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Gymize - Gym Reinforcement Learning with Unity 3D

Unity and Python Reinforcement and Imitation Learning with Gymnasium and PettingZoo API.

Gymize_Framework

Installations

Installation for Python 3

pip install gymize

If you want to render videos, please install ffmpeg additionally.

You can also install ffmpeg with Anaconda:

conda install -c conda-forge ffmpeg

Installation for Unity

Go to Window -> Package Manager -> Add package from git URL...

Then paste the following git URL:

https://github.com/timcsy/gymize.git?path=/unity

If git hasn't been installed, then you can download gymize first and install it from disk, specify the path to /unity/package.json, or you can install from tarball, downloaded from Releases.

Usages

Usage for Python 3

  1. Assign the env_name, which should be same as in the Unity. For example, kart.
  2. file_name is the path to the built Unity game, or leave None if using Unity Editor.
  3. For multi-agent, agent_names is the list of agent names.
  4. Define the observation_space in the format of Gym Spaces. For multi-agent, observation_spaces is a dictionary whose keys are agent names and values are observation spaces.
  5. Define the action_space in the format of Gym Spaces. For multi-agent, action_spaces is a dictionary whose keys are agent names and values are action spaces.
  6. Assign render_mode='video' if you want to record video from Unity, otherwise omit render_mode.
  7. Assign views=['', ...] if you want to record video from Unity, which given a list of view names, the empty string will be the default view, otherwise omit views.
  8. Make the Gymnasium or PettingZoo environment by the following commands:

Single-Agent with Gymnasium API:

import gymnasium as gym
import gymize

env = gym.make(
    'gymize/Unity-v0',
    env_name='<your env name>',
    file_name=file_name,
    observation_space=observation_space,
    action_space=action_space,
    render_mode='<render_mode>',
    views=['', ...]
)

Multi-Agents with PettingZoo AEC API:

from gymize.envs import UnityAECEnv

env = UnityAECEnv(
    env_name='<your env name>',
    file_name=file_name,
    agent_names=agent_names,
    observation_spaces=observation_spaces,
    action_spaces=action_spaces,
    render_mode='<render_mode>',
    views=['', ...]
)

Multi-Agents with PettingZoo Parallel API:

from gymize.envs import UnityParallelEnv

env = UnityParallelEnv(
    env_name='<your env name>',
    file_name=file_name,
    agent_names=agent_names,
    observation_spaces=observation_spaces,
    action_spaces=action_spaces,
    render_mode='<render_mode>',
    views=['', ...]
)

Well done! Now you can use the environment as the gym environment!

The environment env will have some additional methods other than Gymnasium or PettingZoo:

  • env.unwrapped.send_info(info, agent=None)
    • At anytime, you can send information through info parameter in the form of Gymize Instance (see below) to Unity side.
    • The agent parameter is the agent name that will receive info (by Gymize.Agent.OnInfo() method in the Unity side), or None for the environment to receive info (by Gymize.GymEnv.OnInfo += (info) => {} listener in the Unity side).
  • env.unwrapped.begin_render(screen_width=-1, screen_height=-1, fullscreen=False)
    • Begin to record video in the Unity.
    • screen_width and screen_height is to set the width and height of the window, leave -1 if you want the default window size.
    • fullscreen is to set whether Unity is fullscreen.
  • env.unwrapped.end_render()
    • Stop to record video in the Unity.
  • env.unwrapped.render_all(video_paths={})
    • Render the videos which name and path are given by key value pairs in video_path.
    • Using None as path for binary video object.
  • env.unwrapped.render() or env.render()
    • Only render the default video, and return a binary video object.

If you want to open the signaling service only, you can run gymize-signaling at the command line.

Usage for Unity

  1. Create Gym Manager Component
    • Add a game object in the scene.
    • Add a Gym Manager Component to the game object.
    • Fill in the Env Name property with the name of the environment, which should be same as in the Python. For example, kart.
  2. Implement a class that inherit the Agent class: class MyAgent : Agent {}
    • Note that the Agent class is inheritted from MonoBehaviour class.
      • Override these listeners
      • public override void OnReset() {}
      • public override void OnAction(object obj) {}
      • public override void OnInfo(object obj) {}
      • Add Terminate(), Truncate() at the proper place.
      • For example: 
        public class MyAgent : Agent
{
    [Obs]
    private float pi = 3.14159f;

    private int m_Count;
    private float m_Speed;
    private string m_NickName;

    public override void OnReset()
    {
        // Reload the Unity scene when getting the reset signal from Python
        SceneManager.LoadScene(SceneManager.GetActiveScene().name, LoadSceneMode.Single);
    }

    public override void OnAction(object action)
    {
        Dictionary<string, object> actions = action as Dictionary<string, object>;
        List<object> arr = actions["arr"] as List<object>;

        Debug.Log((long)arr[0]); // arr[0] is Discrete value
        m_Count = Convert.ToInt32(arr[0]); // arr[0] is Discrete value
        m_Speed = Convert.ToSingle(actions["speed"]); // actions["speed"] is float value
    }

    public override void OnInfo(object info)
    {
        m_NickName = (string)info;
    }

    void Update()
    {
        // Terminate the game if collision occurred
        if (m_Collision)
        {
            // This method will tell the Python side to terminate the env
            Terminate();
        }
    }
}
    • Add this Agent Component to the game object, and fill in the Name property with the name of the agent, using agent for single agent.
  3. Add Observers
    • Refer below to learn more about the concept of "Locator".
    • Using Attributes in the Agent class, assign the Locator or use the default Locator, for example: 
      [Obs] // Using the default Locator ".UsedTime", which is same as the field name.
private float UsedTime;

[Obs(".Progress")]
private float m_Progress;

[Box]
private float Distance;

[Box(".Height=$")]
private float m_Height;
    • You can use Obs to use the default Gym space type depending on the source variable, or you can use Box(for Tensor, including MultiBinrary and MultiDiscrete), Discrete, Text, Dict, List, Graph attributes, see more details in the Reflection folder, check out TestAgentInstance.cs for more examples.
    • Add Sensor Component in the scene.
      • Inheritted from SensorComponent class. CameraSensor is an example of a sensor component.
      • Make sure that the public override IInstance GetObservation() {} method is implemented in the Sensor Component.
      • Assign proper Locator in the Unity Editor.
  4. Add Gym Render Recorder Component to the scene if needed
    • The Name property can be empty or the name of the view.
    • At the Python side, set render_mode='video' if you want to render videos.
  5. You can disable the Gym Manager component in the Unity Editor to develop the game without Python connection and play the game manually, it is useful for debugging.

!!! Remember to close the channel in MonoBehaviour.OnApplicationQuit !!!

Gymize Instance

The instance generated from the action, observation space or info is called "Gymize Instance".

Gymize Instance is defined in the space.proto, which describes how the Gymize exchange data between Unity and Python, using Protocol Buffers 3. Most of which originates from the Gym Spaces.

In Unity, check out GymInstance.cs for more information about how to convert the object into a meaningful type. In Python, you can treat the instance as usual object.

Fundamental Instance

  • Tensor: numpy array, with dtype and shape
    • Corresponding to the Gym Spaces as Box, MultiBinrary, MultiDiscrete
  • Discrete: int64
    • Corresponding to the Gym Spaces as Discrete
  • Text: string
    • Corresponding to the Gym Spaces as Text

Composite Instance

  • Dict: key, value pairs mapping. Type of key is string, value is Gymize Instance
    • Corresponding to the Gym Spaces as Dict
  • List: array of Gymize Instance
    • Corresponding to the Gym Spaces as Tuple, Sequence
  • Graph: including three tensor objects, which are nodes, edges and edge_links
    • nodes: the numeric information of nodes
    • edges: the numeric information of edges
    • edge_links: the list of edges represent by node pairs (the node index begins with 0)
    • Corresponding to the Gym Spaces as Graph

Additional Instance (Not defined in Gym Spaces)

  • Raw: binary data
  • Image: image data, include format (PNG, JPG, ...), binary data, dtype, shape, axis permutation
  • Float: double precision floating number
  • Boolean: boolean value (true/false)
  • JSON: JSON after stringifying

Locator

"Locator" maps the observations collected from the Unity side to the specified location of Python side observation data, which is transferred by Gymize Instance.

The followings are valid examples:

example 1:

.UsedTime = $

example 2:

.Progress

example 3:

@.Rays

example 4:

agent1@agent2@.key.0[12]["camera"]['front'][right][87](2)

example 5:

@@agent3@agent4@["camera"](1:10:2) = $(24:29) & @[11]=$[0] & @.key = $(3:8)

For more examples, check out TestLocator.cs and TestAgentInstance.cs.

Structure of Locator

  • A Locator is a sequence of Mappings.
  • A Mapping consists of Agent, Destination, and Source.
    • Agent has four kinds: "all agents", "list agents", "root agent", and "omitted".
    • Destination and Source are in the form of Selector.
  • A Selector can act on the following types: Dict, Tuple, Sequence, Tensor.
    • "key" selector is for Dict.
    • "index" or "slices" selector is for Tuple, Sequence, Tensor.
  • A Slice is Python-like or Numpy-like, which has "start", "stop", and "step".
    • Usually we write start:stop:step, e.g. 1:10:2.
    • There are some special cases: "index", "ellipsis", and "new axis".

Syntax for Locator

  • Syntax for Locator
    • Using & to connect different Mappings.
    • e.g. .field1 & .field2=$ & @.field3=$["key"]
  • Syntax of Mapping
    • {Agent} Selectors(Destination) {=$ Selectors(Source)}
      • { } means can be omitted.
      • If you omit Agent, then the Locator will become relative w.r.t Agent.
      • If you omit =$ Selectors(Source), it is same as =$.
      • = means mapping or assignment. It will map the source (right hand side) to the destination (left hand side).
      • $ means the Unity side observation (variable or sensor data).
  • Syntax for Agent
    • Using agent@ to assign the agent name.
    • Using agent1@agent2@ to assign the agent names.
    • Using @@ means for all agents.
    • Using @@agent3@agent4@ means for all agents, except agent3 and agent4.
    • Using @ to represent the root agent itself.
    • You can omit the Agent to use relative location.
  • Syntax for Selector
    • For Dict: .key, ['key'], ["key"], or [key]
    • For Tuple: [index] or [slice]
    • For Sequence: [], means append
    • For Tensor: (Slice) or (Slice1, Slice2, ..., SliceN)
      • The several Tensor selectors have to put at the end of the selector sequence.
  • Syntax for Slice
    • Same syntax as Python or numpy.
    • start:stop:step, e.g. 1:10:2.
      • omitted "step", it becomes 1:10.
      • omitted "stop", it becomes 1:.
      • omitted "start", it becomes :.
    • You can just use an integer to represent the index (negative integer means counting from the end).
    • You can use ... to represent ellipsis.
    • You can use newaxis or np.newaxis to represent new axis.

See locator.bnf for more information about the syntax.

Known issues

  • Gymize get the observation space type information by generating a sample instance, so it may not get the type information of Sequence if it samples a empty array.
  • On the Python side, it may cause some problems if you edit the observation data directly, because it is not a copy, it is a reference object.
  • Dict source with different keys but with same destination Locator may not merged correctly, check out space.py for more details.
  • If you run the built Unity Application and it fails after first OnReset, try:
    • It may be this issue: ArgumentNullException: Value cannot be null. Parameter name: shader.
    • Go to: Edit -> ProjectSettings -> Graphics
    • Change the size of Always Included Shaders, and add the Runtime/Space/Grayscale.shader into it.