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741 行
25 KiB
741 行
25 KiB
using System;
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using UnityEngine;
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using NUnit.Framework;
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using System.Reflection;
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using System.Collections.Generic;
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using Unity.MLAgents.Sensors;
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using Unity.MLAgents.Policies;
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using Unity.MLAgents.SideChannels;
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namespace Unity.MLAgents.Tests
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{
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internal class TestPolicy : IPolicy
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{
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public Action OnRequestDecision;
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ObservationWriter m_ObsWriter = new ObservationWriter();
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public void RequestDecision(AgentInfo info, List<ISensor> sensors) {
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foreach(var sensor in sensors){
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sensor.GetObservationProto(m_ObsWriter);
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}
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OnRequestDecision?.Invoke();
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}
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public float[] DecideAction() { return new float[0]; }
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public void Dispose() {}
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}
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public class TestAgent : Agent
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{
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internal AgentInfo _Info
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{
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get
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{
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return (AgentInfo)typeof(Agent).GetField("m_Info", BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this);
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}
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set
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{
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typeof(Agent).GetField("m_Info", BindingFlags.Instance | BindingFlags.NonPublic).SetValue(this, value);
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}
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}
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internal void SetPolicy(IPolicy policy)
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{
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typeof(Agent).GetField("m_Brain", BindingFlags.Instance | BindingFlags.NonPublic).SetValue(this, policy);
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}
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internal IPolicy GetPolicy()
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{
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return (IPolicy)typeof(Agent).GetField("m_Brain", BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this);
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}
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public int initializeAgentCalls;
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public int collectObservationsCalls;
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public int collectObservationsCallsForEpisode;
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public int agentActionCalls;
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public int agentActionCallsForEpisode;
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public int agentOnEpisodeBeginCalls;
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public int heuristicCalls;
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public TestSensor sensor1;
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public TestSensor sensor2;
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public override void Initialize()
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{
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initializeAgentCalls += 1;
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// Add in some custom Sensors so we can confirm they get sorted as expected.
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sensor1 = new TestSensor("testsensor1");
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sensor2 = new TestSensor("testsensor2");
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sensor2.compressionType = SensorCompressionType.PNG;
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sensors.Add(sensor2);
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sensors.Add(sensor1);
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}
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public override void CollectObservations(VectorSensor sensor)
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{
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collectObservationsCalls += 1;
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collectObservationsCallsForEpisode += 1;
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sensor.AddObservation(collectObservationsCallsForEpisode);
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}
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public override void OnActionReceived(float[] vectorAction)
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{
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agentActionCalls += 1;
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agentActionCallsForEpisode += 1;
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AddReward(0.1f);
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}
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public override void OnEpisodeBegin()
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{
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agentOnEpisodeBeginCalls += 1;
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collectObservationsCallsForEpisode = 0;
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agentActionCallsForEpisode = 0;
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}
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public override void Heuristic(float[] actionsOut)
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{
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var obs = GetObservations();
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actionsOut[0] = obs[0];
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heuristicCalls++;
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}
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}
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public class TestSensor : ISensor
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{
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public string sensorName;
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public int numWriteCalls;
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public int numCompressedCalls;
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public int numResetCalls;
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public SensorCompressionType compressionType = SensorCompressionType.None;
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public TestSensor(string n)
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{
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sensorName = n;
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}
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public int[] GetObservationShape()
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{
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return new[] { 0 };
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}
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public int Write(ObservationWriter writer)
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{
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numWriteCalls++;
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// No-op
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return 0;
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}
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public byte[] GetCompressedObservation()
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{
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numCompressedCalls++;
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return new byte[] { 0 };
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}
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public SensorCompressionType GetCompressionType()
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{
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return compressionType;
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}
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public string GetName()
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{
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return sensorName;
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}
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public void Update() {}
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public void Reset()
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{
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numResetCalls++;
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}
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}
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[TestFixture]
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public class EditModeTestGeneration
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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var aca = Academy.Instance;
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Assert.AreNotEqual(null, aca);
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Assert.AreEqual(0, aca.EpisodeCount);
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Assert.AreEqual(0, aca.StepCount);
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Assert.AreEqual(0, aca.TotalStepCount);
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}
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[Test]
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public void TestAgent()
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{
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var agentGo = new GameObject("TestAgent");
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agentGo.AddComponent<TestAgent>();
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var agent = agentGo.GetComponent<TestAgent>();
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Assert.AreNotEqual(null, agent);
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Assert.AreEqual(0, agent.initializeAgentCalls);
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}
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}
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[TestFixture]
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public class EditModeTestInitialization
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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Assert.AreEqual(false, Academy.IsInitialized);
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var aca = Academy.Instance;
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Assert.AreEqual(true, Academy.IsInitialized);
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// Check that init is idempotent
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aca.LazyInitialize();
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aca.LazyInitialize();
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Assert.AreEqual(0, aca.EpisodeCount);
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Assert.AreEqual(0, aca.StepCount);
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Assert.AreEqual(0, aca.TotalStepCount);
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Assert.AreNotEqual(null, SideChannelsManager.GetSideChannel<EnvironmentParametersChannel>());
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Assert.AreNotEqual(null, SideChannelsManager.GetSideChannel<EngineConfigurationChannel>());
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Assert.AreNotEqual(null, SideChannelsManager.GetSideChannel<StatsSideChannel>());
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// Check that Dispose is idempotent
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aca.Dispose();
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Assert.AreEqual(false, Academy.IsInitialized);
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aca.Dispose();
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}
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[Test]
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public void TestAcademyDispose()
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{
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var envParams1 = SideChannelsManager.GetSideChannel<EnvironmentParametersChannel>();
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var engineParams1 = SideChannelsManager.GetSideChannel<EngineConfigurationChannel>();
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var statsParams1 = SideChannelsManager.GetSideChannel<StatsSideChannel>();
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Academy.Instance.Dispose();
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Academy.Instance.LazyInitialize();
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var envParams2 = SideChannelsManager.GetSideChannel<EnvironmentParametersChannel>();
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var engineParams2 = SideChannelsManager.GetSideChannel<EngineConfigurationChannel>();
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var statsParams2 = SideChannelsManager.GetSideChannel<StatsSideChannel>();
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Academy.Instance.Dispose();
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Assert.AreNotEqual(envParams1, envParams2);
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Assert.AreNotEqual(engineParams1, engineParams2);
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Assert.AreNotEqual(statsParams1, statsParams2);
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}
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[Test]
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public void TestAgent()
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{
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var agentGo1 = new GameObject("TestAgent");
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var agentGo2 = new GameObject("TestAgent");
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agentGo2.AddComponent<TestAgent>();
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var agent2 = agentGo2.GetComponent<TestAgent>();
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Assert.AreEqual(0, agent1.agentOnEpisodeBeginCalls);
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Assert.AreEqual(0, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(0, agent1.initializeAgentCalls);
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Assert.AreEqual(0, agent2.initializeAgentCalls);
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Assert.AreEqual(0, agent1.agentActionCalls);
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Assert.AreEqual(0, agent2.agentActionCalls);
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agent2.LazyInitialize();
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agent1.LazyInitialize();
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// agent1 was not enabled when the academy started
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// The agents have been initialized
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Assert.AreEqual(0, agent1.agentOnEpisodeBeginCalls);
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Assert.AreEqual(0, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(1, agent1.initializeAgentCalls);
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Assert.AreEqual(1, agent2.initializeAgentCalls);
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Assert.AreEqual(0, agent1.agentActionCalls);
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Assert.AreEqual(0, agent2.agentActionCalls);
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// Make sure the Sensors were sorted
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Assert.AreEqual(agent1.sensors[0].GetName(), "testsensor1");
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Assert.AreEqual(agent1.sensors[1].GetName(), "testsensor2");
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}
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}
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[TestFixture]
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public class EditModeTestStep
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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var aca = Academy.Instance;
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var numberReset = 0;
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for (var i = 0; i < 10; i++)
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{
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Assert.AreEqual(numberReset, aca.EpisodeCount);
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Assert.AreEqual(i, aca.StepCount);
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// The reset happens at the beginning of the first step
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if (i == 0)
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{
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numberReset += 1;
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}
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Academy.Instance.EnvironmentStep();
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}
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}
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[Test]
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public void TestAcademyAutostep()
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{
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var aca = Academy.Instance;
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Assert.IsTrue(aca.AutomaticSteppingEnabled);
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aca.AutomaticSteppingEnabled = false;
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Assert.IsFalse(aca.AutomaticSteppingEnabled);
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aca.AutomaticSteppingEnabled = true;
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Assert.IsTrue(aca.AutomaticSteppingEnabled);
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}
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[Test]
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public void TestAgent()
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{
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var agentGo1 = new GameObject("TestAgent");
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var agentGo2 = new GameObject("TestAgent");
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agentGo2.AddComponent<TestAgent>();
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var agent2 = agentGo2.GetComponent<TestAgent>();
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var aca = Academy.Instance;
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var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
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decisionRequester.DecisionPeriod = 2;
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decisionRequester.Awake();
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// agent1 will take an action at every step and request a decision every 2 steps
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// agent2 will request decisions only when RequestDecision is called
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agent1.LazyInitialize();
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var numberAgent1Episodes = 0;
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var numberAgent2Episodes = 0;
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var numberAgent2Initialization = 0;
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var requestDecision = 0;
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var requestAction = 0;
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for (var i = 0; i < 50; i++)
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{
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(1, agent1.initializeAgentCalls);
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Assert.AreEqual(numberAgent2Initialization, agent2.initializeAgentCalls);
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Assert.AreEqual(i, agent1.agentActionCalls);
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Assert.AreEqual(requestAction, agent2.agentActionCalls);
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Assert.AreEqual((i + 1) / 2, agent1.collectObservationsCalls);
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Assert.AreEqual(requestDecision, agent2.collectObservationsCalls);
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// Agent 1 starts a new episode at the first step
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if (i == 0)
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{
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numberAgent1Episodes += 1;
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}
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//Agent 2 is only initialized at step 2
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if (i == 2)
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{
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// Since Agent2 is initialized after the Academy has stepped, its OnEpisodeBegin should be called now.
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Assert.AreEqual(0, agent2.agentOnEpisodeBeginCalls);
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agent2.LazyInitialize();
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Assert.AreEqual(1, agent2.agentOnEpisodeBeginCalls);
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numberAgent2Initialization += 1;
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numberAgent2Episodes += 1;
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}
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// We are testing request decision and request actions when called
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// at different intervals
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if ((i % 3 == 0) && (i > 2))
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{
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//Every 3 steps after agent 2 is initialized, request decision
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requestDecision += 1;
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requestAction += 1;
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agent2.RequestDecision();
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}
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else if ((i % 5 == 0) && (i > 2))
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{
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// Every 5 steps after agent 2 is initialized, request action
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requestAction += 1;
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agent2.RequestAction();
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}
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aca.EnvironmentStep();
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}
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}
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}
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[TestFixture]
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public class EditModeTestReset
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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var aca = Academy.Instance;
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var numberReset = 0;
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var stepsSinceReset = 0;
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for (var i = 0; i < 50; i++)
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{
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Assert.AreEqual(stepsSinceReset, aca.StepCount);
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Assert.AreEqual(numberReset, aca.EpisodeCount);
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Assert.AreEqual(i, aca.TotalStepCount);
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// Academy resets at the first step
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if (i == 0)
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{
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numberReset += 1;
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}
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stepsSinceReset += 1;
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aca.EnvironmentStep();
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}
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}
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[Test]
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public void TestAgent()
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{
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var agentGo1 = new GameObject("TestAgent");
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var agentGo2 = new GameObject("TestAgent");
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agentGo2.AddComponent<TestAgent>();
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var agent2 = agentGo2.GetComponent<TestAgent>();
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var aca = Academy.Instance;
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var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
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decisionRequester.DecisionPeriod = 2;
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agent2.LazyInitialize();
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var numberAgent1Episodes = 0;
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var numberAgent2Episodes = 0;
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var numberAcaReset = 0;
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var acaStepsSinceReset = 0;
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var agent2StepForEpisode = 0;
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for (var i = 0; i < 5000; i++)
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{
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Assert.AreEqual(acaStepsSinceReset, aca.StepCount);
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Assert.AreEqual(numberAcaReset, aca.EpisodeCount);
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Assert.AreEqual(i, aca.TotalStepCount);
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(agent2StepForEpisode, agent2.StepCount);
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// Agent 2 and academy reset at the first step
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if (i == 0)
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{
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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numberAcaReset += 1;
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numberAgent2Episodes += 1;
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}
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//Agent 1 is only initialized at step 2
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if (i == 2)
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{
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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agent1.LazyInitialize();
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numberAgent1Episodes += 1;
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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}
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// Set agent 1 to done every 11 steps to test behavior
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if (i % 11 == 5)
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{
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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agent1.EndEpisode();
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numberAgent1Episodes += 1;
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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}
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// Ending the episode for agent 2 regularly
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if (i % 13 == 3)
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{
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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agent2.EndEpisode();
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numberAgent2Episodes += 1;
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agent2StepForEpisode = 0;
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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}
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// Request a decision for agent 2 regularly
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if (i % 3 == 2)
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{
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agent2.RequestDecision();
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}
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else if (i % 5 == 1)
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{
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// Request an action without decision regularly
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agent2.RequestAction();
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}
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acaStepsSinceReset += 1;
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agent2StepForEpisode += 1;
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aca.EnvironmentStep();
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}
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}
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[Test]
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public void AssertStackingReset()
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{
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var agentGo1 = new GameObject("TestAgent");
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agentGo1.AddComponent<TestAgent>();
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var behaviorParameters = agentGo1.GetComponent<BehaviorParameters>();
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behaviorParameters.BrainParameters.NumStackedVectorObservations = 3;
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var aca = Academy.Instance;
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agent1.LazyInitialize();
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var policy = new TestPolicy();
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agent1.SetPolicy(policy);
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StackingSensor sensor = null;
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foreach(ISensor s in agent1.sensors){
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if (s is StackingSensor){
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sensor = s as StackingSensor;
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}
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}
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Assert.NotNull(sensor);
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for (int i = 0; i < 20; i++)
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{
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agent1.RequestDecision();
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aca.EnvironmentStep();
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}
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policy.OnRequestDecision = () => SensorTestHelper.CompareObservation(sensor, new[] {18f, 19f, 21f});
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agent1.EndEpisode();
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SensorTestHelper.CompareObservation(sensor, new[] {0f, 0f, 0f});
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}
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}
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[TestFixture]
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public class EditModeTestMiscellaneous
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestCumulativeReward()
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{
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var agentGo1 = new GameObject("TestAgent");
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agentGo1.AddComponent<TestAgent>();
|
|
var agent1 = agentGo1.GetComponent<TestAgent>();
|
|
var agentGo2 = new GameObject("TestAgent");
|
|
agentGo2.AddComponent<TestAgent>();
|
|
var agent2 = agentGo2.GetComponent<TestAgent>();
|
|
var aca = Academy.Instance;
|
|
|
|
var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
|
|
decisionRequester.DecisionPeriod = 2;
|
|
decisionRequester.Awake();
|
|
|
|
|
|
agent1.MaxStep = 20;
|
|
|
|
agent2.LazyInitialize();
|
|
agent1.LazyInitialize();
|
|
agent2.SetPolicy(new TestPolicy());
|
|
|
|
var expectedAgent1ActionForEpisode = 0;
|
|
|
|
for (var i = 0; i < 50; i++)
|
|
{
|
|
expectedAgent1ActionForEpisode += 1;
|
|
if (expectedAgent1ActionForEpisode == agent1.MaxStep || i == 0)
|
|
{
|
|
expectedAgent1ActionForEpisode = 0;
|
|
}
|
|
agent2.RequestAction();
|
|
Assert.LessOrEqual(Mathf.Abs(expectedAgent1ActionForEpisode * 10.1f - agent1.GetCumulativeReward()), 0.05f);
|
|
Assert.LessOrEqual(Mathf.Abs(i * 0.1f - agent2.GetCumulativeReward()), 0.05f);
|
|
|
|
agent1.AddReward(10f);
|
|
aca.EnvironmentStep();
|
|
}
|
|
}
|
|
|
|
[Test]
|
|
public void TestMaxStepsReset()
|
|
{
|
|
var agentGo1 = new GameObject("TestAgent");
|
|
agentGo1.AddComponent<TestAgent>();
|
|
var agent1 = agentGo1.GetComponent<TestAgent>();
|
|
var aca = Academy.Instance;
|
|
|
|
var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
|
|
decisionRequester.DecisionPeriod = 1;
|
|
decisionRequester.Awake();
|
|
|
|
const int maxStep = 6;
|
|
agent1.MaxStep = maxStep;
|
|
agent1.LazyInitialize();
|
|
|
|
var expectedAgentStepCount = 0;
|
|
var expectedEpisodes = 0;
|
|
var expectedAgentAction = 0;
|
|
var expectedAgentActionForEpisode = 0;
|
|
var expectedCollectObsCalls = 0;
|
|
var expectedCollectObsCallsForEpisode = 0;
|
|
var expectedCompletedEpisodes = 0;
|
|
var expectedSensorResetCalls = 0;
|
|
|
|
for (var i = 0; i < 15; i++)
|
|
{
|
|
// Agent should observe and act on each Academy step
|
|
expectedAgentAction += 1;
|
|
expectedAgentActionForEpisode += 1;
|
|
expectedCollectObsCalls += 1;
|
|
expectedCollectObsCallsForEpisode += 1;
|
|
expectedAgentStepCount += 1;
|
|
|
|
// If the next step will put the agent at maxSteps, we expect it to reset
|
|
if (agent1.StepCount == maxStep - 1 || (i == 0))
|
|
{
|
|
expectedEpisodes += 1;
|
|
}
|
|
|
|
if (agent1.StepCount == maxStep - 1)
|
|
{
|
|
expectedAgentActionForEpisode = 0;
|
|
expectedCollectObsCallsForEpisode = 0;
|
|
expectedAgentStepCount = 0;
|
|
expectedCompletedEpisodes++;
|
|
expectedSensorResetCalls++;
|
|
expectedCollectObsCalls += 1;
|
|
}
|
|
aca.EnvironmentStep();
|
|
|
|
Assert.AreEqual(expectedAgentStepCount, agent1.StepCount);
|
|
Assert.AreEqual(expectedEpisodes, agent1.agentOnEpisodeBeginCalls);
|
|
Assert.AreEqual(expectedAgentAction, agent1.agentActionCalls);
|
|
Assert.AreEqual(expectedAgentActionForEpisode, agent1.agentActionCallsForEpisode);
|
|
Assert.AreEqual(expectedCollectObsCalls, agent1.collectObservationsCalls);
|
|
Assert.AreEqual(expectedCollectObsCallsForEpisode, agent1.collectObservationsCallsForEpisode);
|
|
Assert.AreEqual(expectedCompletedEpisodes, agent1.CompletedEpisodes);
|
|
Assert.AreEqual(expectedSensorResetCalls, agent1.sensor1.numResetCalls);
|
|
}
|
|
}
|
|
|
|
[Test]
|
|
public void TestHeuristicPolicyStepsSensors()
|
|
{
|
|
// Make sure that Agents with HeuristicPolicies step their sensors each Academy step.
|
|
var agentGo1 = new GameObject("TestAgent");
|
|
agentGo1.AddComponent<TestAgent>();
|
|
var agent1 = agentGo1.GetComponent<TestAgent>();
|
|
var aca = Academy.Instance;
|
|
|
|
var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
|
|
decisionRequester.DecisionPeriod = 1;
|
|
decisionRequester.Awake();
|
|
|
|
agent1.LazyInitialize();
|
|
Assert.AreEqual(agent1.GetPolicy().GetType(), typeof(HeuristicPolicy));
|
|
|
|
var numSteps = 10;
|
|
for (var i = 0; i < numSteps; i++)
|
|
{
|
|
aca.EnvironmentStep();
|
|
}
|
|
Assert.AreEqual(numSteps, agent1.heuristicCalls);
|
|
Assert.AreEqual(numSteps, agent1.sensor1.numWriteCalls);
|
|
Assert.AreEqual(numSteps, agent1.sensor2.numCompressedCalls);
|
|
|
|
// Make sure the Heuristic method read the observation and set the action
|
|
Assert.AreEqual(agent1.collectObservationsCallsForEpisode, agent1.GetAction()[0]);
|
|
}
|
|
}
|
|
|
|
[TestFixture]
|
|
public class TestOnEnableOverride
|
|
{
|
|
public class OnEnableAgent : Agent
|
|
{
|
|
public bool callBase;
|
|
|
|
protected override void OnEnable()
|
|
{
|
|
if (callBase)
|
|
base.OnEnable();
|
|
}
|
|
}
|
|
|
|
static void _InnerAgentTestOnEnableOverride(bool callBase = false)
|
|
{
|
|
var go = new GameObject();
|
|
var agent = go.AddComponent<OnEnableAgent>();
|
|
agent.callBase = callBase;
|
|
var onEnable = typeof(OnEnableAgent).GetMethod("OnEnable", BindingFlags.NonPublic | BindingFlags.Instance);
|
|
var sendInfo = typeof(Agent).GetMethod("SendInfoToBrain", BindingFlags.NonPublic | BindingFlags.Instance);
|
|
Assert.NotNull(onEnable);
|
|
onEnable.Invoke(agent, null);
|
|
Assert.NotNull(sendInfo);
|
|
if (agent.callBase)
|
|
{
|
|
Assert.DoesNotThrow(() => sendInfo.Invoke(agent, null));
|
|
}
|
|
else
|
|
{
|
|
Assert.Throws<UnityAgentsException>(() =>
|
|
{
|
|
try
|
|
{
|
|
sendInfo.Invoke(agent, null);
|
|
}
|
|
catch (TargetInvocationException e)
|
|
{
|
|
throw e.GetBaseException();
|
|
}
|
|
});
|
|
}
|
|
}
|
|
|
|
[Test]
|
|
public void TestAgentCallBaseOnEnable()
|
|
{
|
|
_InnerAgentTestOnEnableOverride(true);
|
|
}
|
|
|
|
[Test]
|
|
public void TestAgentDontCallBaseOnEnable()
|
|
{
|
|
_InnerAgentTestOnEnableOverride();
|
|
}
|
|
}
|
|
}
|