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135 行
4.8 KiB
135 行
4.8 KiB
import pytest
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import mlagents.trainers.tests.mock_brain as mb
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import numpy as np
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import os
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from mlagents.trainers.policy.tf_policy import TFPolicy
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from mlagents.trainers.components.bc.module import BCModule
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from mlagents.trainers.settings import (
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TrainerSettings,
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BehavioralCloningSettings,
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NetworkSettings,
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)
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def create_bc_module(mock_behavior_specs, bc_settings, use_rnn, tanhresample):
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# model_path = env.external_brain_names[0]
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trainer_config = TrainerSettings()
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trainer_config.network_settings.memory = (
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NetworkSettings.MemorySettings() if use_rnn else None
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)
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policy = TFPolicy(
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0,
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mock_behavior_specs,
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trainer_config,
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"test",
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False,
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tanhresample,
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tanhresample,
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)
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with policy.graph.as_default():
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bc_module = BCModule(
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policy,
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policy_learning_rate=trainer_config.hyperparameters.learning_rate,
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default_batch_size=trainer_config.hyperparameters.batch_size,
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default_num_epoch=3,
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settings=bc_settings,
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)
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policy.initialize_or_load() # Normally the optimizer calls this after the BCModule is created
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return bc_module
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# Test default values
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def test_bcmodule_defaults():
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# See if default values match
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mock_specs = mb.create_mock_3dball_behavior_specs()
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bc_settings = BehavioralCloningSettings(
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo"
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)
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bc_module = create_bc_module(mock_specs, bc_settings, False, False)
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assert bc_module.num_epoch == 3
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assert bc_module.batch_size == 1024
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# Assign strange values and see if it overrides properly
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bc_settings = BehavioralCloningSettings(
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo",
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num_epoch=100,
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batch_size=10000,
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)
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bc_module = create_bc_module(mock_specs, bc_settings, False, False)
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assert bc_module.num_epoch == 100
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assert bc_module.batch_size == 10000
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# Test with continuous control env and vector actions
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"])
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def test_bcmodule_update(is_sac):
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mock_specs = mb.create_mock_3dball_behavior_specs()
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bc_settings = BehavioralCloningSettings(
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo"
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)
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bc_module = create_bc_module(mock_specs, bc_settings, False, is_sac)
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stats = bc_module.update()
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for _, item in stats.items():
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assert isinstance(item, np.float32)
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# Test with constant pretraining learning rate
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"])
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def test_bcmodule_constant_lr_update(is_sac):
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mock_specs = mb.create_mock_3dball_behavior_specs()
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bc_settings = BehavioralCloningSettings(
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo",
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steps=0,
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)
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bc_module = create_bc_module(mock_specs, bc_settings, False, is_sac)
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stats = bc_module.update()
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for _, item in stats.items():
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assert isinstance(item, np.float32)
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old_learning_rate = bc_module.current_lr
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_ = bc_module.update()
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assert old_learning_rate == bc_module.current_lr
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# Test with RNN
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"])
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def test_bcmodule_rnn_update(is_sac):
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mock_specs = mb.create_mock_3dball_behavior_specs()
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bc_settings = BehavioralCloningSettings(
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "test.demo"
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)
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bc_module = create_bc_module(mock_specs, bc_settings, True, is_sac)
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stats = bc_module.update()
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for _, item in stats.items():
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assert isinstance(item, np.float32)
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# Test with discrete control and visual observations
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"])
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def test_bcmodule_dc_visual_update(is_sac):
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mock_specs = mb.create_mock_banana_behavior_specs()
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bc_settings = BehavioralCloningSettings(
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "testdcvis.demo"
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)
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bc_module = create_bc_module(mock_specs, bc_settings, False, is_sac)
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stats = bc_module.update()
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for _, item in stats.items():
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assert isinstance(item, np.float32)
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# Test with discrete control, visual observations and RNN
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@pytest.mark.parametrize("is_sac", [True, False], ids=["sac", "ppo"])
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def test_bcmodule_rnn_dc_update(is_sac):
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mock_specs = mb.create_mock_banana_behavior_specs()
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bc_settings = BehavioralCloningSettings(
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demo_path=os.path.dirname(os.path.abspath(__file__)) + "/" + "testdcvis.demo"
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)
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bc_module = create_bc_module(mock_specs, bc_settings, True, is_sac)
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stats = bc_module.update()
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for _, item in stats.items():
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assert isinstance(item, np.float32)
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if __name__ == "__main__":
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pytest.main()
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