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219 行
6.2 KiB
219 行
6.2 KiB
import yaml
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import pytest
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from mlagents.trainers.upgrade_config import convert_behaviors, remove_nones, convert
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from mlagents.trainers.settings import (
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TrainerType,
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PPOSettings,
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SACSettings,
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RewardSignalType,
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)
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BRAIN_NAME = "testbehavior"
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# Check one per category
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BATCH_SIZE = 256
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HIDDEN_UNITS = 32
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SUMMARY_FREQ = 500
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PPO_CONFIG = f"""
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default:
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trainer: ppo
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batch_size: 1024
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beta: 5.0e-3
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buffer_size: 10240
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epsilon: 0.2
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hidden_units: 128
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lambd: 0.95
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learning_rate: 3.0e-4
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learning_rate_schedule: linear
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max_steps: 5.0e5
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memory_size: 256
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normalize: false
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num_epoch: 3
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num_layers: 2
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time_horizon: 64
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sequence_length: 64
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summary_freq: 10000
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use_recurrent: false
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vis_encode_type: simple
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.99
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{BRAIN_NAME}:
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trainer: ppo
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batch_size: {BATCH_SIZE}
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beta: 5.0e-3
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buffer_size: 64
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epsilon: 0.2
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hidden_units: {HIDDEN_UNITS}
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lambd: 0.95
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learning_rate: 5.0e-3
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max_steps: 2500
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memory_size: 256
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normalize: false
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num_epoch: 3
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num_layers: 2
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time_horizon: 64
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sequence_length: 64
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summary_freq: {SUMMARY_FREQ}
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use_recurrent: false
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reward_signals:
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curiosity:
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strength: 1.0
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gamma: 0.99
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encoding_size: 128
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"""
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SAC_CONFIG = f"""
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default:
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trainer: sac
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batch_size: 128
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buffer_size: 50000
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buffer_init_steps: 0
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hidden_units: 128
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init_entcoef: 1.0
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learning_rate: 3.0e-4
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learning_rate_schedule: constant
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max_steps: 5.0e5
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memory_size: 256
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normalize: false
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num_update: 1
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train_interval: 1
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num_layers: 2
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time_horizon: 64
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sequence_length: 64
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summary_freq: 10000
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tau: 0.005
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use_recurrent: false
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vis_encode_type: simple
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.99
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{BRAIN_NAME}:
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trainer: sac
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batch_size: {BATCH_SIZE}
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buffer_size: 64
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buffer_init_steps: 100
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hidden_units: {HIDDEN_UNITS}
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init_entcoef: 0.01
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learning_rate: 3.0e-4
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max_steps: 1000
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memory_size: 256
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normalize: false
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num_update: 1
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train_interval: 1
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num_layers: 1
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time_horizon: 64
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sequence_length: 64
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summary_freq: {SUMMARY_FREQ}
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tau: 0.005
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use_recurrent: false
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curiosity_enc_size: 128
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demo_path: None
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vis_encode_type: simple
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reward_signals:
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curiosity:
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strength: 1.0
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gamma: 0.99
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encoding_size: 128
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"""
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CURRICULUM = """
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BigWallJump:
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measure: progress
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thresholds: [0.1, 0.3, 0.5]
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min_lesson_length: 200
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signal_smoothing: true
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parameters:
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big_wall_min_height: [0.0, 4.0, 6.0, 8.0]
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big_wall_max_height: [4.0, 7.0, 8.0, 8.0]
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SmallWallJump:
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measure: progress
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thresholds: [0.1, 0.3, 0.5]
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min_lesson_length: 100
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signal_smoothing: true
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parameters:
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small_wall_height: [1.5, 2.0, 2.5, 4.0]
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"""
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RANDOMIZATION = """
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resampling-interval: 5000
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mass:
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sampler-type: uniform
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min_value: 0.5
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max_value: 10
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gravity:
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sampler-type: uniform
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min_value: 7
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max_value: 12
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scale:
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sampler-type: uniform
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min_value: 0.75
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max_value: 3
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"""
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@pytest.mark.parametrize("use_recurrent", [True, False])
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@pytest.mark.parametrize("trainer_type", [TrainerType.PPO, TrainerType.SAC])
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def test_convert_behaviors(trainer_type, use_recurrent):
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if trainer_type == TrainerType.PPO:
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trainer_config = PPO_CONFIG
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trainer_settings_type = PPOSettings
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elif trainer_type == TrainerType.SAC:
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trainer_config = SAC_CONFIG
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trainer_settings_type = SACSettings
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old_config = yaml.load(trainer_config)
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old_config[BRAIN_NAME]["use_recurrent"] = use_recurrent
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new_config = convert_behaviors(old_config)
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# Test that the new config can be converted to TrainerSettings w/o exceptions
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trainer_settings = new_config[BRAIN_NAME]
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# Test that the trainer_settings contains the settings for BRAIN_NAME and
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# the defaults where specified
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assert trainer_settings.trainer_type == trainer_type
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assert isinstance(trainer_settings.hyperparameters, trainer_settings_type)
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assert trainer_settings.hyperparameters.batch_size == BATCH_SIZE
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assert trainer_settings.network_settings.hidden_units == HIDDEN_UNITS
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assert RewardSignalType.CURIOSITY in trainer_settings.reward_signals
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def test_convert():
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old_behaviors = yaml.safe_load(PPO_CONFIG)
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old_curriculum = yaml.safe_load(CURRICULUM)
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old_sampler = yaml.safe_load(RANDOMIZATION)
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config = convert(old_behaviors, old_curriculum, old_sampler)
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assert BRAIN_NAME in config["behaviors"]
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assert "big_wall_min_height" in config["environment_parameters"]
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curriculum = config["environment_parameters"]["big_wall_min_height"]["curriculum"]
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assert len(curriculum) == 4
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for i, expected_value in enumerate([0.0, 4.0, 6.0, 8.0]):
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assert curriculum[i][f"Lesson{i}"]["value"] == expected_value
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for i, threshold in enumerate([0.1, 0.3, 0.5]):
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criteria = curriculum[i][f"Lesson{i}"]["completion_criteria"]
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assert criteria["threshold"] == threshold
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assert criteria["behavior"] == "BigWallJump"
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assert criteria["signal_smoothing"]
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assert criteria["min_lesson_length"] == 200
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assert criteria["measure"] == "progress"
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assert "gravity" in config["environment_parameters"]
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gravity = config["environment_parameters"]["gravity"]
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assert gravity["sampler_type"] == "uniform"
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assert gravity["sampler_parameters"]["min_value"] == 7
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assert gravity["sampler_parameters"]["max_value"] == 12
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def test_remove_nones():
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dict_with_nones = {"hello": {"hello2": 2, "hello3": None}, "hello4": None}
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dict_without_nones = {"hello": {"hello2": 2}}
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output = remove_nones(dict_with_nones)
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assert output == dict_without_nones
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