XmlDoc update

Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicActuatorComponent.cs

@@ -16,7 +16,7 @@ public class BasicActuatorComponent : ActuatorComponent
         /// <summary>
         /// Creates a BasicActuator.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>Corresponding actuators.</returns>
         public override IActuator[] CreateActuators()
         {
             return new IActuator[] { new BasicActuator(basicController) };

Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicSensorComponent.cs

@@ -14,7 +14,7 @@ public class BasicSensorComponent : SensorComponent
         /// <summary>
         /// Creates a BasicSensor.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>Corresponding sensors.</returns>
         public override ISensor[] CreateSensors()
         {
             return new ISensor[] { new BasicSensor(basicController) };

Project/Assets/ML-Agents/Examples/DungeonEscape/Scripts/DungeonEscapeEnvController.cs

@@ -38,7 +38,7 @@ public class DragonInfo
     /// <summary>
     /// Max Academy steps before this platform resets
     /// </summary>
-    /// <returns></returns>
+    /// <returns>The maximum steps before this platform resets.</returns>
     [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
     private int m_ResetTimer;
 

Project/Assets/ML-Agents/Examples/Match3/Scripts/Match3Board.cs

@@ -193,7 +193,7 @@ public bool MarkMatchedCells(int[,] cells = null)
         /// <summary>
         /// Sets cells that are matched to the empty cell, and returns the score earned.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>The number of earned points.</returns>
         public int ClearMatchedCells()
         {
             var pointsByType = new[] { BasicCellPoints, SpecialCell1Points, SpecialCell2Points };

Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs

@@ -32,7 +32,6 @@ public class BlockInfo
     /// <summary>
     /// Max Academy steps before this platform resets
     /// </summary>
-    /// <returns></returns>
     [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
 
     /// <summary>

Project/Assets/ML-Agents/Examples/PushBlockWithInput/Scripts/PushBlockWithInputPlayerController.cs

@@ -105,7 +105,7 @@ static float CreateForwardVector(Vector2 move)
     /// listening to C# events, Unity Events, or receiving Messages from the Input System Package as those callbacks
     /// are set up through the generated <see cref="IInputActionCollection2"/>.
     /// </summary>
-    /// <returns></returns>
+    /// <returns>Corresponing action collection tuple.</returns>
     public (InputActionAsset, IInputActionCollection2) GetInputActionAsset()
     {
         LazyInitializeActions();

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ModelOverrider.cs

@@ -111,7 +111,6 @@ public static string GetOverrideBehaviorName(string originalBehaviorName)
         /// Get the asset path to use from the commandline arguments.
         /// Can be called multiple times - if m_HaveProcessedCommandLine is set, will have no effect.
         /// </summary>
-        /// <returns></returns>
         void GetAssetPathFromCommandLine()
         {
             if (m_HaveProcessedCommandLine)

Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs

@@ -20,7 +20,6 @@ public class PlayerInfo
     /// <summary>
     /// Max Academy steps before this platform resets
     /// </summary>
-    /// <returns></returns>
     [Tooltip("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
 
     /// <summary>

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs

@@ -19,7 +19,7 @@ public class ButtonInputActionAdaptor : IRLActionInputAdaptor
         /// for pressed.
         /// </summary>
         /// <param name="action">The action associated with this adaptor to help determine the action space.</param>
-        /// <returns></returns>
+        /// <returns>ActionSpec with 1 branch of size 2.</returns>
         public ActionSpec GetActionSpecForInputAction(InputAction action)
         {
             return ActionSpec.MakeDiscrete(2);

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

@@ -182,7 +182,7 @@ internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap
         /// </summary>
         /// <param name="isInHeuristicMode">true if the Agent connected to this GameObject is working in
         /// Heuristic mode.</param>
-        /// <seealso cref="BehaviorParameters.IsInHeuristicMode"/>
+        /// <see cref="BehaviorParameters.IsInHeuristicMode"/>
         internal void UpdateDeviceBinding(bool isInHeuristicMode)
         {
             if (ReferenceEquals(m_Device, null))
@@ -259,7 +259,6 @@ internal static InputControlScheme CreateControlScheme(InputControl device,
         /// </summary>
         /// <param name="defaultMap"></param>
         /// <param name="layoutName"></param>
-        /// <returns></returns>
         internal static void RegisterLayoutBuilder(InputActionMap defaultMap, string layoutName)
         {
             if (InputSystem.LoadLayout(layoutName) == null)

com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodySensorComponent.cs

@@ -15,7 +15,7 @@ public class ArticulationBodySensorComponent : SensorComponent
         /// <summary>
         /// Creates a PhysicsBodySensor.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>Corresponding sensors.</returns>
         public override ISensor[] CreateSensors()
         {
             return new ISensor[] {new PhysicsBodySensor(RootBody, Settings, sensorName)};

com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs

@@ -51,7 +51,7 @@ protected internal override ProcessCollidersMethod GetProcessCollidersMethod()
         /// <param name="detectedObject">The game object that was detected within a certain cell</param>
         /// <param name="tagIndex">The index of the detectedObject's tag in the DetectableObjects list</param>
         /// <param name="dataBuffer">The buffer to write the observation values.
-        ///         The buffer size is configured by <seealso cref="GetCellObservationSize"/>.
+        ///         The buffer size is configured by <see cref="GetCellObservationSize"/>.
         /// </param>
         protected override void GetObjectData(GameObject detectedObject, int tagIndex, float[] dataBuffer)
         {

com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsSensorSettings.cs

@@ -52,7 +52,7 @@ public struct PhysicsSensorSettings
         /// <summary>
         /// Creates a PhysicsSensorSettings with reasonable default values.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>`PhysicsSensorSettings` with reasonable default values.</returns>
         public static PhysicsSensorSettings Default()
         {
             return new PhysicsSensorSettings

com.unity.ml-agents.extensions/Runtime/Sensors/PoseExtractor.cs

@@ -136,7 +136,7 @@ public int NumPoses
         /// Get the parent index of the body at the specified index.
         /// </summary>
         /// <param name="index"></param>
-        /// <returns></returns>
+        /// <returns>The parent index of the body at the specified index.</returns>
         public int GetParentIndex(int index)
         {
             if (m_ParentIndices == null)
@@ -195,22 +195,22 @@ protected void Setup(int[] parentIndices)
         /// Return the world space Pose of the i'th object.
         /// </summary>
         /// <param name="index"></param>
-        /// <returns></returns>
+        /// <returns>The world space Pose at given index.</returns>
         protected internal abstract Pose GetPoseAt(int index);
 
         /// <summary>
         /// Return the world space linear velocity of the i'th object.
         /// </summary>
         /// <param name="index"></param>
-        /// <returns></returns>
+        /// <returns>The world space linear velocity at given index.</returns>
         protected internal abstract Vector3 GetLinearVelocityAt(int index);
 
         /// <summary>
         /// Return the underlying object at the given index. This is only
         /// used for display in the inspector.
         /// </summary>
         /// <param name="index"></param>
-        /// <returns></returns>
+        /// <returns>The `Object` at given index.</returns>
         protected internal virtual Object GetObjectAt(int index)
         {
             return null;
@@ -285,7 +285,7 @@ public void UpdateLocalSpacePoses()
         /// Compute the number of floats needed to represent the poses for the given PhysicsSensorSettings.
         /// </summary>
         /// <param name="settings"></param>
-        /// <returns></returns>
+        /// <returns>The number of floats needed to represent the poses for the given `PhysicsSensorSettings`.</returns>
         public int GetNumPoseObservations(PhysicsSensorSettings settings)
         {
             int obsPerPose = 0;
@@ -355,7 +355,7 @@ internal struct DisplayNode
         /// <summary>
         /// Get a list of display nodes in depth-first order.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>The display nodes.</returns>
         internal IList<DisplayNode> GetDisplayNodes()
         {
             if (NumPoses == 0)
@@ -434,7 +434,7 @@ public static class PoseExtensions
         /// will equal the identity pose (within tolerance).
         /// </summary>
         /// <param name="pose"></param>
-        /// <returns></returns>
+        /// <returns>Inverse `Pose`.</returns>
         public static Pose Inverse(this Pose pose)
         {
             var rotationInverse = Quaternion.Inverse(pose.rotation);
@@ -447,7 +447,7 @@ public static Pose Inverse(this Pose pose)
         /// </summary>
         /// <param name="pose"></param>
         /// <param name="rhs"></param>
-        /// <returns></returns>
+        /// <returns>Multiplied `Pose`.</returns>
         public static Pose Multiply(this Pose pose, Pose rhs)
         {
             return rhs.GetTransformedBy(pose);
@@ -460,7 +460,7 @@ public static Pose Multiply(this Pose pose, Pose rhs)
         /// </summary>
         /// <param name="pose"></param>
         /// <param name="rhs"></param>
-        /// <returns></returns>
+        /// <returns>Multiplied `Pose`.</returns>
         public static Vector3 Multiply(this Pose pose, Vector3 rhs)
         {
             return pose.rotation * rhs + pose.position;

com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodyPoseExtractor.cs

@@ -163,7 +163,7 @@ protected internal override Object GetObjectAt(int index)
         /// <summary>
         /// Get a dictionary indicating which Rigidbodies' poses are enabled or disabled.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>`Dictionary` indicating which Rigidbodies' poses are enabled or disabled.</returns>
         internal Dictionary<Rigidbody, bool> GetBodyPosesEnabled()
         {
             var bodyPosesEnabled = new Dictionary<Rigidbody, bool>(m_Bodies.Length);

com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodySensorComponent.cs

@@ -38,7 +38,7 @@ public class RigidBodySensorComponent : SensorComponent
         /// <summary>
         /// Creates a PhysicsBodySensor.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>Corresponding sensors.</returns>
         public override ISensor[] CreateSensors()
         {
             var _sensorName = string.IsNullOrEmpty(sensorName) ? $"PhysicsBodySensor:{RootBody?.name}" : sensorName;
@@ -48,7 +48,7 @@ public override ISensor[] CreateSensors()
         /// <summary>
         /// Get the DisplayNodes of the hierarchy.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>The `DisplayNodes` of the hierarchy.</returns>
         internal IList<PoseExtractor.DisplayNode> GetDisplayNodes()
         {
             return GetPoseExtractor().GetDisplayNodes();
@@ -57,7 +57,7 @@ public override ISensor[] CreateSensors()
         /// <summary>
         /// Lazy construction of the PoseExtractor.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>Corresponding `RigidBodyPoseExtractor`</returns>
         RigidBodyPoseExtractor GetPoseExtractor()
         {
             if (m_PoseExtractor == null)

com.unity.ml-agents/CHANGELOG.md

@@ -6,7 +6,8 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to
 [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
-## [Unreleased]
+## [4.0.0] - 2024-09-02
+
 ### Major Changes
 #### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
 - Upgraded to Sentis 1.3.0-pre.3 (#6070)

com.unity.ml-agents/Editor/EditorUtilities.cs

@@ -10,7 +10,7 @@ public static class EditorUtilities
         /// <summary>
         /// Whether or not properties that affect the model can be updated at the current time.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>True if the model can be updated, False if not.</returns>
         public static bool CanUpdateModelProperties()
         {
             return !Application.isPlaying;

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

@@ -136,7 +136,7 @@ public static bool IsInitialized
         /// <summary>
         /// Reports whether or not the communicator is on.
         /// </summary>
-        /// <seealso cref="ICommunicator"/>
+        /// <see cref="ICommunicator"/>
         /// <value>
         /// <c>True</c>, if communicator is on, <c>false</c> otherwise.
         /// </value>
@@ -400,7 +400,7 @@ static int ReadPortFromArgs()
         /// then the values of the parameters generated from the training process can be
         /// retrieved here.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>The `EnvironmentParameters` instance.</returns>
         public EnvironmentParameters EnvironmentParameters
         {
             get { return m_EnvironmentParameters; }
@@ -410,7 +410,7 @@ public EnvironmentParameters EnvironmentParameters
         /// Returns the <see cref="StatsRecorder"/> instance. This instance can be used
         /// to record any statistics from the Unity environment.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>The `StatsRecorder` instance.</returns>
         public StatsRecorder StatsRecorder
         {
             get { return m_StatsRecorder; }

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

@@ -19,7 +19,7 @@ public abstract class ActuatorComponent : MonoBehaviour
         /// The specification of the possible actions for this ActuatorComponent.
         /// This must produce the same results as the corresponding IActuator's ActionSpec.
         /// </summary>
-        /// <seealso cref="ActionSpec"/>
+        /// <see cref="ActionSpec"/>
         public abstract ActionSpec ActionSpec { get; }
     }
 }

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

@@ -22,7 +22,7 @@ internal class ActuatorManager : IList<IActuator>
         /// <summary>
         /// Flag used to check if our IActuators are ready for execution.
         /// </summary>
-        /// <seealso cref="ReadyActuatorsForExecution(IList{IActuator}, int, int, int)"/>
+        /// <see cref="ReadyActuatorsForExecution(IList{IActuator}, int, int, int)"/>
         bool m_ReadyForExecution;
 
         /// <summary>
@@ -143,7 +143,7 @@ internal static ActionSpec CombineActionSpecs(IList<IActuator> actuators)
         /// <summary>
         /// Returns an ActionSpec representing the concatenation of all IActuator's ActionSpecs
         /// </summary>
-        /// <returns></returns>
+        /// <returns>`ActionSpec` representing the concatenation of all `ActionSpec`s.</returns>
         public ActionSpec GetCombinedActionSpec()
         {
             ReadyActuatorsForExecution();

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

@@ -186,7 +186,7 @@ public interface IActionReceiver
         ///
         /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_21_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
-        /// <seealso cref="IActionReceiver.OnActionReceived"/>
+        /// <see cref="IActionReceiver.OnActionReceived"/>
         void WriteDiscreteActionMask(IDiscreteActionMask actionMask);
     }
 }

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

@@ -8,13 +8,13 @@ public interface IActuator : IActionReceiver, IHeuristicProvider
         /// <summary>
         /// The specification of the actions for this IActuator.
         /// </summary>
-        /// <seealso cref="ActionSpec"/>
+        /// <see cref="ActionSpec"/>
         ActionSpec ActionSpec { get; }
 
         /// <summary>
         /// Gets the name of this IActuator which will be used to sort it.
         /// </summary>
-        /// <returns></returns>
+        /// <returns>The string name of this `IActuator`</returns>
         string Name { get; }
 
         /// <summary>
@@ -33,7 +33,7 @@ public static class IActuatorExtensions
         /// Returns the number of discrete branches + the number of continuous actions.
         /// </summary>
         /// <param name="actuator"></param>
-        /// <returns></returns>
+        /// <returns>The number possible actions.</returns>
         public static int TotalNumberOfActions(this IActuator actuator)
         {
             return actuator.ActionSpec.NumContinuousActions + actuator.ActionSpec.NumDiscreteActions;