README.md

---
license: apache-2.0
viewer: false
tags:
  - unity-ml-agents
  - ml-agents
  - reinforcement-learning
  - causal-gpt-rl
---

# Causal GPT-RL — Unity ML-Agents environments

Public **materials** for running Causal GPT-RL policies in Unity ML-Agents. Each
environment is a **model-removed Unity build** — the engine binary with no
baked-in policy; the policy is supplied at run time. All eight environments are
paired with their **stock built-in policies**, and the four discrete-action ones
additionally ship a logits-exposing variant under `tier_policies/`.

**Environments**

| Environment | Build | Stock policy | Agents | Observation | Action |
|---|---|---|---:|---|---|
| Crawler | `Crawler/` | `Crawler.onnx` | 10 | `158` (`126 + 32`) | `Box(20)` continuous |
| 3DBallHard | `3DBallHard/` | `3DBallHard.onnx` | 12 | `45` (`27 + 18`) | `Box(2)` continuous |
| PushBlock | `PushBlock/` | `PushBlock.onnx` | 32 | `210` (`105 + 105`) | `Discrete(7)` |
| DungeonEscape | `DungeonEscape/` | `DungeonEscape.onnx` | 36 | `371` | `Discrete(7)` |
| SoccerTwos | `SoccerTwos/` | `SoccerTwos.onnx` | 32 | `336` (`264 + 72`) | `MultiDiscrete([3,3,3])` |
| Pyramids | `Pyramids/` | `Pyramids.onnx` | 16 | `172` (`56 + 56 + 56 + 4`) | `Discrete(5)` |
| Worm | `Worm/` | `Worm.onnx` | 10 | `64` | `Box(9)` continuous |
| Walker | `Walker/` | `Walker.onnx` | 10 | `243` | `Box(39)` continuous |

**Companion repos**
- Policy (ONNX): [ccnets/causal-gpt-rl-unity](https://huggingface.co/ccnets/causal-gpt-rl-unity)
- Recorded trajectories + reproduction recipe:
  [ccnets/causal-gpt-rl-unity-datasets](https://huggingface.co/datasets/ccnets/causal-gpt-rl-unity-datasets)

**Reproduce** — record trajectories from these builds with the collection &
measurement recipe:
[examples/unity_collection](https://github.com/ccnets-team/causal-gpt-rl/tree/main/examples/unity_collection).

## Layout

```text
Crawler/                       # release-23 model-removed Unity build
  Crawler.exe
  UnityPlayer.dll
  UnityCrashHandler64.exe
  Crawler_Data/
  MonoBleedingEdge/
Crawler.onnx                   # stock built-in policy (ml-agents-release_23)

3DBallHard/                    # model-removed Unity build
  3DBallHard.exe
  UnityPlayer.dll
  UnityCrashHandler64.exe
  3DBallHard_Data/
  MonoBleedingEdge/
3DBallHard.onnx                # stock built-in policy (ml-agents-release_23)

DungeonEscape/                 # release-23 model-removed Unity build
  UnityEnvironment.exe
  UnityPlayer.dll
  UnityCrashHandler64.exe
  UnityEnvironment_Data/
  MonoBleedingEdge/
DungeonEscape.onnx             # release-23 built-in stock policy

SoccerTwos/                    # release-23 model-removed Unity build
  UnityEnvironment.exe
  UnityPlayer.dll
  UnityCrashHandler64.exe
  UnityEnvironment_Data/
  MonoBleedingEdge/
SoccerTwos.onnx               # release-23 stock policy, ORT-compatible outputs

PushBlock/                     # release-23 model-removed Unity build
  PushBlock.exe
  UnityPlayer.dll
  UnityCrashHandler64.exe
  PushBlock_Data/
  MonoBleedingEdge/
PushBlock.onnx                 # stock built-in policy (ml-agents-release_23)

Pyramids/                      # release-23 model-removed Unity build
  Pyramids.exe
  Pyramids_Data/
Pyramids.onnx                  # release-23 stock policy

Worm/                          # release-23 model-removed Unity build
  Worm.exe
  Worm_Data/
Worm.onnx                      # release-23 stock policy

Walker/                        # release-23 model-removed Unity build
  Walker.exe
  Walker_Data/
Walker.onnx                    # release-23 stock policy

tier_policies/                 # logits-exposing variants of the discrete policies
  PushBlock.onnx
  Pyramids.onnx
  DungeonEscape.onnx
  SoccerTwos.onnx
  README.md                    # calibrated temperature bands per tier

LICENSE                        # Apache-2.0
NOTICE                         # attributions + modification notice
README.md
```

Each build is **model-removed**: no policy is baked in — supply one at run time
(the stock policy here, or the Causal GPT-RL policy from the model repo). All
launch headless.

## Crawler

- Scene: **10 agents**, observation **158**-d (sensor channels `126 + 32`), action
  `Box(20)` continuous, behavior `Crawler?team=0`. In the companion dataset the
  observation is stored as `Tuple(Box(126), Box(32))`.
- Built from the customized **ML-Agents release-23** project with the baked model
  removed. `Crawler.onnx` is the unmodified release-23 stock policy used as the
  collection driver; size `2,472,183` bytes, SHA-256
  `df5dd19f28e89678f96b794e911564c21d0039160e88d99fe04f3939442ffdd7`.

## 3DBallHard

- Scene: **12 agents**, observation **45**-d (sensor channels `27 + 18`), action
  `Box(2)` continuous, behavior `3DBallHard?team=0`.
- Built from the customized **ML-Agents release-23** project with the baked model
  removed. `3DBallHard.onnx` is the unmodified release-23 stock policy used as
  the collection driver; SHA-256 `380aed53f8bcfd3b42a7eb758923c2eb7a98abe91c44b44ba2288924e65de701`.
- The ONNX takes the two sensor channels as **separate inputs** — `obs_0 [27]`
  and `obs_1 [18]`, not one concatenated `[45]` vector. It returns
  `continuous_actions` (sampled) and `deterministic_continuous_actions` (greedy),
  both `float32[B, 2]`.

## PushBlock

- Scene: **32 agents**, observation **210**-d (two sensors `105 + 105`), action a
  single `Discrete(7)` branch (0 = no-op; 1–6 = move/turn), behavior
  `PushBlock?team=0`. In the companion dataset the observation is stored as
  `Tuple(Box(105), Box(105))`.
- Built from the customized **ML-Agents release-23** project with the baked model
  removed. `PushBlock.onnx` is the unmodified release-23 stock policy used as
  the collection driver; SHA-256
  `1c8230f87d3067343f8b8b8ebf0839843c855d4d7912111546a7522e30e4bfbe`.
- The stock ONNX emits `Discrete(7)` actions for external Python control of the
  model-removed build.

## DungeonEscape

- Scene: **36 agents** arranged as **12 arenas x 3 cooperative agents**,
  observation **371**-d, action a single `Discrete(7)` branch.
- Built from the customized **ML-Agents release-23** project with the baked model
  removed. `DungeonEscape.onnx` is the release-23 built-in policy used as the
  collection driver; SHA-256
  `141e3595dbaa3ea369b2c5599e6e750b53b8a9c41414a6b5c7043617860691ab`.
- The three agents in each arena share a cooperative objective while each policy
  invocation receives its own ego observation.
- Evaluation tutorial:
  [examples/unity](https://github.com/ccnets-team/causal-gpt-rl/tree/main/examples/unity).

## SoccerTwos

- Scene: **32 agents** arranged as **eight 2-vs-2 fields**, observation channels
  `264 + 72 = 336`, action `MultiDiscrete([3,3,3])`; behaviors are
  `SoccerTwos?team=0` and `SoccerTwos?team=1` with 16 agents each.
- Built from the customized **ML-Agents release-23** project with the baked model
  removed. `SoccerTwos.onnx` is the release-23 stock policy used as the public
  opponent and collection driver.
- The stock graph is computation-equivalent to the release-23 source policy; only
  dangling output declarations that reference no graph values were removed so
  current ONNX Runtime versions can load it.
- Causal-vs-stock tutorial:
  [examples/unity](https://github.com/ccnets-team/causal-gpt-rl/tree/main/examples/unity).

## Pyramids

- Scene: **16 agents**, observation channels `56 + 56 + 56 + 4 = 172`, action
  `Discrete(5)`. The stock release-23 policy is redistributed unmodified;
  SHA-256 `0ab9ec55f788018cd0b01ebe28b198b4714e85f27f48710d1ebc27fd455a0e07`.

## Worm

- Scene: **10 agents**, one `64`-d observation sensor and continuous `Box(9)`
  action. The stock release-23 policy is redistributed unmodified; SHA-256
  `a5dd14742d9e3d1d1ca4840bca600b669b37d630977091ee10286ed7a833411f`.

## Walker

- Scene: **10 agents**, one `243`-d observation sensor and continuous `Box(39)`
  action. The stock release-23 policy is redistributed unmodified; SHA-256
  `28f675937108a850e5c3ea2894a78552f51290c0d6220ebf3ee2c223d016c434`.

## Running an unsigned build (Windows)

These builds are **not code-signed**, so Windows SmartScreen may warn on first
launch ("Windows protected your PC" → *More info* → *Run anyway*). Verify the
download before running.

## Provenance & scope

- The builds were produced from **customized ML-Agents projects**. All eight —
  Crawler, 3DBallHard, PushBlock, Pyramids, Worm, Walker, DungeonEscape, and SoccerTwos —
  derive from `ml-agents-release_23`. The distributed stock policies
  match their respective build contracts. Other example scenes are not included.
- **Not source-rebuildable** from stock ML-Agents: the project changes live in the
  compiled binaries. The builds are provided as-is.
- Excluded from each build: its `*_BurstDebugInformation_DoNotShip/` folder (Burst
  debug symbols, not for shipping).

## License

The Unity builds and the stock policies (`Crawler.onnx`, `PushBlock.onnx`, `Pyramids.onnx`,
`Worm.onnx`, `Walker.onnx`, `3DBallHard.onnx`, `SoccerTwos.onnx`, `DungeonEscape.onnx`) are
**Apache-2.0** (Unity ML-Agents), as are the `tier_policies/` exports derived from
them. See `LICENSE` and
`NOTICE`. The builds are modified derivatives — the modifications are described in
`NOTICE`. The Unity runtime components (`UnityPlayer.dll`, `UnityCrashHandler64.exe`,
`MonoBleedingEdge/`) are redistributed as part of a built player, subject to Unity
Technologies' software terms.