Commiting changes.

Project/Packages/manifest.json

@@ -23,5 +23,6 @@
     "com.unity.ml-agents",
     "com.unity.ml-agents.extensions",
     "com.unity.inputsystem"
-  ]
+  ],
+  "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
 }

Project/Packages/packages-lock.json

@@ -17,15 +17,15 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.barracuda": {
-      "version": "3.0.0",
+      "version": "4.2.0-preview",
       "depth": 1,
       "source": "registry",
       "dependencies": {
         "com.unity.burst": "1.6.0",
         "com.unity.modules.jsonserialize": "1.0.0",
         "com.unity.modules.imageconversion": "1.0.0"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.burst": {
       "version": "1.8.7",
@@ -34,14 +34,14 @@
       "dependencies": {
         "com.unity.mathematics": "1.2.1"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.ext.nunit": {
       "version": "1.0.6",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.formats.fbx": {
       "version": "4.2.1",
@@ -60,7 +60,7 @@
       "dependencies": {
         "com.unity.ext.nunit": "1.0.6"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.inputsystem": {
       "version": "1.6.1",
@@ -69,21 +69,21 @@
       "dependencies": {
         "com.unity.modules.uielements": "1.0.0"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.mathematics": {
       "version": "1.2.6",
       "depth": 3,
       "source": "registry",
       "dependencies": {},
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.ml-agents": {
       "version": "file:../../com.unity.ml-agents",
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "3.0.0",
+        "com.unity.barracuda": "4.2.0-preview",
         "com.unity.modules.imageconversion": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0"
       }
@@ -102,7 +102,7 @@
       "depth": 0,
       "source": "registry",
       "dependencies": {},
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.recorder": {
       "version": "4.0.1",
@@ -111,14 +111,14 @@
       "dependencies": {
         "com.unity.timeline": "1.0.0"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.sysroot": {
       "version": "2.0.5",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.sysroot.linux-x86_64": {
       "version": "2.0.4",
@@ -127,7 +127,7 @@
       "dependencies": {
         "com.unity.sysroot": "2.0.5"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.test-framework": {
       "version": "1.1.33",
@@ -138,7 +138,7 @@
         "com.unity.modules.imgui": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.textmeshpro": {
       "version": "3.0.6",
@@ -147,7 +147,7 @@
       "dependencies": {
         "com.unity.ugui": "1.0.0"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.timeline": {
       "version": "1.7.4",
@@ -159,7 +159,7 @@
         "com.unity.modules.audio": "1.0.0",
         "com.unity.modules.particlesystem": "1.0.0"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.toolchain.macos-x86_64-linux-x86_64": {
       "version": "2.0.4",
@@ -169,7 +169,7 @@
         "com.unity.sysroot": "2.0.5",
         "com.unity.sysroot.linux-x86_64": "2.0.4"
       },
-      "url": "https://packages.unity.com"
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.ugui": {
       "version": "1.0.0",

com.unity.ml-agents/Runtime/Analytics/Events.cs

@@ -12,7 +12,7 @@ internal struct InferenceEvent
         /// </summary>
         public string BehaviorName;
         public string BarracudaModelSource;
-        public string BarracudaModelVersion;
+        public long BarracudaModelVersion;
         public string BarracudaModelProducer;
         public string BarracudaPackageVersion;
         /// <summary>

com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs

@@ -208,6 +208,7 @@ static long GetModelWeightSize(Model barracudaModel)
             long totalWeightsSizeInBytes = 0;
             for (var l = 0; l < barracudaModel.layers.Count; ++l)
             {
+                // for (var d = 0; d < barracudaModel.layers[l].datasets.Length; ++d)
                 for (var d = 0; d < barracudaModel.layers[l].datasets.Length; ++d)
                 {
                     totalWeightsSizeInBytes += barracudaModel.layers[l].datasets[d].length;

com.unity.ml-agents/Runtime/Inference/ApplierImpl.cs

@@ -38,7 +38,7 @@ public void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int,
                     var continuousBuffer = actionBuffer.ContinuousActions;
                     for (var j = 0; j < actionSize; j++)
                     {
-                        continuousBuffer[j] = tensorProxy.data[agentIndex, j];
+                        continuousBuffer[j] = ((TensorFloat)tensorProxy.data)[agentIndex, j];
                     }
                 }
                 agentIndex++;
@@ -77,7 +77,7 @@ public void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int,
                     var discreteBuffer = actionBuffer.DiscreteActions;
                     for (var j = 0; j < actionSize; j++)
                     {
-                        discreteBuffer[j] = (int)tensorProxy.data[agentIndex, j];
+                        discreteBuffer[j] = ((TensorInt)tensorProxy.data)[agentIndex, j];
                     }
                 }
                 agentIndex++;
@@ -152,14 +152,14 @@ internal void ComputeCdf(TensorProxy logProbs, int batch, int channelOffset, int
             var maxProb = float.NegativeInfinity;
             for (var cls = 0; cls < branchSize; ++cls)
             {
-                maxProb = Mathf.Max(logProbs.data[batch, cls + channelOffset], maxProb);
+                maxProb = Mathf.Max(((TensorFloat)logProbs.data)[batch, cls + channelOffset], maxProb);
             }
 
             // Sum the log probabilities and compute CDF
             var sumProb = 0.0f;
             for (var cls = 0; cls < branchSize; ++cls)
             {
-                sumProb += Mathf.Exp(logProbs.data[batch, cls + channelOffset] - maxProb);
+                sumProb += Mathf.Exp(((TensorFloat)logProbs.data)[batch, cls + channelOffset] - maxProb);
                 m_CdfBuffer[cls] = sumProb;
             }
         }
@@ -196,7 +196,7 @@ public void Apply(TensorProxy tensorProxy, IList<int> actionIds, Dictionary<int,
 
                 for (var j = 0; j < memorySize; j++)
                 {
-                    memory[j] = tensorProxy.data[agentIndex, 0, j, 0];
+                    memory[j] = ((TensorFloat)tensorProxy.data)[agentIndex, 0, j, 0];
                 }
 
                 m_Memories[agentId] = memory;

com.unity.ml-agents/Runtime/Inference/BarracudaModelParamLoader.cs

@@ -802,7 +802,7 @@ static IEnumerable<FailedCheck> CheckOutputTensorShape(
         /// check failed. If the check passed, returns null.
         /// </returns>
         static FailedCheck CheckDiscreteActionOutputShape(
-            BrainParameters brainParameters, ActuatorComponent[] actuatorComponents, Tensor modelDiscreteBranches)
+            BrainParameters brainParameters, ActuatorComponent[] actuatorComponents, TensorInt modelDiscreteBranches)
         {
             var discreteActionBranches = brainParameters.ActionSpec.BranchSizes.ToList();
             foreach (var actuatorComponent in actuatorComponents)
@@ -811,7 +811,7 @@ static FailedCheck CheckDiscreteActionOutputShape(
                 discreteActionBranches.AddRange(actionSpec.BranchSizes);
             }
 
-            int modelDiscreteBranchesLength = modelDiscreteBranches?.length ?? 0;
+            int modelDiscreteBranchesLength = modelDiscreteBranches?.shape.length ?? 0;
             if (modelDiscreteBranchesLength != discreteActionBranches.Count)
             {
                 return FailedCheck.Warning("Discrete Action Size of the model does not match. The BrainParameters expect " +

com.unity.ml-agents/Runtime/Inference/GeneratorImpl.cs

@@ -43,7 +43,7 @@ public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSens
         {
             tensorProxy.data?.Dispose();
             tensorProxy.data = m_Allocator.Alloc(new TensorShape(1, 1));
-            tensorProxy.data[0] = batchSize;
+            ((TensorInt)tensorProxy.data)[0] = batchSize;
         }
     }
 
@@ -67,7 +67,7 @@ public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSens
             tensorProxy.shape = new long[0];
             tensorProxy.data?.Dispose();
             tensorProxy.data = m_Allocator.Alloc(new TensorShape(1, 1));
-            tensorProxy.data[0] = 1;
+            ((TensorInt)tensorProxy.data)[0] = 1;
         }
     }
 
@@ -112,7 +112,7 @@ public void Generate(
                 {
                     for (var j = 0; j < memorySize; j++)
                     {
-                        tensorProxy.data[agentIndex, 0, j, 0] = 0;
+                        ((TensorFloat)tensorProxy.data)[agentIndex, 0, j, 0] = 0;
                     }
                     agentIndex++;
                     continue;
@@ -123,7 +123,7 @@ public void Generate(
                     {
                         break;
                     }
-                    tensorProxy.data[agentIndex, 0, j, 0] = memory[j];
+                    ((TensorFloat)tensorProxy.data)[agentIndex, 0, j, 0] = memory[j];
                 }
                 agentIndex++;
             }
@@ -160,7 +160,7 @@ public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSens
                 {
                     for (var j = 0; j < actionSize; j++)
                     {
-                        tensorProxy.data[agentIndex, j] = pastAction[j];
+                        ((TensorInt)tensorProxy.data)[agentIndex, j] = pastAction[j];
                     }
                 }
 
@@ -198,7 +198,7 @@ public void Generate(TensorProxy tensorProxy, int batchSize, IList<AgentInfoSens
                 for (var j = 0; j < maskSize; j++)
                 {
                     var isUnmasked = (maskList != null && maskList[j]) ? 0.0f : 1.0f;
-                    tensorProxy.data[agentIndex, j] = isUnmasked;
+                    ((TensorFloat)tensorProxy.data)[agentIndex, j] = isUnmasked;
                 }
                 agentIndex++;
             }

com.unity.ml-agents/Runtime/Inference/TensorProxy.cs

@@ -122,7 +122,7 @@ public static void FillTensorBatch(TensorProxy tensorProxy, int batch, float fil
                 {
                     for (var c = 0; c < channels; c++)
                     {
-                        tensorProxy.data[batch, h, w, c] = fillValue;
+                        ((TensorFloat)tensorProxy.data)[batch, h, w, c] = fillValue;
                     }
                 }
             }
@@ -154,7 +154,7 @@ public static void FillTensorWithRandomNormal(
 
             for (var i = 0; i < tensorProxy.data.length; i++)
             {
-                tensorProxy.data[i] = (float)randomNormal.NextDouble();
+                ((TensorFloat)tensorProxy.data)[i] = (float)randomNormal.NextDouble();
             }
         }
     }

com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs

@@ -88,7 +88,7 @@ public float this[int index]
                 }
                 else
                 {
-                    m_Proxy.data[m_Batch, index + m_Offset] = value;
+                    ((TensorFloat)m_Proxy.data)[m_Batch, index + m_Offset] = value;
                 }
             }
         }
@@ -123,7 +123,7 @@ public float this[int index]
                 }
                 else
                 {
-                    m_Proxy.data[m_Batch, h, w, ch + m_Offset] = value;
+                    ((TensorFloat)m_Proxy.data)[m_Batch, h, w, ch + m_Offset] = value;
                 }
             }
         }
@@ -148,7 +148,7 @@ public void AddList(IList<float> data, int writeOffset = 0)
                 for (var index = 0; index < data.Count; index++)
                 {
                     var val = data[index];
-                    m_Proxy.data[m_Batch, index + m_Offset + writeOffset] = val;
+                    ((TensorFloat)m_Proxy.data)[m_Batch, index + m_Offset + writeOffset] = val;
                 }
             }
         }
@@ -168,9 +168,9 @@ public void Add(Vector3 vec, int writeOffset = 0)
             }
             else
             {
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 0] = vec.x;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 1] = vec.y;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 2] = vec.z;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 0] = vec.x;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 1] = vec.y;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 2] = vec.z;
             }
         }
 
@@ -190,10 +190,10 @@ public void Add(Vector4 vec, int writeOffset = 0)
             }
             else
             {
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 0] = vec.x;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 1] = vec.y;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 2] = vec.z;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 3] = vec.w;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 0] = vec.x;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 1] = vec.y;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 2] = vec.z;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 3] = vec.w;
             }
         }
 
@@ -214,10 +214,10 @@ public void Add(Quaternion quat, int writeOffset = 0)
             }
             else
             {
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 0] = quat.x;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 1] = quat.y;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 2] = quat.z;
-                m_Proxy.data[m_Batch, m_Offset + writeOffset + 3] = quat.w;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 0] = quat.x;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 1] = quat.y;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 2] = quat.z;
+                ((TensorFloat)m_Proxy.data)[m_Batch, m_Offset + writeOffset + 3] = quat.w;
             }
         }
     }

com.unity.ml-agents/package.json

@@ -5,9 +5,10 @@
   "unity": "2022.3",
   "description": "Use state-of-the-art machine learning to create intelligent character behaviors in any Unity environment (games, robotics, film, etc.).",
   "dependencies": {
-    "com.unity.barracuda": "3.0.0",
+    "com.unity.barracuda": "4.2.0-preview",
     "com.unity.modules.imageconversion": "1.0.0",
     "com.unity.modules.jsonserialize": "1.0.0",
     "com.unity.modules.physics": "1.0.0"
   }
+  "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
 }