator(
m_Allocator = allocator;
}

public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos)
public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
var agentIndex = 0;
foreach (var infoSensorPair in infos)
for (var infoIndex = 0; infoIndex < infos.Count; infoIndex++)
{
var infoSensorPair = infos[infoIndex];

var sensor = infoSensorPair.sensors[m_SensorIndex];
if (infoSensorPair.agentInfo.done)
{
Expand Down
30 changes: 15 additions & 15 deletions com.unity.ml-agents/Runtime/Inference/ModelRunner.cs
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Expand Up @@ -28,7 +28,8 @@ internal class ModelRunner
bool m_Verbose = false;
string[] m_OutputNames;
IReadOnlyList<TensorProxy> m_InferenceInputs;
IReadOnlyList<TensorProxy> m_InferenceOutputs;
List<TensorProxy> m_InferenceOutputs;
Dictionary<string, Tensor> m_InputsByName;
Dictionary<int, List<float>> m_Memories = new Dictionary<int, List<float>>();

SensorShapeValidator m_SensorShapeValidator = new SensorShapeValidator();
Expand Down Expand Up @@ -84,6 +85,8 @@ public ModelRunner(
seed, m_TensorAllocator, m_Memories, barracudaModel);
m_TensorApplier = new TensorApplier(
brainParameters, seed, m_TensorAllocator, m_Memories, barracudaModel);
m_InputsByName = new Dictionary<string, Tensor>();
m_InferenceOutputs = new List<TensorProxy>();
}

public InferenceDevice InferenceDevice
Expand All @@ -96,15 +99,14 @@ public NNModel Model
get { return m_Model; }
}

static Dictionary<string, Tensor> PrepareBarracudaInputs(IEnumerable<TensorProxy> infInputs)
void PrepareBarracudaInputs(IReadOnlyList<TensorProxy> infInputs)
{
var inputs = new Dictionary<string, Tensor>();
foreach (var inp in infInputs)
m_InputsByName.Clear();
for (var i = 0; i < infInputs.Count; i++)
{
inputs[inp.name] = inp.data;
var inp = infInputs[i];
m_InputsByName[inp.name] = inp.data;
}

return inputs;
}

public void Dispose()
Expand All @@ -114,16 +116,14 @@ public void Dispose()
m_TensorAllocator?.Reset(false);
}

List<TensorProxy> FetchBarracudaOutputs(string[] names)
void FetchBarracudaOutputs(string[] names)
{
var outputs = new List<TensorProxy>();
m_InferenceOutputs.Clear();
foreach (var n in names)
{
var output = m_Engine.PeekOutput(n);
outputs.Add(TensorUtils.TensorProxyFromBarracuda(output, n));
m_InferenceOutputs.Add(TensorUtils.TensorProxyFromBarracuda(output, n));
}

return outputs;
}

public void PutObservations(AgentInfo info, List<ISensor> sensors)
Expand Down Expand Up @@ -176,16 +176,16 @@ public void DecideBatch()
Profiler.EndSample();

Profiler.BeginSample($"MLAgents.{m_Model.name}.PrepareBarracudaInputs");
var inputs = PrepareBarracudaInputs(m_InferenceInputs);
PrepareBarracudaInputs(m_InferenceInputs);
Profiler.EndSample();

// Execute the Model
Profiler.BeginSample($"MLAgents.{m_Model.name}.ExecuteGraph");
m_Engine.Execute(inputs);
m_Engine.Execute(m_InputsByName);
Profiler.EndSample();

Profiler.BeginSample($"MLAgents.{m_Model.name}.FetchBarracudaOutputs");
m_InferenceOutputs = FetchBarracudaOutputs(m_OutputNames);
FetchBarracudaOutputs(m_OutputNames);
Profiler.EndSample();

Profiler.BeginSample($"MLAgents.{m_Model.name}.ApplyTensors");
Expand Down
7 changes: 4 additions & 3 deletions com.unity.ml-agents/Runtime/Inference/TensorApplier.cs
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Expand Up @@ -30,7 +30,7 @@ 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>
void Apply(TensorProxy tensorProxy, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions);
void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int, float[]> lastActions);
}

readonly Dictionary<string, IApplier> m_Dict = new Dictionary<string, IApplier>();
Expand Down Expand Up @@ -83,10 +83,11 @@ public TensorApplier(
/// <exception cref="UnityAgentsException"> One of the tensor does not have an
/// associated applier.</exception>
public void ApplyTensors(
IEnumerable<TensorProxy> tensors, IEnumerable<int> actionIds, Dictionary<int, float[]> lastActions)
IReadOnlyList<TensorProxy> tensors, IList<int> actionIds, Dictionary<int, float[]> lastActions)
{
foreach (var tensor in tensors)
for (var tensorIndex = 0; tensorIndex < tensors.Count; tensorIndex++)
{
var tensor = tensors[tensorIndex];
if (!m_Dict.ContainsKey(tensor.name))
{
throw new UnityAgentsException(
Expand Down
7 changes: 4 additions & 3 deletions com.unity.ml-agents/Runtime/Inference/TensorGenerator.cs
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Expand Up @@ -31,7 +31,7 @@ public interface IGenerator
/// the tensor's data.
/// </param>
void Generate(
TensorProxy tensorProxy, int batchSize, IEnumerable<AgentInfoSensorsPair> infos);
TensorProxy tensorProxy, int batchSize, IList<AgentInfoSensorsPair> infos);
}

readonly Dictionary<string, IGenerator> m_Dict = new Dictionary<string, IGenerator>();
Expand Down Expand Up @@ -129,10 +129,11 @@ public void InitializeObservations(List<ISensor> sensors, ITensorAllocator alloc
/// <exception cref="UnityAgentsException"> One of the tensor does not have an
/// associated generator.</exception>
public void GenerateTensors(
IEnumerable<TensorProxy> tensors, int currentBatchSize, IEnumerable<AgentInfoSensorsPair> infos)
IReadOnlyList<TensorProxy> tensors, int currentBatchSize, IList<AgentInfoSensorsPair> infos)
{
foreach (var tensor in tensors)
for (var tensorIndex = 0; tensorIndex < tensors.Count; tensorIndex++)
{
var tensor = tensors[tensorIndex];
if (!m_Dict.ContainsKey(tensor.name))
{
throw new UnityAgentsException(
Expand Down
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