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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396 行
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using System.Collections;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.TestTools;
using Unity.MLAgents.Extensions.Sensors;
using Unity.MLAgents.Extensions.TestUtils.Sensors;
namespace Unity.MLAgents.Extensions.Tests.Sensors
{
public class ChannelHotPerceiveTests
{
GameObject testGo;
GameObject boxGo;
SimpleTestGridSensor gridSensor;
GridSensorDummyData dummyData;
// Use built-in tags
const string k_Tag1 = "Player";
const string k_Tag2 = "Respawn";
[UnitySetUp]
public IEnumerator SetupScene()
{
testGo = new GameObject("test");
testGo.transform.position = Vector3.zero;
gridSensor = testGo.AddComponent<SimpleTestGridSensor>();
boxGo = new GameObject("block");
boxGo.tag = k_Tag1;
boxGo.transform.position = new Vector3(3f, 0f, 3f);
boxGo.AddComponent<BoxCollider>();
dummyData = boxGo.AddComponent<GridSensorDummyData>();
yield return null;
}
[TearDown]
public void ClearScene()
{
Object.DestroyImmediate(boxGo);
Object.DestroyImmediate(testGo);
}
[UnityTest]
public IEnumerator OneChannelDepthOneBelowZeroException()
{
string[] tags = { k_Tag1 };
int[] depths = { 1 };
dummyData.Data = new float[] { -0.1f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
[UnityTest]
public IEnumerator OneChannelDepthOneAboveDepthException()
{
string[] tags = { k_Tag1 };
int[] depths = { 1 };
dummyData.Data = new float[] { 1.1f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
[UnityTest]
public IEnumerator OneChannelDepthOneGoodValue()
{
string[] tags = { k_Tag1 };
int[] depths = { 1 };
dummyData.Data = new float[] { .2f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 1, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { .2f }, 4);
float[] expectedDefault = new float[] { 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator OneChannelDepthThreeBelowZeroException()
{
string[] tags = { k_Tag1 };
int[] depths = { 3 };
dummyData.Data = new float[] { -1f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
[UnityTest]
public IEnumerator OneChannelDepthThreeAboveDepthException()
{
string[] tags = { k_Tag1 };
int[] depths = { 3 };
dummyData.Data = new float[] { 4f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
[UnityTest]
public IEnumerator OneChannelDepthThreeGoodValueInt()
{
string[] tags = { k_Tag1 };
int[] depths = { 3 };
dummyData.Data = new float[] { 2f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 3, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 1 }, 4);
float[] expectedDefault = new float[] { 1, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator OneChannelDepthThreeGoodValueFloat()
{
string[] tags = { k_Tag1 };
int[] depths = { 3 };
dummyData.Data = new float[] { 2.4f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 3, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 1 }, 4);
float[] expectedDefault = new float[] { 1, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator TwoChannelDepthOneOneBelowZeroException()
{
string[] tags = { k_Tag1 };
int[] depths = { 1, 1 };
dummyData.Data = new float[] { -1, 1 };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
[UnityTest]
public IEnumerator TwoChannelDepthOneOneAboveDepthException()
{
string[] tags = { k_Tag1 };
int[] depths = { 1, 1 };
dummyData.Data = new float[] { 1, 3 };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
[UnityTest]
public IEnumerator TwoChannelDepthOneOneGoodValues()
{
string[] tags = { k_Tag1 };
int[] depths = { 1, 1 };
dummyData.Data = new float[] { .4f, .3f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 2, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { .4f, .3f }, 4);
float[] expectedDefault = new float[] { 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator TwoChannelDepthOneThreeAboveDepthException()
{
string[] tags = { k_Tag1 };
int[] depths = { 1, 3 };
dummyData.Data = new float[] { .4f, 4f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
Assert.Throws<UnityAgentsException>(() =>
{
gridSensor.Perceive();
});
}
[UnityTest]
public IEnumerator TwoChannelDepthOneThreeGoodValues()
{
string[] tags = { k_Tag1 };
int[] depths = { 1, 3 };
dummyData.Data = new float[] { .4f, 1f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 4, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { .4f, 0, 1, 0 }, 4);
float[] expectedDefault = new float[] { 0, 1, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator TwoChannelDepthThreeOneGoodValues()
{
string[] tags = { k_Tag1 };
int[] depths = { 3, 1 };
dummyData.Data = new float[] { 1f, .4f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 4, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 1, 0, .4f }, 4);
float[] expectedDefault = new float[] { 1, 0, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator TwoChannelDepthThreeThreeGoodValues()
{
string[] tags = { k_Tag1 };
int[] depths = { 3, 3 };
dummyData.Data = new float[] { 1f, 2.2f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 6, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 1, 0, 0, 0, 1 }, 4);
float[] expectedDefault = new float[] { 1, 0, 0, 1, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator ThreeChannelDepthFiveOneThreeGoodValues()
{
string[] tags = { k_Tag1 };
int[] depths = { 5, 1, 3 };
dummyData.Data = new float[] { 3f, .6f, 2.2f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 9, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 0, 1, 0, .6f, 0, 0, 1 }, 4);
float[] expectedDefault = new float[] { 1, 0, 0, 0, 0, 0, 1, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
[UnityTest]
public IEnumerator ProperReset()
{
string[] tags = { k_Tag1 };
int[] depths = { 5, 1, 3 };
dummyData.Data = new float[] { 3f, .6f, 2.2f };
Color[] colors = { Color.red, Color.magenta };
gridSensor.SetParameters(tags, depths, GridSensor.GridDepthType.ChannelHot,
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();
yield return null;
float[] output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 9, output.Length);
int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 0, 1, 0, .6f, 0, 0, 1 }, 4);
float[] expectedDefault = new float[] { 1, 0, 0, 0, 0, 0, 1, 0, 0 };
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
Object.DestroyImmediate(boxGo);
yield return null;
output = gridSensor.Perceive();
Assert.AreEqual(10 * 10 * 9, output.Length);
subarrayIndicies = new int[0];
expectedSubarrays = new float[0][];
GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
}
}
}