Class StackingSensor

Sensor that wraps around another Sensor to provide temporal stacking. Conceptually, consecutive observations are stored left-to-right, which is how they're output For example, 4 stacked sets of observations would be output like | t = now - 3 | t = now -2 | t = now - 1 | t = now | Internally, a circular buffer of arrays is used. The m_CurrentIndex represents the most recent observation. Currently, observations are stacked on the last dimension.

Inheritance

object

StackingSensor

Implements

ISensor

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Namespace: Unity.MLAgents.Sensors

Assembly: Unity.ML-Agents.dll

Syntax

public class StackingSensor : ISensor

Constructors

StackingSensor(ISensor, int)

Initializes the sensor.

Declaration

public StackingSensor(ISensor wrapped, int numStackedObservations)

Parameters

Type	Name	Description
ISensor	wrapped	The wrapped sensor.
int	numStackedObservations	Number of stacked observations to keep.

Methods

GetBuiltInSensorType()

Return the corresponding BuiltInSensorType for the sensor.

Declaration

public BuiltInSensorType GetBuiltInSensorType()

Returns

Type	Description
BuiltInSensorType	A BuiltInSensorType corresponding to the sensor.

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 byte[] GetCompressedObservation()

Returns

Type	Description
byte[]	Compressed observation.

GetCompressionSpec()

Return information on the compression type being used. If no compression is used, return Default().

Declaration

public CompressionSpec GetCompressionSpec()

Returns

Type	Description
CompressionSpec	An object describing the compression used by the sensor.

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.

GetObservationSpec()

Returns a description of the observations that will be generated by the sensor. See ObservationSpec for more details, and helper methods to create one.

Declaration

public ObservationSpec GetObservationSpec()

Returns

Type	Description
ObservationSpec	An object describing the observation.

Reset()

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

Declaration

public void Reset()

Update()

Updates the index of the "current" buffer.

Declaration

public void Update()

Write(ObservationWriter)

Write the observation data directly to the ObservationWriter. Note that this (and GetCompressedObservation()) may be called multiple times per agent step, so should not mutate any internal state.

Declaration

public int Write(ObservationWriter writer)

Parameters

Type	Name	Description
ObservationWriter	writer	Where the observations will be written to.

Returns

Type	Description
int	The number of elements written.

Implements

ISensor

Extension Methods

SensorExtensions.ObservationSize(ISensor)