ml-agents/com.unity.ml-agents/Tests/Editor/ParameterLoaderTest.cs

using System.Linq;
using NUnit.Framework;
using UnityEngine;
using UnityEditor;
using Unity.Barracuda;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Inference;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Policies;

namespace Unity.MLAgents.Tests
{
    public class Test3DSensorComponent : SensorComponent
    {
        public ISensor Sensor;

        public override ISensor CreateSensor()
        {
            return Sensor;
        }

        public override int[] GetObservationShape()
        {
            return Sensor.GetObservationShape();
        }
    }
    public class Test3DSensor : ISensor
    {
        int m_Width;
        int m_Height;
        int m_Channels;
        string m_Name;

        public Test3DSensor(string name, int width, int height, int channels)
        {
            m_Width = width;
            m_Height = height;
            m_Channels = channels;
            m_Name = name;
        }

        public int[] GetObservationShape()
        {
            return new[] { m_Height, m_Width, m_Channels };
        }

        public int Write(ObservationWriter writer)
        {
            for (int i = 0; i < m_Width * m_Height * m_Channels; i++)
            {
                writer[i] = 0.0f;
            }
            return m_Width * m_Height * m_Channels;
        }

        public byte[] GetCompressedObservation()
        {
            return new byte[0];
        }

        public void Update() { }
        public void Reset() { }

        public SensorCompressionType GetCompressionType()
        {
            return SensorCompressionType.None;
        }

        public string GetName()
        {
            return m_Name;
        }
    }

    [TestFixture]
    public class ParameterLoaderTest
    {
        // ONNX model with continuous/discrete action output (support hybrid action)
        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action.onnx";
        const string k_discreteONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr.onnx";
        const string k_hybridONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/hybrid0vis53vec_3c_2daction.onnx";
        // NN model with single action output (deprecated, does not support hybrid action).
        // Same BrainParameters settings as the corresponding ONNX model.
        const string k_continuousNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_deprecated.nn";
        const string k_discreteNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_deprecated.nn";
        NNModel continuousONNXModel;
        NNModel discreteONNXModel;
        NNModel hybridONNXModel;
        NNModel continuousNNModel;
        NNModel discreteNNModel;
        Test3DSensorComponent sensor_21_20_3;
        Test3DSensorComponent sensor_20_22_3;

        BrainParameters GetContinuous2vis8vec2actionBrainParameters()
        {
            var validBrainParameters = new BrainParameters();
            validBrainParameters.VectorObservationSize = 8;
            validBrainParameters.NumStackedVectorObservations = 1;
            validBrainParameters.ActionSpec = ActionSpec.MakeContinuous(2);
            return validBrainParameters;
        }

        BrainParameters GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters()
        {
            var validBrainParameters = new BrainParameters();
            validBrainParameters.VectorObservationSize = 0;
            validBrainParameters.NumStackedVectorObservations = 1;
            validBrainParameters.ActionSpec = ActionSpec.MakeDiscrete(2, 3);
            return validBrainParameters;
        }

        BrainParameters GetHybridBrainParameters()
        {
            var validBrainParameters = new BrainParameters();
            validBrainParameters.VectorObservationSize = 53;
            validBrainParameters.NumStackedVectorObservations = 1;
            validBrainParameters.ActionSpec = new ActionSpec(3, new int[] { 2 });
            return validBrainParameters;
        }

        [SetUp]
        public void SetUp()
        {
            continuousONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousONNXPath, typeof(NNModel));
            discreteONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteONNXPath, typeof(NNModel));
            hybridONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_hybridONNXPath, typeof(NNModel));
            continuousNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousNNPath, typeof(NNModel));
            discreteNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteNNPath, typeof(NNModel));
            var go = new GameObject("SensorA");
            sensor_21_20_3 = go.AddComponent<Test3DSensorComponent>();
            sensor_21_20_3.Sensor = new Test3DSensor("SensorA", 21, 20, 3);
            sensor_20_22_3 = go.AddComponent<Test3DSensorComponent>();
            sensor_20_22_3.Sensor = new Test3DSensor("SensorA", 20, 22, 3);
        }

        [Test]
        public void TestModelExist()
        {
            Assert.IsNotNull(continuousONNXModel);
            Assert.IsNotNull(discreteONNXModel);
            Assert.IsNotNull(hybridONNXModel);
            Assert.IsNotNull(continuousNNModel);
            Assert.IsNotNull(discreteNNModel);
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestGetInputTensorsContinuous(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
            var inputNames = model.GetInputNames();
            // Model should contain 3 inputs : vector, visual 1 and visual 2
            Assert.AreEqual(3, inputNames.Count());
            Assert.Contains(TensorNames.VectorObservationPlaceholder, inputNames);
            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "0", inputNames);
            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "1", inputNames);

            Assert.AreEqual(2, model.GetNumVisualInputs());

            // Test if the model is null
            model = null;
            Assert.AreEqual(0, model.GetInputTensors().Count);
            Assert.AreEqual(0, model.GetNumVisualInputs());
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestGetInputTensorsDiscrete(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
            var inputNames = model.GetInputNames();
            // Model should contain 2 inputs : recurrent and visual 1

            Assert.Contains(TensorNames.VisualObservationPlaceholderPrefix + "0", inputNames);
            // TODO :There are some memory tensors as well
        }

        [Test]
        public void TestGetInputTensorsHybrid()
        {
            var model = ModelLoader.Load(hybridONNXModel);
            var inputNames = model.GetInputNames();
            Assert.Contains(TensorNames.VectorObservationPlaceholder, inputNames);
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestGetOutputTensorsContinuous(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
            var outputNames = model.GetOutputNames();
            var actionOutputName = useDeprecatedNNModel ? TensorNames.ActionOutputDeprecated : TensorNames.ContinuousActionOutput;
            Assert.Contains(actionOutputName, outputNames);
            Assert.AreEqual(1, outputNames.Count());

            model = null;
            Assert.AreEqual(0, model.GetOutputNames().Count());
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestGetOutputTensorsDiscrete(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
            var outputNames = model.GetOutputNames();
            var actionOutputName = useDeprecatedNNModel ? TensorNames.ActionOutputDeprecated : TensorNames.DiscreteActionOutput;
            Assert.Contains(actionOutputName, outputNames);
            // TODO : There are some memory tensors as well
        }

        [Test]
        public void TestGetOutputTensorsHybrid()
        {
            var model = ModelLoader.Load(hybridONNXModel);
            var outputNames = model.GetOutputNames();

            Assert.AreEqual(2, outputNames.Count());
            Assert.Contains(TensorNames.ContinuousActionOutput, outputNames);
            Assert.Contains(TensorNames.DiscreteActionOutput, outputNames);

            model = null;
            Assert.AreEqual(0, model.GetOutputNames().Count());
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestCheckModelValidContinuous(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);
            var validBrainParameters = GetContinuous2vis8vec2actionBrainParameters();

            var errors = BarracudaModelParamLoader.CheckModel(
                model, validBrainParameters,
                new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]
            );
            Assert.AreEqual(0, errors.Count()); // There should not be any errors
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestCheckModelValidDiscrete(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);
            var validBrainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();

            var errors = BarracudaModelParamLoader.CheckModel(
                model, validBrainParameters,
                new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]
            );
            Assert.AreEqual(0, errors.Count()); // There should not be any errors
        }

        [Test]
        public void TestCheckModelValidHybrid()
        {
            var model = ModelLoader.Load(hybridONNXModel);
            var validBrainParameters = GetHybridBrainParameters();

            var errors = BarracudaModelParamLoader.CheckModel(
                model, validBrainParameters,
                new SensorComponent[] { }, new ActuatorComponent[0]
            );
            Assert.AreEqual(0, errors.Count()); // There should not be any errors
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestCheckModelThrowsVectorObservationContinuous(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);

            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            brainParameters.VectorObservationSize = 9; // Invalid observation
            var errors = BarracudaModelParamLoader.CheckModel(
                model, brainParameters,
                new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]
            );
            Assert.Greater(errors.Count(), 0);

            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            brainParameters.NumStackedVectorObservations = 2;// Invalid stacking
            errors = BarracudaModelParamLoader.CheckModel(
                model, brainParameters,
                new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]
            );
            Assert.Greater(errors.Count(), 0);
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestCheckModelThrowsVectorObservationDiscrete(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);

            var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
            brainParameters.VectorObservationSize = 1; // Invalid observation
            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);
        }

        [Test]
        public void TestCheckModelThrowsVectorObservationHybrid()
        {
            var model = ModelLoader.Load(hybridONNXModel);

            var brainParameters = GetHybridBrainParameters();
            brainParameters.VectorObservationSize = 9; // Invalid observation
            var errors = BarracudaModelParamLoader.CheckModel(
                model, brainParameters,
                new SensorComponent[] { }, new ActuatorComponent[0]
            );
            Assert.Greater(errors.Count(), 0);

            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            brainParameters.NumStackedVectorObservations = 2;// Invalid stacking
            errors = BarracudaModelParamLoader.CheckModel(
                model, brainParameters,
                new SensorComponent[] { }, new ActuatorComponent[0]
            );
            Assert.Greater(errors.Count(), 0);
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestCheckModelThrowsActionContinuous(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(continuousNNModel) : ModelLoader.Load(continuousONNXModel);

            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            brainParameters.ActionSpec = ActionSpec.MakeContinuous(3); // Invalid action
            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);

            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3); // Invalid SpaceType
            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);
        }

        [TestCase(true)]
        [TestCase(false)]
        public void TestCheckModelThrowsActionDiscrete(bool useDeprecatedNNModel)
        {
            var model = useDeprecatedNNModel ? ModelLoader.Load(discreteNNModel) : ModelLoader.Load(discreteONNXModel);

            var brainParameters = GetDiscrete1vis0vec_2_3action_recurrModelBrainParameters();
            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(3, 3); // Invalid action
            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);

            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            brainParameters.ActionSpec = ActionSpec.MakeContinuous(2); // Invalid SpaceType
            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);
        }

        [Test]
        public void TestCheckModelThrowsActionHybrid()
        {
            var model = ModelLoader.Load(hybridONNXModel);

            var brainParameters = GetHybridBrainParameters();
            brainParameters.ActionSpec = new ActionSpec(3, new int[] { 3 }); ; // Invalid discrete action size
            var errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);

            brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            brainParameters.ActionSpec = ActionSpec.MakeDiscrete(2); // Missing continuous action
            errors = BarracudaModelParamLoader.CheckModel(model, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);
        }

        [Test]
        public void TestCheckModelThrowsNoModel()
        {
            var brainParameters = GetContinuous2vis8vec2actionBrainParameters();
            var errors = BarracudaModelParamLoader.CheckModel(null, brainParameters, new SensorComponent[] { sensor_21_20_3, sensor_20_22_3 }, new ActuatorComponent[0]);
            Assert.Greater(errors.Count(), 0);
        }
    }
}