/// <summary>
/// Updates the Model for the agent. Any model currently assigned to the
/// agent will be replaced with the provided one. If the arguments are
/// identical to the current parameters of the agent, the model will
/// remain unchanged.
/// </summary>
/// <param name="behaviorName"> The identifier of the behavior. This
/// will categorize the agent when training.
/// </param>
/// <param name="model"> The model to use for inference.</param>
/// <param name = "inferenceDevice"> Define on what device the model
/// will be run.</param>
public void GiveModel(
string behaviorName,
NNModel model,
InferenceDevice inferenceDevice = InferenceDevice.CPU)
{
m_PolicyFactory.GiveModel(behaviorName, model, inferenceDevice);
m_Brain?.Dispose();
m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
}
/// <summary>
/// Initializes the agent. Can be safely called multiple times.
/// </summary>
public void LazyInitialize()
{
if (m_Initialized)
{
return;
}
m_Initialized = true;
// Grab the "static" properties for the Agent.
m_EpisodeId = EpisodeIdCounter.GetEpisodeId();
m_PolicyFactory = GetComponent <BehaviorParameters>();
m_Info = new AgentInfo();
m_Action = new AgentAction();
sensors = new List <ISensor>();
Academy.Instance.AgentIncrementStep += AgentIncrementStep;
Academy.Instance.AgentSendState += SendInfo;
Academy.Instance.DecideAction += DecideAction;
Academy.Instance.AgentAct += AgentStep;
Academy.Instance.AgentForceReset += _AgentReset;
m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
ResetData();
Initialize();
InitializeSensors();
// The first time the Academy resets, all Agents in the scene will be
// forced to reset through the <see cref="AgentForceReset"/> event.
// To avoid the Agent resetting twice, the Agents will not begin their
// episode when initializing until after the Academy had its first reset.
if (Academy.Instance.TotalStepCount != 0)
{
OnEpisodeBegin();
}
}
/// <summary>
/// Initializes the agent. Can be safely called multiple times.
/// </summary>
public void LazyInitialize()
{
if (m_Initialized)
{
return;
}
m_Initialized = true;
// Grab the "static" properties for the Agent.
m_EpisodeId = EpisodeIdCounter.GetEpisodeId();
m_PolicyFactory = GetComponent <BehaviorParameters>();
m_Info = new AgentInfo();
m_Action = new AgentAction();
sensors = new List <ISensor>();
Academy.Instance.AgentIncrementStep += AgentIncrementStep;
Academy.Instance.AgentSendState += SendInfo;
Academy.Instance.DecideAction += DecideAction;
Academy.Instance.AgentAct += AgentStep;
Academy.Instance.AgentForceReset += _AgentReset;
m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
ResetData();
InitializeAgent();
InitializeSensors();
}
/// Helper method for the <see cref="OnEnable"/> event, created to
/// facilitate testing.
void OnEnableHelper(Academy academy)
{
m_Info = new AgentInfo();
m_Action = new AgentAction();
m_Sensors = new List <ISensor>();
if (academy == null)
{
throw new UnityAgentsException(
"No Academy Component could be found in the scene.");
}
academy.AgentSetStatus += SetStatus;
academy.AgentResetIfDone += ResetIfDone;
academy.AgentSendState += SendInfo;
academy.DecideAction += DecideAction;
academy.AgentAct += AgentStep;
academy.AgentForceReset += _AgentReset;
academy.AgentSetDoneFlagFalse += NotDone;
m_PolicyFactory = GetComponent <BehaviorParameters>();
m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
ResetData();
InitializeAgent();
InitializeSensors();
}
internal void ReloadPolicy()
{
if (!m_Initialized)
{
// If we haven't initialized yet, no need to make any changes now; they'll
// happen in LazyInitialize later.
return;
}
m_Brain?.Dispose();
m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
}
/// Helper method for the <see cref="OnEnable"/> event, created to
/// facilitate testing.
void OnEnableHelper()
{
m_Info = new AgentInfo();
m_Action = new AgentAction();
sensors = new List <ISensor>();
Academy.Instance.AgentSendState += SendInfo;
Academy.Instance.DecideAction += DecideAction;
Academy.Instance.AgentAct += AgentStep;
Academy.Instance.AgentForceReset += _AgentReset;
m_PolicyFactory = GetComponent <BehaviorParameters>();
m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
ResetData();
InitializeAgent();
InitializeSensors();
}
