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
import numpy as np
from mlagents.trainers.settings import EncoderType, ScheduleType
from mlagents.trainers.torch.utils import ModelUtils
from mlagents.trainers.exception import UnityTrainerException
from mlagents.trainers.torch.encoders import VectorInput
from mlagents.trainers.tests.dummy_config import create_sensor_specs_with_shapes
def test_min_visual_size():
# Make sure each EncoderType has an entry in MIS_RESOLUTION_FOR_ENCODER
assert set(ModelUtils.MIN_RESOLUTION_FOR_ENCODER.keys()) == set(EncoderType)
for encoder_type in EncoderType:
good_size = ModelUtils.MIN_RESOLUTION_FOR_ENCODER[encoder_type]
vis_input = torch.ones((1, good_size, good_size, 3))
ModelUtils._check_resolution_for_encoder(good_size, good_size, encoder_type)
enc_func = ModelUtils.get_encoder_for_type(encoder_type)
enc = enc_func(good_size, good_size, 3, 1)
enc.forward(vis_input)
# Anything under the min size should raise an exception. If not, decrease the min size!
with pytest.raises(Exception):
bad_size = ModelUtils.MIN_RESOLUTION_FOR_ENCODER[encoder_type] - 1
vis_input = torch.ones((1, bad_size, bad_size, 3))
with pytest.raises(UnityTrainerException):
# Make sure we'd hit a friendly error during model setup time.
ModelUtils._check_resolution_for_encoder(
bad_size, bad_size, encoder_type
)
enc = enc_func(bad_size, bad_size, 3, 1)
enc.forward(vis_input)
@pytest.mark.parametrize("num_visual", [0, 1, 2])
@pytest.mark.parametrize("num_vector", [0, 1, 2])
@pytest.mark.parametrize("normalize", [True, False])
@pytest.mark.parametrize("encoder_type", [EncoderType.SIMPLE, EncoderType.NATURE_CNN])
def test_create_inputs(encoder_type, normalize, num_vector, num_visual):
vec_obs_shape = (5,)
vis_obs_shape = (84, 84, 3)
obs_shapes = []
for _ in range(num_vector):
obs_shapes.append(vec_obs_shape)
for _ in range(num_visual):
obs_shapes.append(vis_obs_shape)
h_size = 128
sen_spec = create_sensor_specs_with_shapes(obs_shapes)
encoders, embedding_sizes = ModelUtils.create_input_processors(
sen_spec, h_size, encoder_type, normalize
)
total_output = sum(embedding_sizes)
vec_enc = []
vis_enc = []
for i, enc in enumerate(encoders):
if len(obs_shapes[i]) == 1:
vec_enc.append(enc)
else:
vis_enc.append(enc)
assert len(vec_enc) == num_vector
assert len(vis_enc) == num_visual
assert total_output == int(num_visual * h_size + vec_obs_shape[0] * num_vector)
if num_vector > 0:
assert isinstance(vec_enc[0], VectorInput)
for enc in vis_enc:
assert isinstance(enc, ModelUtils.get_encoder_for_type(encoder_type))
def test_decayed_value():
test_steps = [0, 4, 9]
# Test constant decay
param = ModelUtils.DecayedValue(ScheduleType.CONSTANT, 1.0, 0.2, test_steps[-1])
for _step in test_steps:
_param = param.get_value(_step)
assert _param == 1.0
test_results = [1.0, 0.6444, 0.2]
# Test linear decay
param = ModelUtils.DecayedValue(ScheduleType.LINEAR, 1.0, 0.2, test_steps[-1])
for _step, _result in zip(test_steps, test_results):
_param = param.get_value(_step)
assert _param == pytest.approx(_result, abs=0.01)
# Test invalid
with pytest.raises(UnityTrainerException):
ModelUtils.DecayedValue(
"SomeOtherSchedule", 1.0, 0.2, test_steps[-1]
).get_value(0)
def test_polynomial_decay():
test_steps = [0, 4, 9]
test_results = [1.0, 0.7, 0.2]
for _step, _result in zip(test_steps, test_results):
decayed = ModelUtils.polynomial_decay(
1.0, 0.2, test_steps[-1], _step, power=0.8
)
assert decayed == pytest.approx(_result, abs=0.01)
def test_list_to_tensor():
# Test converting pure list
unconverted_list = [[1.0, 2], [1, 3], [1, 4]]
tensor = ModelUtils.list_to_tensor(unconverted_list)
# Should be equivalent to torch.tensor conversion
assert torch.equal(tensor, torch.tensor(unconverted_list))
# Test converting pure numpy array
np_list = np.asarray(unconverted_list)
tensor = ModelUtils.list_to_tensor(np_list)
# Should be equivalent to torch.tensor conversion
assert torch.equal(tensor, torch.tensor(unconverted_list))
# Test converting list of numpy arrays
list_of_np = [np.asarray(_el) for _el in unconverted_list]
tensor = ModelUtils.list_to_tensor(list_of_np)
# Should be equivalent to torch.tensor conversion
assert torch.equal(tensor, torch.tensor(unconverted_list, dtype=torch.float32))
def test_break_into_branches():
# Test normal multi-branch case
all_actions = torch.tensor([[1, 2, 3, 4, 5, 6]])
action_size = [2, 1, 3]
broken_actions = ModelUtils.break_into_branches(all_actions, action_size)
assert len(action_size) == len(broken_actions)
for i, _action in enumerate(broken_actions):
assert _action.shape == (1, action_size[i])
# Test 1-branch case
action_size = [6]
broken_actions = ModelUtils.break_into_branches(all_actions, action_size)
assert len(broken_actions) == 1
assert broken_actions[0].shape == (1, 6)
def test_actions_to_onehot():
all_actions = torch.tensor([[1, 0, 2], [1, 0, 2]])
action_size = [2, 1, 3]
oh_actions = ModelUtils.actions_to_onehot(all_actions, action_size)
expected_result = [
torch.tensor([[0, 1], [0, 1]], dtype=torch.float),
torch.tensor([[1], [1]], dtype=torch.float),
torch.tensor([[0, 0, 1], [0, 0, 1]], dtype=torch.float),
]
for res, exp in zip(oh_actions, expected_result):
assert torch.equal(res, exp)
def test_masked_mean():
test_input = torch.tensor([1, 2, 3, 4, 5])
masks = torch.ones_like(test_input).bool()
mean = ModelUtils.masked_mean(test_input, masks=masks)
assert mean == 3.0
masks = torch.tensor([False, False, True, True, True])
mean = ModelUtils.masked_mean(test_input, masks=masks)
assert mean == 4.0
# Make sure it works if all masks are off
masks = torch.tensor([False, False, False, False, False])
mean = ModelUtils.masked_mean(test_input, masks=masks)
assert mean == 0.0
# Make sure it works with 2d arrays of shape (mask_length, N)
test_input = torch.tensor([1, 2, 3, 4, 5]).repeat(2, 1).T
masks = torch.tensor([False, False, True, True, True])
mean = ModelUtils.masked_mean(test_input, masks=masks)
assert mean == 4.0
def test_soft_update():
class TestModule(torch.nn.Module):
def __init__(self, vals):
super().__init__()
self.parameter = torch.nn.Parameter(torch.ones(5, 5, 5) * vals)
tm1 = TestModule(0)
tm2 = TestModule(1)
tm3 = TestModule(2)
ModelUtils.soft_update(tm1, tm3, tau=0.5)
assert torch.equal(tm3.parameter, torch.ones(5, 5, 5))
ModelUtils.soft_update(tm1, tm2, tau=1.0)
assert torch.equal(tm2.parameter, tm1.parameter)