Which observations are RayPerceptionSensor actually collecting?

Unity Engine
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1

I haven’t been able to find a definitive description of what observations the RayPerceptionSensor is actually collecting.

Based on the fact that i can specify which tags it can detect, i assume that an observation about what tag each of the rays are hitting.

Does it observe the distance to each hit? Does it observe each of the rays separately (will it know if ray x is hitting something, but ray y is not?)?

Hope somebody can clarify the actual observations collected by the RayPerceptionSensor.

2

https://docs.unity3d.com/Packages/com.unity.ml-agents@2.0/api/Unity.MLAgents.Sensors.RayPerceptionOutput.RayOutput.html

3

Thank you. Does this mean that every ray in the sensor collects 8 observations?

4

that’s for every individual ray yes

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