Class RayPerceptionSensor

A sensor implementation that supports ray cast-based observations.

Inheritance
Object
RayPerceptionSensor
Namespace: Unity.MLAgents.Sensors
Syntax
public class RayPerceptionSensor : object, ISensor

Constructors

RayPerceptionSensor(String, RayPerceptionInput)

Creates the RayPerceptionSensor.

Declaration
public RayPerceptionSensor(string name, RayPerceptionInput rayInput)
Parameters
Type Name Description
String name

The name of the sensor.
RayPerceptionInput rayInput

The inputs for the sensor.

Methods

GetCompressedObservation()

Return a compressed representation of the observation. For small observations, this should generally not be implemented. However, compressing large observations (such as visual results) can significantly improve model training time.

Declaration
public virtual byte[] GetCompressedObservation()
Returns
Type Description
Byte[]

Compressed observation.
Implements

GetCompressionType()

Return the compression type being used. If no compression is used, return None.

Declaration
public virtual SensorCompressionType GetCompressionType()
Returns
Type Description
SensorCompressionType

Compression type used by the sensor.
Implements

GetName()

Get the name of the sensor. This is used to ensure deterministic sorting of the sensors on an Agent, so the naming must be consistent across all sensors and agents.

Declaration
public string GetName()
Returns
Type Description
String

The name of the sensor.
Implements

GetObservationShape()

Returns the size of the observations that will be generated. For example, a sensor that observes the velocity of a rigid body (in 3D) would return new {3}. A sensor that returns an RGB image would return new [] {Height, Width, 3}

Declaration
public int[] GetObservationShape()
Returns
Type Description
Int32[]

Size of the observations that will be generated.
Implements

Perceive(RayPerceptionInput)

Evaluates the raycasts to be used as part of an observation of an agent.

Declaration
public static RayPerceptionOutput Perceive(RayPerceptionInput input)
Parameters
Type Name Description
RayPerceptionInput input

Input defining the rays that will be cast.
Returns
Type Description
RayPerceptionOutput

Output struct containing the raycast results.

Reset()

Resets the internal states of the sensor. This is called at the end of an Agent's episode. Most implementations can leave this empty.

Declaration
public void Reset()
Implements

Update()

Update any internal state of the sensor. This is called once per each agent step.

Declaration
public void Update()
Implements

Write(ObservationWriter)

Computes the ray perception observations and saves them to the provided ObservationWriter.

Declaration
public int Write(ObservationWriter writer)
Parameters
Type Name Description
ObservationWriter writer

Where the ray perception observations are written to.
Returns
Type Description
Int32
Implements