public void Generate(TensorProxy tensorProxy, int batchSize, IList <AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
var agentIndex = 0;
for (var infoIndex = 0; infoIndex < infos.Count; infoIndex++)
{
var infoSensorPair = infos[infoIndex];
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_ObservationWriter.SetTarget(tensorProxy, agentIndex, 0);
sensor.Write(m_ObservationWriter);
}
agentIndex++;
}
}
public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable <AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
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_ObservationWriter.SetTarget(tensorProxy, agentIndex, tensorOffset);
var numWritten = sensor.Write(m_ObservationWriter);
tensorOffset += numWritten;
}
}
agentIndex++;
}
}
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;
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
// 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
// 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);
tensorOffset += numWritten;
}
Debug.AssertFormat(
tensorOffset == vecObsSizeT,
"mismatch between vector observation size ({0}) and number of observations written ({1})",
vecObsSizeT, tensorOffset
);
}
agentIndex++;
}
}
