Unity 机器学习代理工具包 (ML-Agents) 是一个开源项目,它使游戏和模拟能够作为训练智能代理的环境。
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import pytest
from mlagents.torch_utils import torch
from mlagents.trainers.policy.torch_policy import TorchPolicy
from mlagents.trainers.tests import mock_brain as mb
from mlagents.trainers.settings import TrainerSettings, NetworkSettings
from mlagents.trainers.torch.utils import ModelUtils
VECTOR_ACTION_SPACE = 2
VECTOR_OBS_SPACE = 8
DISCRETE_ACTION_SPACE = [3, 3, 3, 2]
BUFFER_INIT_SAMPLES = 32
NUM_AGENTS = 12
EPSILON = 1e-7
def create_policy_mock(
dummy_config: TrainerSettings,
use_rnn: bool = False,
use_discrete: bool = True,
use_visual: bool = False,
seed: int = 0,
) -> TorchPolicy:
mock_spec = mb.setup_test_behavior_specs(
use_discrete,
use_visual,
vector_action_space=DISCRETE_ACTION_SPACE
if use_discrete
else VECTOR_ACTION_SPACE,
vector_obs_space=VECTOR_OBS_SPACE,
)
trainer_settings = dummy_config
trainer_settings.keep_checkpoints = 3
trainer_settings.network_settings.memory = (
NetworkSettings.MemorySettings() if use_rnn else None
)
policy = TorchPolicy(seed, mock_spec, trainer_settings)
return policy
@pytest.mark.parametrize("discrete", [True, False], ids=["discrete", "continuous"])
@pytest.mark.parametrize("visual", [True, False], ids=["visual", "vector"])
@pytest.mark.parametrize("rnn", [True, False], ids=["rnn", "no_rnn"])
def test_policy_evaluate(rnn, visual, discrete):
# Test evaluate
policy = create_policy_mock(
TrainerSettings(), use_rnn=rnn, use_discrete=discrete, use_visual=visual
)
decision_step, terminal_step = mb.create_steps_from_behavior_spec(
policy.behavior_spec, num_agents=NUM_AGENTS
)
run_out = policy.evaluate(decision_step, list(decision_step.agent_id))
if discrete:
run_out["action"].shape == (NUM_AGENTS, len(DISCRETE_ACTION_SPACE))
else:
assert run_out["action"].shape == (NUM_AGENTS, VECTOR_ACTION_SPACE)
@pytest.mark.parametrize("discrete", [True, False], ids=["discrete", "continuous"])
@pytest.mark.parametrize("visual", [True, False], ids=["visual", "vector"])
@pytest.mark.parametrize("rnn", [True, False], ids=["rnn", "no_rnn"])
def test_evaluate_actions(rnn, visual, discrete):
policy = create_policy_mock(
TrainerSettings(), use_rnn=rnn, use_discrete=discrete, use_visual=visual
)
buffer = mb.simulate_rollout(64, policy.behavior_spec, memory_size=policy.m_size)
vec_obs = [ModelUtils.list_to_tensor(buffer["vector_obs"])]
act_masks = ModelUtils.list_to_tensor(buffer["action_mask"])
if policy.use_continuous_act:
actions = ModelUtils.list_to_tensor(buffer["actions"]).unsqueeze(-1)
else:
actions = ModelUtils.list_to_tensor(buffer["actions"], dtype=torch.long)
vis_obs = []
for idx, _ in enumerate(policy.actor_critic.network_body.visual_processors):
vis_ob = ModelUtils.list_to_tensor(buffer["visual_obs%d" % idx])
vis_obs.append(vis_ob)
memories = [
ModelUtils.list_to_tensor(buffer["memory"][i])
for i in range(0, len(buffer["memory"]), policy.sequence_length)
]
if len(memories) > 0:
memories = torch.stack(memories).unsqueeze(0)
log_probs, entropy, values = policy.evaluate_actions(
vec_obs,
vis_obs,
masks=act_masks,
actions=actions,
memories=memories,
seq_len=policy.sequence_length,
)
if discrete:
_size = policy.behavior_spec.action_spec.discrete_size
else:
_size = policy.behavior_spec.action_spec.continuous_size
assert log_probs.shape == (64, _size)
assert entropy.shape == (64,)
for val in values.values():
assert val.shape == (64,)
@pytest.mark.parametrize("discrete", [True, False], ids=["discrete", "continuous"])
@pytest.mark.parametrize("visual", [True, False], ids=["visual", "vector"])
@pytest.mark.parametrize("rnn", [True, False], ids=["rnn", "no_rnn"])
def test_sample_actions(rnn, visual, discrete):
policy = create_policy_mock(
TrainerSettings(), use_rnn=rnn, use_discrete=discrete, use_visual=visual
)
buffer = mb.simulate_rollout(64, policy.behavior_spec, memory_size=policy.m_size)
vec_obs = [ModelUtils.list_to_tensor(buffer["vector_obs"])]
act_masks = ModelUtils.list_to_tensor(buffer["action_mask"])
vis_obs = []
for idx, _ in enumerate(policy.actor_critic.network_body.visual_processors):
vis_ob = ModelUtils.list_to_tensor(buffer["visual_obs%d" % idx])
vis_obs.append(vis_ob)
memories = [
ModelUtils.list_to_tensor(buffer["memory"][i])
for i in range(0, len(buffer["memory"]), policy.sequence_length)
]
if len(memories) > 0:
memories = torch.stack(memories).unsqueeze(0)
(sampled_actions, log_probs, entropies, memories) = policy.sample_actions(
vec_obs,
vis_obs,
masks=act_masks,
memories=memories,
seq_len=policy.sequence_length,
all_log_probs=not policy.use_continuous_act,
)
if discrete:
assert log_probs.shape == (
64,
sum(policy.behavior_spec.action_spec.discrete_branches),
)
else:
assert log_probs.shape == (64, policy.behavior_spec.action_spec.continuous_size)
assert entropies.shape == (64,)
if rnn:
assert memories.shape == (1, 1, policy.m_size)