Ervin Teng
4 年前
当前提交
d218bf4d
共有 8 个文件被更改,包括 1828 次插入 和 36 次删除
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10ml-agents/mlagents/trainers/optimizer/torch_optimizer.py
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72ml-agents/mlagents/trainers/torch/components/reward_providers/gail_reward_provider.py
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1001ml-agents/mlagents/trainers/tests/torch/test.demo
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150ml-agents/mlagents/trainers/tests/torch/test_bcmodule.py
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446ml-agents/mlagents/trainers/tests/torch/testdcvis.demo
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0ml-agents/mlagents/trainers/torch/components/bc/__init__.py
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185ml-agents/mlagents/trainers/torch/components/bc/module.py
1001
ml-agents/mlagents/trainers/tests/torch/test.demo
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from unittest.mock import MagicMock |
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import pytest |
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import mlagents.trainers.tests.mock_brain as mb |
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import numpy as np |
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import os |
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from mlagents.trainers.policy.torch_policy import TorchPolicy |
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from mlagents.trainers.torch.components.bc.module import BCModule |
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from mlagents.trainers.settings import ( |
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TrainerSettings, |
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BehavioralCloningSettings, |
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NetworkSettings, |
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) |
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def create_bc_module(mock_behavior_specs, bc_settings, use_rnn, tanhresample): |
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# model_path = env.external_brain_names[0] |
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trainer_config = TrainerSettings() |
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trainer_config.network_settings.memory = ( |
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NetworkSettings.MemorySettings() if use_rnn else None |
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) |
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policy = TorchPolicy( |
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0, |
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mock_behavior_specs, |
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trainer_config, |
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"test", |
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False, |
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tanhresample, |
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tanhresample, |
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) |
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bc_module = BCModule( |
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policy, |
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settings=bc_settings, |
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policy_learning_rate=trainer_config.hyperparameters.learning_rate, |
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default_batch_size=trainer_config.hyperparameters.batch_size, |
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default_num_epoch=3, |
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) |
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return bc_module |
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# Test default values |
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def test_bcmodule_defaults(): |
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# See if default values match |
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mock_specs = mb.create_mock_3dball_behavior_specs() |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo" |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, False, False) |
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assert bc_module.num_epoch == 3 |
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assert bc_module.batch_size == TrainerSettings().hyperparameters.batch_size |
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# Assign strange values and see if it overrides properly |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo", |
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num_epoch=100, |
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batch_size=10000, |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, False, False) |
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assert bc_module.num_epoch == 100 |
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assert bc_module.batch_size == 10000 |
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# Test with continuous control env and vector actions |
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"]) |
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def test_bcmodule_update(is_sac): |
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mock_specs = mb.create_mock_3dball_behavior_specs() |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo" |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, False, is_sac) |
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stats = bc_module.update() |
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for _, item in stats.items(): |
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assert isinstance(item, np.float32) |
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# Test with constant pretraining learning rate |
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"]) |
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def test_bcmodule_constant_lr_update(is_sac): |
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mock_specs = mb.create_mock_3dball_behavior_specs() |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo", |
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steps=0, |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, False, is_sac) |
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stats = bc_module.update() |
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for _, item in stats.items(): |
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assert isinstance(item, np.float32) |
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old_learning_rate = bc_module.current_lr |
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_ = bc_module.update() |
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assert old_learning_rate == bc_module.current_lr |
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# Test with constant pretraining learning rate |
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"]) |
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def test_bcmodule_linear_lr_update(is_sac): |
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mock_specs = mb.create_mock_3dball_behavior_specs() |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo", |
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steps=100, |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, False, is_sac) |
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# Should decay by 10/100 * 0.0003 = 0.00003 |
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bc_module.policy.get_current_step = MagicMock(return_value=10) |
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old_learning_rate = bc_module.current_lr |
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_ = bc_module.update() |
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assert old_learning_rate - 0.00003 == pytest.approx(bc_module.current_lr, abs=0.01) |
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# Test with RNN |
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"]) |
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def test_bcmodule_rnn_update(is_sac): |
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mock_specs = mb.create_mock_3dball_behavior_specs() |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo" |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, True, is_sac) |
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stats = bc_module.update() |
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for _, item in stats.items(): |
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assert isinstance(item, np.float32) |
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# Test with discrete control and visual observations |
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"]) |
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def test_bcmodule_dc_visual_update(is_sac): |
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mock_specs = mb.create_mock_banana_behavior_specs() |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "testdcvis.demo" |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, False, is_sac) |
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stats = bc_module.update() |
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for _, item in stats.items(): |
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assert isinstance(item, np.float32) |
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# Test with discrete control, visual observations and RNN |
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"]) |
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def test_bcmodule_rnn_dc_update(is_sac): |
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mock_specs = mb.create_mock_banana_behavior_specs() |
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bc_settings = BehavioralCloningSettings( |
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "testdcvis.demo" |
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) |
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bc_module = create_bc_module(mock_specs, bc_settings, True, is_sac) |
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stats = bc_module.update() |
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for _, item in stats.items(): |
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assert isinstance(item, np.float32) |
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if __name__ == "__main__": |
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pytest.main() |
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