A new training mode called "both" has been added. This allows simultaneous training with both PPO and SAC, each on a separate instance. For example, if you have 4 environments, the even-numbered ones will use PPO, and the odd-numbered ones will use SAC. Therefore, it's necessary to specify even values for num_envs.

.github/ISSUE_TEMPLATE/bug_report.md

@@ -24,7 +24,7 @@ Please wrap in triple backticks (```) to make it easier to read.
 If applicable, add screenshots to help explain your problem.
 
 **Environment (please complete the following information):**
-- Unity Version: [e.g. Unity 2022.3f1]
+- Unity Version: [e.g. Unity 6000.0.40f1]
 - OS + version: [e.g. Windows 10]
 - _ML-Agents version_: (e.g. ML-Agents v0.8, or latest `develop` branch from source)
 - _Torch version_: (you can run `pip3 show torch` to get this)

.github/workflows/colab.yml

@@ -16,7 +16,7 @@ on:
 
 jobs:
   colab:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     env:
         COLAB_ALWAYS_INSTALL_XVFB: 1
         QLEARNING_NUM_TRAINING_STEPS: 5
@@ -27,16 +27,16 @@ jobs:
       matrix:
         notebook_path: [Colab_UnityEnvironment_1_Run.ipynb, Colab_UnityEnvironment_2_Train.ipynb, Colab_UnityEnvironment_3_SideChannel.ipynb]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Python
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v5
       with:
         python-version: 3.10.12
-    - uses: actions/setup-dotnet@v1
+    - uses: actions/setup-dotnet@v4
       with:
         dotnet-version: '6.0.x'
     - name: Cache pip
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         # This path is specific to Ubuntu
         path: ~/.cache/pip
@@ -56,9 +56,9 @@ jobs:
     - name: Execute notebook
       run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
     - name: Upload colab results
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
-        name: artifacts
+        name: artifacts-${{ matrix.notebook_path }}
         path: |
           colab/output-${{ matrix.notebook_path }}
       # Use always() to always run this step to publish execution results when there are failures

.github/workflows/lock.yml

@@ -12,7 +12,7 @@ jobs:
         issues: write
         pull-requests: write
     steps:
-      - uses: actions/stale@v5
+      - uses: actions/stale@v9
         with:
           days-before-issue-stale: 30
           days-before-issue-close: 14

.github/workflows/nightly.yml

@@ -9,9 +9,11 @@ jobs:
   markdown-link-check-full:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-    - uses: actions/setup-node@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.10.12
+    - uses: actions/setup-node@v4
       with:
         node-version: '12'
     - name: Install manual dependencies
@@ -26,7 +28,7 @@ jobs:
     runs-on: ubuntu-latest
 #   TODO: Re-use pytest workflow once https://github.com/github/roadmap/issues/257 is done.
 #    steps:
-#    - uses: actions/checkout@v2
+#    - uses: actions/checkout@v4
 #    - uses: ./.github/workflows/pytest.yml
 #      with:
 #        # Run all tests.
@@ -37,18 +39,18 @@ jobs:
       # If one test in the matrix fails we still want to run the others.
       fail-fast: false
       matrix:
-        python-version: [3.10.x]
+        python-version: [3.10.12]
         include:
-          - python-version: 3.10.x
+          - python-version: 3.10.12
             pip_constraints: test_constraints_version.txt
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Python
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.python-version }}
     - name: Cache pip
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         # This path is specific to Ubuntu
         path: ~/.cache/pip
@@ -77,7 +79,7 @@ jobs:
         --cov-report=html --junitxml=junit/test-results-${{ matrix.python-version }}.xml \
         -p no:warnings -v -n 8
     - name: Upload pytest test results
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: artifacts-${{ matrix.python-version }}
         path: |

.github/workflows/pre-commit.yml

@@ -11,20 +11,25 @@ on:
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
+    env:
+        DOTNET_NOLOGO: 1
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.10.x
-    - uses: actions/setup-ruby@v1
+    - uses: ruby/setup-ruby@v1
       env:
-        ImageOS: ubuntu20
+        ImageOS: ubuntu24
       with:
-        ruby-version: '2.6'
-    - uses: actions/setup-dotnet@v3
+        ruby-version: '2.7'
+        bundler-cache: true # runs 'bundle install' and caches installed gems automatically
+    - uses: actions/setup-dotnet@v4
       with:
-        dotnet-version: '7.0.100'
+        dotnet-version: '8.0.202'
+    -   name: Clean dotnet shared memory
+        run: sudo rm -rf /tmp/.dotnet/shm
     - name: Install manual dependencies
       run: |
         python -m pip install pre-commit
@@ -35,9 +40,11 @@ jobs:
   markdown-link-check:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-    - uses: actions/setup-node@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.10.x
+    - uses: actions/setup-node@v4
       with:
         node-version: '12'
     - name: Install manual dependencies
@@ -52,6 +59,8 @@ jobs:
   validate-meta-files:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.10.x
     - run: python utils/validate_meta_files.py

.github/workflows/publish_docs.yaml

@@ -9,11 +9,11 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
         with:
           token: ${{ secrets.PUBLIC_GH_TOKEN }}
       - name: Setup Python 3.10
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v5
         with:
           python-version: 3.10
       - name: Publish docs

.github/workflows/publish_pypi.yaml

@@ -19,9 +19,9 @@ jobs:
     steps:
     - uses: actions/checkout@main
     - name: Set up Python 3.10
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v5
       with:
-        python-version: 3.10
+        python-version: 3.10.x
     - name: Install dependencies
       run: pip install setuptools wheel twine --user
     - name: verify git tag vs. version
@@ -35,14 +35,14 @@ jobs:
         python setup.py bdist_wheel
     - name: Publish distribution 📦 to Test PyPI
       if: startsWith(github.ref, 'refs/tags') && contains(github.ref, 'test')
-      uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295
+      uses: pypa/gh-action-pypi-publish@release/v1
       with:
         password: ${{ secrets.TEST_PYPI_PASSWORD }}
         repository_url: https://test.pypi.org/legacy/
         packages_dir: ${{ matrix.package-path }}/dist/
     - name: Publish distribution 📦 to Production PyPI
       if: startsWith(github.ref, 'refs/tags') && !contains(github.ref, 'test')
-      uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295
+      uses: pypa/gh-action-pypi-publish@master
       with:
         password: ${{ secrets.PYPI_PASSWORD }}
         packages_dir: ${{ matrix.package-path }}/dist/

.github/workflows/publish_pypi_python_api.yaml

@@ -17,11 +17,11 @@ jobs:
             package-path: [ml-agents-envs]
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Python 3.10
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v5
       with:
-        python-version: 3.10
+        python-version: 3.10.x
     - name: Install dependencies
       run: pip install setuptools wheel twine --user
     - name: verify git tag vs. version

.github/workflows/pytest.yml

@@ -42,13 +42,13 @@ jobs:
           - python-version: 3.10.12
             pip_constraints: test_constraints_version.txt
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Python
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.python-version }}
     - name: Cache pip
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         # This path is specific to Ubuntu
         path: ~/.cache/pip
@@ -75,17 +75,17 @@ jobs:
       id: pytest_marker
       run: |
         if [ "${{ github.event.inputs.pytest_markers }}" != "" ]; then
-          echo "::set-output name=markers::${{ github.event.inputs.pytest_markers }}"
+          echo "markers=${{ github.event.inputs.pytest_markers }}" >> $GITHUB_OUTPUT
         else
-          echo "::set-output name=markers::not slow"
+          echo "markers=not slow" >> $GITHUB_OUTPUT
         fi
     - name: Run pytest
       run: |
         pytest --cov=ml-agents --cov=ml-agents-envs \
         --cov-report=html --junitxml=junit/test-results-${{ matrix.python-version }}.xml \
         -p no:warnings -v -m "${{ steps.pytest_marker.outputs.markers }}" -n 8
     - name: Upload pytest test results
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       with:
         name: artifacts-${{ matrix.python-version }}
         path: |

.github/workflows/validate_catalog.yaml

@@ -14,7 +14,7 @@ jobs:
     runs-on: [ubuntu-latest]
     steps:
       - id: 'Checkout'
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - id: 'Validate'
         uses: 'RoadieHQ/backstage-entity-validator@v0.3.2'

.gitignore

@@ -95,3 +95,6 @@ coverage.xml
 /htmlcov/
 
 **/UserSettings/*
+
+# yamato-parser temporary output files:
+.yamato/unfolded/

.yamato/com.unity.ml-agents-coverage.yml

@@ -5,14 +5,14 @@
 {% for platform in coverage_test_platforms %}
 {% capture coverageOptions %} --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+{{ package.assembly }}'{% endcapture %}
 
-test_coverage_{{ package.name }}_{{ platform.name }}_{{ editor.version }}:
-    name : Coverage {{ package.name }} test {{ editor.version }} on {{ platform.name }}
+test_coverage_{{ package.name }}_{{ platform.name }}_{{ editor.version }}_{{ editor.testProject }}:
+    name : Coverage {{ package.name }} test {{ editor.version }} on {{ platform.name }} in {{ editor.testProject }}
     agent:
         type: {{ platform.type }}
         image: {{ platform.image }}
         flavor: {{ platform.flavor}}
     commands:
-        - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+        - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
         - upm-ci project test -u {{ editor.version }} --type project-tests --project-path {{ editor.testProject }} --package-filter {{ package.name }} {{ coverageOptions }} --extra-utr-arg "reruncount=2"
         - |
           conda activate python3.10
@@ -33,9 +33,6 @@ test_coverage_{{ package.name }}_{{ platform.name }}_{{ editor.version }}:
             NOT pull_request.draft AND
             (pull_request.changes.any match "com.unity.ml-agents/**" OR
              pull_request.changes.any match " {{ editor.testProject }}/**" OR
-            {% if package.name == "com.unity.ml-agents.extensions" %}
-            pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
-            {% endif %}
             pull_request.changes.any match ".yamato/com.unity.ml-agents-coverage.yml")
       {% endif %}
 {% endfor %}

.yamato/com.unity.ml-agents-pack.yml

@@ -2,14 +2,16 @@ pack:
   name: Pack
   agent:
     type: Unity::VM
-    image: ml-agents/ml-agents-ubuntu-18.04:latest
-    flavor: b1.small
+    image: ml-agents/ubuntu-ci:v1.0.0
+    flavor: b1.medium
   commands:
     - |
       eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      sudo apt-get update
+      sudo apt-get install upm-pvp=0.76.0
       conda activate python3.10
       python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
-      unity-downloader-cli -u 2022.3 -c editor --wait --fast
+      unity-downloader-cli -u 6000.0 -c editor --wait --fast
       ./.Editor/Unity -projectPath Project -batchMode -executeMethod Unity.MLAgents.SampleExporter.ExportCuratedSamples -logFile -
       npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
       upm-ci project pack --project-path Project

.yamato/com.unity.ml-agents-performance.yml

@@ -1,30 +1,30 @@
-test_editors:
-  - version: 2022.3
-  - version: 2023.1
----
-{% for editor in test_editors %}
-Run_Mac_Perfomance_Tests{{ editor.version }}:
-  name: Run Mac Performance Tests {{ editor.version }}
-  agent:
-    type: Unity::VM::osx
-    image: package-ci/mac:stable
-    flavor: b1.small
-  variables:
-    UNITY_VERSION: {{ editor.version }}
-  commands:
-    - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
-    - unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast
-    - curl -s https://artifactory.prd.it.unity3d.com/artifactory/unity-tools-local/utr-standalone/utr --output utr
-    - chmod +x ./utr
-    - ./utr --suite=editor --platform=StandaloneOSX --editor-location=.Editor --testproject=DevProject --artifacts_path=build/test-results --report-performance-data --performance-project-id=com.unity.ml-agents --zero-tests-are-ok=1
-  triggers:
-    cancel_old_ci: true
-    recurring:
-      - branch: develop
-        frequency: daily
-  artifacts:
-    logs:
-      paths:
-        - "build/test-results/**"
-        - "*.log"
-{% endfor %}
+#disabling mac perf tests until utr issue is resolved.
+#test_editors:
+#  - version: 2023.2
+#---
+#{% for editor in test_editors %}
+#Run_Mac_Perfomance_Tests{{ editor.version }}:
+#  name: Run Mac Performance Tests {{ editor.version }}
+#  agent:
+#    type: Unity::VM::osx
+#    image: package-ci/macos-13:v4
+#    flavor: b1.large
+#  variables:
+#    UNITY_VERSION: {{ editor.version }}
+#  commands:
+#    - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
+#    - unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast
+#    - curl -s https://artifactory.prd.it.unity3d.com/artifactory/unity-tools-local/utr-standalone/utr --output utr
+#    - chmod +x ./utr
+#    - ./utr --suite=editor --platform=StandaloneOSX --editor-location=.Editor --testproject=PerformanceProject --artifacts_path=build/test-results --report-performance-data --performance-project-id=com.unity.ml-agents --zero-tests-are-ok=1
+#  triggers:
+#    cancel_old_ci: true
+#    recurring:
+#      - branch: develop
+#        frequency: daily
+#  artifacts:
+#    logs:
+#      paths:
+#        - "build/test-results/**"
+#        - "*.log"
+#{% endfor %}