[MLA-1783] built-in actuator type (#4950)

Author: Chris Elion

com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs

@@ -14,7 +14,7 @@ namespace Unity.MLAgents.Extensions.Input
     /// <see cref="Agent"/>'s <see cref="BehaviorParameters"/> indicate that the Agent is running in Heuristic Mode,
     /// this Actuator will write actions from the <see cref="InputSystem"/> to the <see cref="ActionBuffers"/> object.
     /// </summary>
-    public class InputActionActuator : IActuator, IHeuristicProvider
+    public class InputActionActuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         readonly BehaviorParameters m_BehaviorParameters;
         readonly InputAction m_Action;
@@ -35,8 +35,8 @@ public class InputActionActuator : IActuator, IHeuristicProvider
         /// <param name="adaptor">The <see cref="IRLActionInputAdaptor"/> that will convert data between ML-Agents
         ///     and the <see cref="InputSystem"/>.</param>
         public InputActionActuator(InputDevice inputDevice, BehaviorParameters behaviorParameters,
-            InputAction action,
-            IRLActionInputAdaptor adaptor)
+                                   InputAction action,
+                                   IRLActionInputAdaptor adaptor)
         {
             m_BehaviorParameters = behaviorParameters;
             Name = $"InputActionActuator-{action.name}";
@@ -83,6 +83,12 @@ public void Heuristic(in ActionBuffers actionBuffersOut)
             m_InputAdaptor.WriteToHeuristic(m_Action, actionBuffersOut);
             Profiler.EndSample();
         }
+
+        /// <inheritdoc/>
+        public BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.InputActionActuator;
+        }
     }
 }
 

com.unity.ml-agents.extensions/Runtime/Match3/Match3Actuator.cs

@@ -9,7 +9,7 @@ namespace Unity.MLAgents.Extensions.Match3
     /// Actuator for a Match3 game. It translates valid moves (defined by AbstractBoard.IsMoveValid())
     /// in action masks, and applies the action to the board via AbstractBoard.MakeMove().
     /// </summary>
-    public class Match3Actuator : IActuator, IHeuristicProvider
+    public class Match3Actuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         protected AbstractBoard m_Board;
         protected System.Random m_Random;
@@ -92,6 +92,12 @@ public void ResetData()
         {
         }
 
+        /// <inheritdoc/>
+        public BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.Match3Actuator;
+        }
+
         IEnumerable<int> InvalidMoveIndices()
         {
             var numValidMoves = m_Board.NumMoves();
@@ -179,6 +185,5 @@ protected virtual int EvalMovePoints(Move move)
         {
             return 1;
         }
-
     }
 }

com.unity.ml-agents/Runtime/Actuators/IBuiltInActuator.cs

@@ -0,0 +1,49 @@
+namespace Unity.MLAgents.Actuators
+{
+    /// <summary>
+    /// Identifiers for "built in" actuator types.
+    /// These are only used for analytics, and should not be used for any runtime decisions.
+    ///
+    /// NOTE: Do not renumber these, since the values are used for analytics. Renaming is allowed though.
+    /// </summary>
+    public enum BuiltInActuatorType
+    {
+        /// <summary>
+        /// Default Sensor type if it cannot be determined.
+        /// </summary>
+        Unknown = 0,
+
+        /// <summary>
+        /// VectorActuator used by the Agent
+        /// </summary>
+        AgentVectorActuator = 1,
+
+        /// <summary>
+        /// Corresponds to <see cref="VectorActuator"/>
+        /// </summary>
+        VectorActuator = 2,
+
+        /// <summary>
+        /// Corresponds to the Match3Actuator in com.unity.ml-agents.extensions.
+        /// </summary>
+        Match3Actuator = 3,
+
+        /// <summary>
+        /// Corresponds to the InputActionActuator in com.unity.ml-agents.extensions.
+        /// </summary>
+        InputActionActuator = 4,
+    }
+
+    /// <summary>
+    /// Interface for actuators that are provided as part of ML-Agents.
+    /// User-implemented actuators don't need to use this interface.
+    /// </summary>
+    internal interface IBuiltInActuator
+    {
+        /// <summary>
+        /// Return the corresponding BuiltInActuatorType for the actuator.
+        /// </summary>
+        /// <returns>A BuiltInActuatorType corresponding to the actuator.</returns>
+        BuiltInActuatorType GetBuiltInActuatorType();
+    }
+}

com.unity.ml-agents/Runtime/Actuators/IBuiltInActuator.cs.meta

@@ -5,7 +5,7 @@ namespace Unity.MLAgents.Actuators
     /// <summary>
     /// IActuator implementation that forwards calls to an <see cref="IActionReceiver"/> and an <see cref="IHeuristicProvider"/>.
     /// </summary>
-    internal class VectorActuator : IActuator, IHeuristicProvider
+    internal class VectorActuator : IActuator, IHeuristicProvider, IBuiltInActuator
     {
         IActionReceiver m_ActionReceiver;
         IHeuristicProvider m_HeuristicProvider;
@@ -95,5 +95,11 @@ public void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
 
         /// <inheritdoc />
         public string Name { get; }
+
+        /// <inheritdoc />
+        public virtual BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.VectorActuator;
+        }
     }
 }

com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs

@@ -70,6 +70,25 @@ public void CopyActions(ActionBuffers actionBuffers)
         }
     }
 
+    /// <summary>
+    /// Simple wrapper around VectorActuator that overrides GetBuiltInActuatorType
+    /// so that it can be distinguished from a standard VectorActuator.
+    /// </summary>
+    internal class AgentVectorActuator : VectorActuator
+    {
+        public AgentVectorActuator(IActionReceiver actionReceiver,
+            IHeuristicProvider heuristicProvider,
+            ActionSpec actionSpec,
+            string name = "VectorActuator"
+        ) : base(actionReceiver, heuristicProvider, actionSpec, name)
+        { }
+
+        public override BuiltInActuatorType GetBuiltInActuatorType()
+        {
+            return BuiltInActuatorType.AgentVectorActuator;
+        }
+    }
+
     /// <summary>
     /// An agent is an actor that can observe its environment, decide on the
     /// best course of action using those observations, and execute those actions
@@ -997,7 +1016,7 @@ void InitializeActuators()
             // Support legacy OnActionReceived
             // TODO don't set this up if the sizes are 0?
             var param = m_PolicyFactory.BrainParameters;
-            m_VectorActuator = new VectorActuator(this, this, param.ActionSpec);
+            m_VectorActuator = new AgentVectorActuator(this, this, param.ActionSpec);
             m_ActuatorManager = new ActuatorManager(attachedActuators.Length + 1);
             m_LegacyActionCache = new float[m_VectorActuator.TotalNumberOfActions()];
             m_LegacyHeuristicCache = new float[m_VectorActuator.TotalNumberOfActions()];

com.unity.ml-agents/Runtime/Agent.cs

@@ -21,6 +21,7 @@ internal struct InferenceEvent
         public int InferenceDevice;
         public List<EventObservationSpec> ObservationSpecs;
         public EventActionSpec ActionSpec;
+        public List<EventActuatorInfo> ActuatorInfos;
         public int MemorySize;
         public long TotalWeightSizeBytes;
         public string ModelHash;
@@ -48,6 +49,35 @@ public static EventActionSpec FromActionSpec(ActionSpec actionSpec)
         }
     }
 
+    /// <summary>
+    /// Information about an actuator.
+    /// </summary>
+    [Serializable]
+    internal struct EventActuatorInfo
+    {
+        public int BuiltInActuatorType;
+        public int NumContinuousActions;
+        public int NumDiscreteActions;
+
+        public static EventActuatorInfo FromActuator(IActuator actuator)
+        {
+            BuiltInActuatorType builtInActuatorType = Actuators.BuiltInActuatorType.Unknown;
+            if (actuator is IBuiltInActuator builtInActuator)
+            {
+                builtInActuatorType = builtInActuator.GetBuiltInActuatorType();
+            }
+
+            var actionSpec = actuator.ActionSpec;
+
+            return new EventActuatorInfo
+            {
+                BuiltInActuatorType = (int)builtInActuatorType,
+                NumContinuousActions = actionSpec.NumContinuousActions,
+                NumDiscreteActions = actionSpec.NumDiscreteActions
+            };
+        }
+    }
+
     /// <summary>
     /// Information about one dimension of an observation.
     /// </summary>
@@ -101,6 +131,7 @@ internal struct RemotePolicyInitializedEvent
         public string BehaviorName;
         public List<EventObservationSpec> ObservationSpecs;
         public EventActionSpec ActionSpec;
+        public List<EventActuatorInfo> ActuatorInfos;
 
         /// <summary>
         /// This will be the same as TrainingEnvironmentInitializedEvent if available, but

com.unity.ml-agents/Runtime/Analytics/Events.cs

@@ -87,13 +87,15 @@ public static bool IsAnalyticsEnabled()
         /// <param name="inferenceDevice">Whether inference is being performed on the CPU or GPU</param>
         /// <param name="sensors">List of ISensors for the Agent. Used to generate information about the observation space.</param>
         /// <param name="actionSpec">ActionSpec for the Agent. Used to generate information about the action space.</param>
+        /// <param name="actuators">List of IActuators for the Agent. Used to generate information about the action space.</param>
         /// <returns></returns>
         public static void InferenceModelSet(
             NNModel nnModel,
             string behaviorName,
             InferenceDevice inferenceDevice,
             IList<ISensor> sensors,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             // The event shouldn't be able to report if this is disabled but if we know we're not going to report
@@ -112,9 +114,9 @@ ActionSpec actionSpec
                 return;
             }
 
-            var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec);
+            var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec, actuators);
             // Note - to debug, use JsonUtility.ToJson on the event.
-            //Debug.Log(JsonUtility.ToJson(data, true));
+            // Debug.Log(JsonUtility.ToJson(data, true));
 #if UNITY_EDITOR
             if (AnalyticsUtils.s_SendEditorAnalytics)
             {
@@ -133,13 +135,15 @@ ActionSpec actionSpec
         /// <param name="inferenceDevice"></param>
         /// <param name="sensors"></param>
         /// <param name="actionSpec"></param>
+        /// <param name="actuators"></param>
         /// <returns></returns>
         internal static InferenceEvent GetEventForModel(
             NNModel nnModel,
             string behaviorName,
             InferenceDevice inferenceDevice,
             IList<ISensor> sensors,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             var barracudaModel = ModelLoader.Load(nnModel);
@@ -175,6 +179,12 @@ ActionSpec actionSpec
                 inferenceEvent.ObservationSpecs.Add(EventObservationSpec.FromSensor(sensor));
             }
 
+            inferenceEvent.ActuatorInfos = new List<EventActuatorInfo>(actuators.Count);
+            foreach (var actuator in actuators)
+            {
+                inferenceEvent.ActuatorInfos.Add(EventActuatorInfo.FromActuator(actuator));
+            }
+
             inferenceEvent.TotalWeightSizeBytes = GetModelWeightSize(barracudaModel);
             inferenceEvent.ModelHash = GetModelHash(barracudaModel);
             return inferenceEvent;

com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs

@@ -139,7 +139,8 @@ public static void TrainingEnvironmentInitialized(TrainingEnvironmentInitialized
         public static void RemotePolicyInitialized(
             string fullyQualifiedBehaviorName,
             IList<ISensor> sensors,
-            ActionSpec actionSpec
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
         )
         {
             if (!IsAnalyticsEnabled())
@@ -158,7 +159,7 @@ ActionSpec actionSpec
                 return;
             }
 
-            var data = GetEventForRemotePolicy(behaviorName, sensors, actionSpec);
+            var data = GetEventForRemotePolicy(behaviorName, sensors, actionSpec, actuators);
             // Note - to debug, use JsonUtility.ToJson on the event.
             // Debug.Log(
             //     $"Would send event {k_RemotePolicyInitializedEventName} with body {JsonUtility.ToJson(data, true)}"
@@ -220,10 +221,12 @@ public static void TrainingBehaviorInitialized(TrainingBehaviorInitializedEvent
 #endif
         }
 
-        static RemotePolicyInitializedEvent GetEventForRemotePolicy(
+        internal static RemotePolicyInitializedEvent GetEventForRemotePolicy(
             string behaviorName,
             IList<ISensor> sensors,
-            ActionSpec actionSpec)
+            ActionSpec actionSpec,
+            IList<IActuator> actuators
+        )
         {
             var remotePolicyEvent = new RemotePolicyInitializedEvent();
 
@@ -238,6 +241,12 @@ static RemotePolicyInitializedEvent GetEventForRemotePolicy(
                 remotePolicyEvent.ObservationSpecs.Add(EventObservationSpec.FromSensor(sensor));
             }
 
+            remotePolicyEvent.ActuatorInfos = new List<EventActuatorInfo>(actuators.Count);
+            foreach (var actuator in actuators)
+            {
+                remotePolicyEvent.ActuatorInfos.Add(EventActuatorInfo.FromActuator(actuator));
+            }
+
             remotePolicyEvent.MLAgentsEnvsVersion = s_TrainerPackageVersion;
             remotePolicyEvent.TrainerCommunicationVersion = s_TrainerCommunicationVersion;
             return remotePolicyEvent;

com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs

@@ -48,6 +48,11 @@ internal class BarracudaPolicy : IPolicy
 
         private string m_BehaviorName;
 
+        /// <summary>
+        /// List of actuators, only used for analytics
+        /// </summary>
+        private IList<IActuator> m_Actuators;
+
         /// <summary>
         /// Whether or not we've tried to send analytics for this model. We only ever try to send once per policy,
         /// and do additional deduplication in the analytics code.
@@ -57,6 +62,7 @@ internal class BarracudaPolicy : IPolicy
         /// <inheritdoc />
         public BarracudaPolicy(
             ActionSpec actionSpec,
+            IList<IActuator> actuators,
             NNModel model,
             InferenceDevice inferenceDevice,
             string behaviorName
@@ -66,6 +72,7 @@ string behaviorName
             m_ModelRunner = modelRunner;
             m_BehaviorName = behaviorName;
             m_ActionSpec = actionSpec;
+            m_Actuators = actuators;
         }
 
         /// <inheritdoc />
@@ -79,7 +86,8 @@ public void RequestDecision(AgentInfo info, List<ISensor> sensors)
                     m_BehaviorName,
                     m_ModelRunner.InferenceDevice,
                     sensors,
-                    m_ActionSpec
+                    m_ActionSpec,
+                    m_Actuators
                 );
             }
             m_AgentId = info.episodeId;

com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs

@@ -221,16 +221,16 @@ internal IPolicy GeneratePolicy(ActionSpec actionSpec, ActuatorManager actuatorM
                                 "Either assign a model, or change to a different Behavior Type."
                             );
                         }
-                        return new BarracudaPolicy(actionSpec, m_Model, m_InferenceDevice, m_BehaviorName);
+                        return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
                     }
                 case BehaviorType.Default:
                     if (Academy.Instance.IsCommunicatorOn)
                     {
-                        return new RemotePolicy(actionSpec, FullyQualifiedBehaviorName);
+                        return new RemotePolicy(actionSpec, actuatorManager, FullyQualifiedBehaviorName);
                     }
                     if (m_Model != null)
                     {
-                        return new BarracudaPolicy(actionSpec, m_Model, m_InferenceDevice, m_BehaviorName);
+                        return new BarracudaPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName);
                     }
                     else
                     {