Esempio n. 1
0
        public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable <AgentInfoSensorsPair> infos)
        {
            TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
            var agentIndex = 0;

            foreach (var infoSensorPair in infos)
            {
                var sensor = infoSensorPair.sensors[m_SensorIndex];
                if (infoSensorPair.agentInfo.done)
                {
                    // If the agent is done, we might have a stale reference to the sensors
                    // e.g. a dependent object might have been disposed.
                    // To avoid this, just fill observation with zeroes instead of calling sensor.Write.
                    TensorUtils.FillTensorBatch(tensorProxy, agentIndex, 0.0f);
                }
                else
                {
                    m_WriteAdapter.SetTarget(tensorProxy, agentIndex, 0);
                    sensor.Write(m_WriteAdapter);
                }
                agentIndex++;
            }
        }
Esempio n. 2
0
        public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable <AgentInfoSensorsPair> infos)
        {
            TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
            var vecObsSizeT = tensorProxy.shape[tensorProxy.shape.Length - 1];
            var agentIndex  = 0;

            foreach (var info in infos)
            {
                if (info.agentInfo.done)
                {
                    // If the agent is done, we might have a stale reference to the sensors
                    // e.g. a dependent object might have been disposed.
                    // To avoid this, just fill observation with zeroes instead of calling sensor.Write.
                    TensorUtils.FillTensorBatch(tensorProxy, agentIndex, 0.0f);
                }
                else
                {
                    var tensorOffset = 0;
                    // Write each sensor consecutively to the tensor
                    foreach (var sensorIndex in m_SensorIndices)
                    {
                        var sensor = info.sensors[sensorIndex];
                        m_WriteAdapter.SetTarget(tensorProxy, agentIndex, tensorOffset);
                        var numWritten = sensor.Write(m_WriteAdapter);
                        tensorOffset += numWritten;
                    }
                    Debug.AssertFormat(
                        tensorOffset == vecObsSizeT,
                        "mismatch between vector observation size ({0}) and number of observations written ({1})",
                        vecObsSizeT, tensorOffset
                        );
                }

                agentIndex++;
            }
        }