Refactoring all Barracuda related naming to Sentis.

Unity-Technologies · Oct 2, 2023 · c8f46d0 · c8f46d0
1 parent 01dd77f
commit c8f46d0
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diff --git a/DevProject/Assets/ML-Agents/Scripts/Tests/Editor/Editor.asmdef b/DevProject/Assets/ML-Agents/Scripts/Tests/Editor/Editor.asmdef
@@ -3,7 +3,7 @@
     "references": [
         "Unity.ML-Agents.Editor",
         "Unity.ML-Agents",
-        "Unity.Barracuda",
+        "Unity.Sentis",
         "Unity.ML-Agents.CommunicatorObjects",
         "Unity.PerformanceTesting"
     ],

diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json
@@ -9,17 +9,6 @@
       },
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
-    "com.unity.barracuda": {
-      "version": "3.0.0",
-      "depth": 1,
-      "source": "registry",
-      "dependencies": {
-        "com.unity.burst": "1.6.0",
-        "com.unity.modules.jsonserialize": "1.0.0",
-        "com.unity.modules.imageconversion": "1.0.0"
-      },
-      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
-    },
     "com.unity.burst": {
       "version": "1.8.7",
       "depth": 2,
@@ -66,7 +55,7 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "3.0.0",
+        "com.unity.sentis": "1.2.0-exp.2",
         "com.unity.modules.imageconversion": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0",
         "com.unity.modules.physics": "1.0.0"
@@ -115,6 +104,17 @@
       },
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
+    "com.unity.sentis": {
+      "version": "1.2.0-exp.2",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.burst": "1.8.4",
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.imageconversion": "1.0.0"
+      },
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
+    },
     "com.unity.settings-manager": {
       "version": "2.0.1",
       "depth": 1,

diff --git a/DevProject/ProjectSettings/EditorBuildSettings.asset b/DevProject/ProjectSettings/EditorBuildSettings.asset
@@ -9,5 +9,5 @@ EditorBuildSettings:
     path: Assets/ML-Agents/Scripts/Tests/Runtime/AcademyTest/AcademyStepperTestScene.unity
     guid: 9bafc50b1e55b43b2b1ae9620f1f8311
   m_configObjects:
-    com.unity.ml-agents.settings: {fileID: 11400000, guid: b412e5eb0b23f4bca86655ada9a633d4,
+    com.unity.ml-agents.settings: {fileID: 11400000, guid: e4ad406c716274fdfb58baafffa12dcd,
       type: 2}
diff --git a/colab/Colab_UnityEnvironment_2_Train.ipynb b/colab/Colab_UnityEnvironment_2_Train.ipynb
@@ -596,7 +596,7 @@
   {
    "cell_type": "markdown",
    "source": [
-    "The following cell provides an example of some of the extra tensors a model needs to work for ML-Agents inference with Barracuda. The GridWorldColab scene is configured to work with this ONNX file.\n",
+    "The following cell provides an example of some of the extra tensors a model needs to work for ML-Agents inference with Sentis. The GridWorldColab scene is configured to work with this ONNX file.\n",
     "Only policy models need to be exported for inference and they need the following additional tensors:\n",
     "\n",
     "*   All models need version_number\n",
@@ -620,7 +620,7 @@
     "    ):\n",
     "        \"\"\"\n",
     "        Wraps the VisualQNetwork adding extra constants and dummy mask inputs\n",
-    "        required by runtime inference with Barracuda.\n",
+    "        required by runtime inference with Sentis.\n",
     "\n",
     "        For environment continuous actions outputs would need to add them\n",
     "        similarly to how discrete action outputs work, both in the wrapper\n",

diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef b/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef
@@ -2,7 +2,7 @@
     "name": "Unity.ML-Agents.Extensions.Input",
     "references": [
         "Unity.ML-Agents",
-        "Unity.Barracuda",
+        "Unity.Sentis",
         "Unity.InputSystem"
     ],
     "includePlatforms": [],

diff --git a/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs b/com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs
@@ -108,7 +108,7 @@ public void Update()
         }
 
         /// <inheritdoc/>
-        public void Reset() { }
+        public void Reset() {}
 
         /// <inheritdoc/>
         public CompressionSpec GetCompressionSpec()

diff --git a/com.unity.ml-agents.extensions/Runtime/Sensors/PoseExtractor.cs b/com.unity.ml-agents.extensions/Runtime/Sensors/PoseExtractor.cs
@@ -387,7 +387,7 @@ internal IList<DisplayNode> GetDisplayNodes()
 
             while (stack.Count != 0)
             {
-                var (current, depth) = stack.Pop();
+                var(current, depth) = stack.Pop();
                 var obj = GetObjectAt(current);
 
                 var node = new DisplayNode

diff --git a/com.unity.ml-agents.extensions/Runtime/Unity.ML-Agents.Extensions.asmdef b/com.unity.ml-agents.extensions/Runtime/Unity.ML-Agents.Extensions.asmdef
@@ -1,7 +1,7 @@
 {
     "name": "Unity.ML-Agents.Extensions",
     "references": [
-        "Unity.Barracuda",
+        "Unity.Sentis",
         "Unity.ML-Agents",
         "Unity.ML-Agents.Extensions.Input"
     ]

diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to
 ## [Unreleased]
 ### Major Changes
 #### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
+- Upgraded ML-Agents to Sentis 1.2.0-exp.2 (#)
 - The minimum supported Unity version was updated to 2022.3. (#)
 - Added batched raycast sensor option. (#)
 

diff --git a/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md b/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md
@@ -103,7 +103,7 @@ mode if training is not supported or is not currently running.
 ### Inference
 
 Inference is executed via the
-[Unity Inference Engine](https://docs.unity3d.com/Packages/com.unity.barracuda@latest/index.html).
+[Unity Inference Engine](https://docs.unity3d.com/Packages/com.unity.sentis@latest/index.html).
 
 **CPU**
 
@@ -152,7 +152,7 @@ Please refer to "Information that is passively collected by Unity" in the
 [Unity Privacy Policy](https://unity3d.com/legal/privacy-policy).
 
 [unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents
-[unity inference engine]: https://docs.unity3d.com/Packages/com.unity.barracuda@latest/index.html
+[unity inference engine]: https://docs.unity3d.com/Packages/com.unity.sentis@latest/index.html
 [package manager documentation]: https://docs.unity3d.com/Manual/upm-ui-install.html
 [installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_20_docs/docs/Installation.md
 [github repository]: https://github.com/Unity-Technologies/ml-agents

diff --git a/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs
@@ -5,7 +5,7 @@
 using Unity.MLAgents.Policies;
 using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Sensors.Reflection;
-using CheckTypeEnum = Unity.MLAgents.Inference.BarracudaModelParamLoader.FailedCheck.CheckTypeEnum;
+using CheckTypeEnum = Unity.MLAgents.Inference.SentisModelParamLoader.FailedCheck.CheckTypeEnum;
 
 namespace Unity.MLAgents.Editor
 {
@@ -111,7 +111,7 @@ void DisplayFailedModelChecks()
             }
             // Display all failed checks
             // D.logEnabled = false;
-            Model barracudaModel = null;
+            Model sentisModel = null;
             var model = (ModelAsset)serializedObject.FindProperty(k_ModelName).objectReferenceValue;
             var behaviorParameters = (BehaviorParameters)target;
 
@@ -152,12 +152,12 @@ void DisplayFailedModelChecks()
             var brainParameters = behaviorParameters.BrainParameters;
             if (model != null)
             {
-                barracudaModel = ModelLoader.Load(model);
+                sentisModel = ModelLoader.Load(model);
             }
             if (brainParameters != null)
             {
-                var failedChecks = Inference.BarracudaModelParamLoader.CheckModel(
-                    barracudaModel, brainParameters, sensors, actuatorComponents,
+                var failedChecks = Inference.SentisModelParamLoader.CheckModel(
+                    sentisModel, brainParameters, sensors, actuatorComponents,
                     observableAttributeSensorTotalSize, behaviorParameters.BehaviorType, behaviorParameters.DeterministicInference
                 );
                 foreach (var check in failedChecks)

diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs
@@ -314,7 +314,7 @@ void EnableAutomaticStepping()
                 // This try-catch is because DontDestroyOnLoad cannot be used in Editor Tests
                 GameObject.DontDestroyOnLoad(m_StepperObject);
             }
-            catch { }
+            catch {}
         }
 
         /// <summary>
@@ -501,13 +501,13 @@ out var unityRlInitParameters
 
         void ResetActions()
         {
-            DecideAction = () => { };
-            DestroyAction = () => { };
-            AgentPreStep = i => { };
-            AgentSendState = () => { };
-            AgentAct = () => { };
-            AgentForceReset = () => { };
-            OnEnvironmentReset = () => { };
+            DecideAction = () => {};
+            DestroyAction = () => {};
+            AgentPreStep = i => {};
+            AgentSendState = () => {};
+            AgentAct = () => {};
+            AgentForceReset = () => {};
+            OnEnvironmentReset = () => {};
         }
 
         static void OnQuitCommandReceived()

diff --git a/com.unity.ml-agents/Runtime/Actuators/ActionSegment.cs b/com.unity.ml-agents/Runtime/Actuators/ActionSegment.cs
@@ -49,7 +49,7 @@ static void CheckParameters(IReadOnlyCollection<T> actionArray, int offset, int
         /// </summary>
         /// <param name="actionArray">The action array to use for the this segment.</param>
         public ActionSegment(T[] actionArray)
-            : this(actionArray ?? System.Array.Empty<T>(), 0, actionArray?.Length ?? 0) { }
+            : this(actionArray ?? System.Array.Empty<T>(), 0, actionArray?.Length ?? 0) {}
 
         /// <summary>
         /// Construct an <see cref="ActionSegment{T}"/> with an underlying array

diff --git a/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs b/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs
@@ -47,7 +47,7 @@ public static ActionBuffers FromDiscreteActions(float[] discreteActions)
         /// <param name="continuousActions">The continuous actions to send to an <see cref="IActionReceiver"/>.</param>
         /// <param name="discreteActions">The discrete actions to send to an <see cref="IActionReceiver"/>.</param>
         public ActionBuffers(float[] continuousActions, int[] discreteActions)
-            : this(new ActionSegment<float>(continuousActions), new ActionSegment<int>(discreteActions)) { }
+            : this(new ActionSegment<float>(continuousActions), new ActionSegment<int>(discreteActions)) {}
 
         /// <summary>
         /// Construct an <see cref="ActionBuffers"/> instance with the continuous and discrete actions that will
@@ -68,7 +68,7 @@ public ActionBuffers(ActionSegment<float> continuousActions, ActionSegment<int>
         public ActionBuffers(ActionSpec actionSpec)
             : this(new ActionSegment<float>(new float[actionSpec.NumContinuousActions]),
             new ActionSegment<int>(new int[actionSpec.NumDiscreteActions]))
-        { }
+        {}
 
         /// <summary>
         /// Create an <see cref="ActionBuffers"/> instance with ActionSpec and all actions stored as a float array.

diff --git a/com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs b/com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs
@@ -28,7 +28,7 @@ internal ActionBuffers ActionBuffers
         public VectorActuator(IActionReceiver actionReceiver,
                               ActionSpec actionSpec,
                               string name = "VectorActuator")
-            : this(actionReceiver, actionReceiver as IHeuristicProvider, actionSpec, name) { }
+            : this(actionReceiver, actionReceiver as IHeuristicProvider, actionSpec, name) {}
 
         /// <summary>
         /// Create a VectorActuator that forwards to the provided IActionReceiver.

diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
@@ -91,7 +91,7 @@ public AgentVectorActuator(IActionReceiver actionReceiver,
                                    ActionSpec actionSpec,
                                    string name = "VectorActuator"
         ) : base(actionReceiver, heuristicProvider, actionSpec, name)
-        { }
+        {}
 
         public override BuiltInActuatorType GetBuiltInActuatorType()
         {
@@ -904,7 +904,7 @@ void ResetData()
         ///
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
         /// </remarks>
-        public virtual void Initialize() { }
+        public virtual void Initialize() {}
 
         /// <summary>
         /// Implement <see cref="Heuristic"/> to choose an action for this agent using a custom heuristic.
@@ -1241,7 +1241,7 @@ public ReadOnlyCollection<float> GetStackedObservations()
         /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_20_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
-        public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { }
+        public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) {}
 
         /// <summary>
         /// Implement `OnActionReceived()` to specify agent behavior at every step, based
@@ -1309,15 +1309,15 @@ public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { }
         /// <param name="actions">
         /// Struct containing the buffers of actions to be executed at this step.
         /// </param>
-        public virtual void OnActionReceived(ActionBuffers actions) { }
+        public virtual void OnActionReceived(ActionBuffers actions) {}
 
         /// <summary>
         /// Implement `OnEpisodeBegin()` to set up an Agent instance at the beginning
         /// of an episode.
         /// </summary>
         /// <seealso cref="Initialize"/>
         /// <seealso cref="EndEpisode"/>
-        public virtual void OnEpisodeBegin() { }
+        public virtual void OnEpisodeBegin() {}
 
         /// <summary>
         /// Gets the most recent ActionBuffer for this agent.

diff --git a/com.unity.ml-agents/Runtime/Analytics/Events.cs b/com.unity.ml-agents/Runtime/Analytics/Events.cs
@@ -11,10 +11,10 @@ internal struct InferenceEvent
         /// Hash of the BehaviorName.
         /// </summary>
         public string BehaviorName;
-        public string BarracudaModelSource;
-        public long BarracudaModelVersion;
-        public string BarracudaModelProducer;
-        public string BarracudaPackageVersion;
+        public string SentisModelSource;
+        public long SentisModelVersion;
+        public string SentisModelProducer;
+        public string SentisPackageVersion;
         /// <summary>
         /// Whether inference is performed on CPU (0) or GPU (1).
         /// </summary>

diff --git a/com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs b/com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs
@@ -152,30 +152,31 @@ internal static InferenceEvent GetEventForModel(
             IList<IActuator> actuators
         )
         {
-            var barracudaModel = ModelLoader.Load(nnModel);
+            var sentisModel = ModelLoader.Load(nnModel);
             var inferenceEvent = new InferenceEvent();
 
             // Hash the behavior name so that there's no concern about PII or "secret" data being leaked.
             inferenceEvent.BehaviorName = AnalyticsUtils.Hash(k_VendorKey, behaviorName);
 
-            inferenceEvent.BarracudaModelSource = barracudaModel.IrSource;
-            inferenceEvent.BarracudaModelVersion = barracudaModel.IrVersion;
-            inferenceEvent.BarracudaModelProducer = barracudaModel.ProducerName;
-            inferenceEvent.MemorySize = (int)((TensorFloat)barracudaModel.GetTensorByName(TensorNames.MemorySize))[0];
+            inferenceEvent.SentisModelSource = sentisModel.IrSource;
+            inferenceEvent.SentisModelVersion = sentisModel.IrVersion;
+            inferenceEvent.SentisModelProducer = sentisModel.ProducerName;
+            inferenceEvent.MemorySize = (int)((TensorFloat)sentisModel.GetTensorByName(TensorNames.MemorySize))[0];
             inferenceEvent.InferenceDevice = (int)inferenceDevice;
 
-            if (barracudaModel.ProducerName == "Script")
+            // TODO deprecate tensorflow conversion
+            if (sentisModel.ProducerName == "Script")
             {
                 // .nn files don't have these fields set correctly. Assign some placeholder values.
-                inferenceEvent.BarracudaModelSource = "NN";
-                inferenceEvent.BarracudaModelProducer = "tensorflow_to_barracuda.py";
+                inferenceEvent.SentisModelSource = "NN";
+                inferenceEvent.SentisModelProducer = "tensorflow_to_barracuda.py";
             }
 
 #if UNITY_EDITOR
-            var barracudaPackageInfo = UnityEditor.PackageManager.PackageInfo.FindForAssembly(typeof(Tensor).Assembly);
-            inferenceEvent.BarracudaPackageVersion = barracudaPackageInfo.version;
+            var sentisPackageInfo = UnityEditor.PackageManager.PackageInfo.FindForAssembly(typeof(Tensor).Assembly);
+            inferenceEvent.SentisPackageVersion = sentisPackageInfo.version;
 #else
-            inferenceEvent.BarracudaPackageVersion = null;
+            inferenceEvent.SentisPackageVersion = null;
 #endif
 
             inferenceEvent.ActionSpec = EventActionSpec.FromActionSpec(actionSpec);
@@ -191,24 +192,24 @@ IList<IActuator> actuators
                 inferenceEvent.ActuatorInfos.Add(EventActuatorInfo.FromActuator(actuator));
             }
 
-            inferenceEvent.TotalWeightSizeBytes = GetModelWeightSize(barracudaModel);
-            inferenceEvent.ModelHash = GetModelHash(barracudaModel);
+            inferenceEvent.TotalWeightSizeBytes = GetModelWeightSize(sentisModel);
+            inferenceEvent.ModelHash = GetModelHash(sentisModel);
             return inferenceEvent;
         }
 
         /// <summary>
         /// Compute the total model weight size in bytes.
-        /// This corresponds to the "Total weight size" display in the Barracuda inspector,
+        /// This corresponds to the "Total weight size" display in the Sentis inspector,
         /// and the calculations are the same.
         /// </summary>
-        /// <param name="barracudaModel"></param>
+        /// <param name="sentisModel"></param>
         /// <returns></returns>
-        static long GetModelWeightSize(Model barracudaModel)
+        static long GetModelWeightSize(Model sentisModel)
         {
             long totalWeightsSizeInBytes = 0;
-            for (var c = 0; c < barracudaModel.constants.Count; c++)
+            for (var c = 0; c < sentisModel.constants.Count; c++)
             {
-                totalWeightsSizeInBytes += barracudaModel.constants[c].length;
+                totalWeightsSizeInBytes += sentisModel.constants[c].length;
             }
             return totalWeightsSizeInBytes;
         }
@@ -258,16 +259,16 @@ public override string ToString()
         /// A subset of the layer weights are used for performance.
         /// This increases the chance of a collision, but this should still be extremely rare.
         /// </summary>
-        /// <param name="barracudaModel"></param>
+        /// <param name="sentisModel"></param>
         /// <returns></returns>
-        static string GetModelHash(Model barracudaModel)
+        static string GetModelHash(Model sentisModel)
         {
             var hash = new MLAgentsHash128();
 
             // Limit the max number of float bytes that we hash for performance.
             const int kMaxFloats = 256;
 
-            foreach (var constant in barracudaModel.constants)
+            foreach (var constant in sentisModel.constants)
             {
                 hash.Append(constant.name);
                 var numFloatsToHash = Mathf.Min(constant.weights.Length, kMaxFloats);