Merge pull request #937 from Unity-Technologies/release-v0.4-fix-curiosity-odd

Hotfix - Curiosity & ODD

Author: awjuliani

python/unityagents/brain.py

@@ -3,8 +3,8 @@
 
 class BrainInfo:
     def __init__(self, visual_observation, vector_observation, text_observations, memory=None,
-                reward=None, agents=None, local_done=None,
-                vector_action=None, text_action=None, max_reached=None):
+                 reward=None, agents=None, local_done=None,
+                 vector_action=None, text_action=None, max_reached=None):
         """
         Describes experience at current step of all agents linked to a brain.
         """
@@ -49,10 +49,10 @@ def __str__(self):
         Vector Action space type: {5}
         Vector Action space size (per agent): {6}
         Vector Action descriptions: {7}'''.format(self.brain_name,
-                                           str(self.number_visual_observations),
-                                           self.vector_observation_space_type,
-                                           str(self.vector_observation_space_size),
-                                           str(self.num_stacked_vector_observations),
-                                           self.vector_action_space_type,
-                                           str(self.vector_action_space_size),
-                                           ', '.join(self.vector_action_descriptions))
+                                                  str(self.number_visual_observations),
+                                                  self.vector_observation_space_type,
+                                                  str(self.vector_observation_space_size),
+                                                  str(self.num_stacked_vector_observations),
+                                                  self.vector_action_space_type,
+                                                  str(self.vector_action_space_size),
+                                                  ', '.join(self.vector_action_descriptions))

python/unitytrainers/ppo/trainer.py

@@ -8,7 +8,7 @@
 import numpy as np
 import tensorflow as tf
 
-from unityagents import AllBrainInfo
+from unityagents import AllBrainInfo, BrainInfo
 from unitytrainers.buffer import Buffer
 from unitytrainers.ppo.models import PPOModel
 from unitytrainers.trainer import UnityTrainerException, Trainer
@@ -196,22 +196,61 @@ def take_action(self, all_brain_info: AllBrainInfo):
         else:
             return run_out[self.model.output], None, None, run_out
 
+    def construct_curr_info(self, next_info: BrainInfo) -> BrainInfo:
+        """
+        Constructs a BrainInfo which contains the most recent previous experiences for all agents info
+        which correspond to the agents in a provided next_info.
+        :BrainInfo next_info: A t+1 BrainInfo.
+        :return: curr_info: Reconstructed BrainInfo to match agents of next_info.
+        """
+        visual_observations = [[]]
+        vector_observations = []
+        text_observations = []
+        memories = []
+        rewards = []
+        local_dones = []
+        max_reacheds = []
+        agents = []
+        prev_vector_actions = []
+        prev_text_actions = []
+        for agent_id in next_info.agents:
+            agent_brain_info = self.training_buffer[agent_id].last_brain_info
+            agent_index = agent_brain_info.agents.index(agent_id)
+            if agent_brain_info is None:
+                agent_brain_info = next_info
+            for i in range(len(next_info.visual_observations)):
+                visual_observations[i].append(agent_brain_info.visual_observations[i][agent_index])
+            vector_observations.append(agent_brain_info.vector_observations[agent_index])
+            text_observations.append(agent_brain_info.text_observations[agent_index])
+            if self.use_recurrent:
+                memories.append(agent_brain_info.memories[agent_index])
+            rewards.append(agent_brain_info.rewards[agent_index])
+            local_dones.append(agent_brain_info.local_done[agent_index])
+            max_reacheds.append(agent_brain_info.max_reached[agent_index])
+            agents.append(agent_brain_info.agents[agent_index])
+            prev_vector_actions.append(agent_brain_info.previous_vector_actions[agent_index])
+            prev_text_actions.append(agent_brain_info.previous_text_actions[agent_index])
+        curr_info = BrainInfo(visual_observations, vector_observations, text_observations, memories, rewards,
+                              agents, local_dones, prev_vector_actions, prev_text_actions, max_reacheds)
+        return curr_info
+
     def generate_intrinsic_rewards(self, curr_info, next_info):
         """
         Generates intrinsic reward used for Curiosity-based training.
-        :param curr_info: Current BrainInfo.
-        :param next_info: Next BrainInfo.
+        :BrainInfo curr_info: Current BrainInfo.
+        :BrainInfo next_info: Next BrainInfo.
         :return: Intrinsic rewards for all agents.
         """
         if self.use_curiosity:
-            if curr_info.agents != next_info.agents:
-                raise UnityTrainerException("Training with Curiosity-driven exploration"
-                                            " and On-Demand Decision making is currently not supported.")
-            feed_dict = {self.model.batch_size: len(curr_info.vector_observations), self.model.sequence_length: 1}
+            feed_dict = {self.model.batch_size: len(next_info.vector_observations), self.model.sequence_length: 1}
             if self.is_continuous_action:
                 feed_dict[self.model.output] = next_info.previous_vector_actions
             else:
                 feed_dict[self.model.action_holder] = next_info.previous_vector_actions.flatten()
+
+            if curr_info.agents != next_info.agents:
+                curr_info = self.construct_curr_info(next_info)
+
             if self.use_visual_obs:
                 for i in range(len(curr_info.visual_observations)):
                     feed_dict[self.model.visual_in[i]] = curr_info.visual_observations[i]
@@ -262,12 +301,12 @@ def add_experiences(self, curr_all_info: AllBrainInfo, next_all_info: AllBrainIn
         curr_info = curr_all_info[self.brain_name]
         next_info = next_all_info[self.brain_name]
 
-        intrinsic_rewards = self.generate_intrinsic_rewards(curr_info, next_info)
-
         for agent_id in curr_info.agents:
             self.training_buffer[agent_id].last_brain_info = curr_info
             self.training_buffer[agent_id].last_take_action_outputs = take_action_outputs
 
+        intrinsic_rewards = self.generate_intrinsic_rewards(curr_info, next_info)
+
         for agent_id in next_info.agents:
             stored_info = self.training_buffer[agent_id].last_brain_info
             stored_take_action_outputs = self.training_buffer[agent_id].last_take_action_outputs