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220 行
8.3 KiB
220 行
8.3 KiB
import pytest
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import numpy as np
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from mlagents.trainers.ghost.trainer import GhostTrainer
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from mlagents.trainers.ghost.controller import GhostController
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from mlagents.trainers.behavior_id_utils import BehaviorIdentifiers
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from mlagents.trainers.ppo.trainer import PPOTrainer
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from mlagents.trainers.agent_processor import AgentManagerQueue
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from mlagents.trainers.tests import mock_brain as mb
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from mlagents.trainers.tests.test_trajectory import make_fake_trajectory
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from mlagents.trainers.settings import TrainerSettings, SelfPlaySettings
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from mlagents.trainers.tests.dummy_config import create_observation_specs_with_shapes
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@pytest.fixture
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def dummy_config():
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return TrainerSettings(self_play=SelfPlaySettings())
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VECTOR_ACTION_SPACE = 1
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VECTOR_OBS_SPACE = 8
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DISCRETE_ACTION_SPACE = [3, 3, 3, 2]
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BUFFER_INIT_SAMPLES = 513
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NUM_AGENTS = 12
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@pytest.mark.parametrize("use_discrete", [True, False])
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def test_load_and_set(dummy_config, use_discrete):
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mock_specs = mb.setup_test_behavior_specs(
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use_discrete,
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False,
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vector_action_space=DISCRETE_ACTION_SPACE
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if use_discrete
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else VECTOR_ACTION_SPACE,
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vector_obs_space=VECTOR_OBS_SPACE,
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)
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trainer_params = dummy_config
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trainer = PPOTrainer("test", 0, trainer_params, True, False, 0, "0")
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trainer.seed = 1
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policy = trainer.create_policy("test", mock_specs)
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trainer.seed = 20 # otherwise graphs are the same
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to_load_policy = trainer.create_policy("test", mock_specs)
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weights = policy.get_weights()
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load_weights = to_load_policy.get_weights()
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try:
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for w, lw in zip(weights, load_weights):
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np.testing.assert_array_equal(w, lw)
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except AssertionError:
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pass
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to_load_policy.load_weights(weights)
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load_weights = to_load_policy.get_weights()
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for w, lw in zip(weights, load_weights):
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np.testing.assert_array_equal(w, lw)
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def test_resume(dummy_config, tmp_path):
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mock_specs = mb.setup_test_behavior_specs(
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True, False, vector_action_space=[2], vector_obs_space=1
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)
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behavior_id_team0 = "test_brain?team=0"
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behavior_id_team1 = "test_brain?team=1"
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brain_name = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team0).brain_name
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tmp_path = tmp_path.as_posix()
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ppo_trainer = PPOTrainer(brain_name, 0, dummy_config, True, False, 0, tmp_path)
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controller = GhostController(100)
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trainer = GhostTrainer(
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ppo_trainer, brain_name, controller, 0, dummy_config, True, tmp_path
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)
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parsed_behavior_id0 = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team0)
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policy = trainer.create_policy(parsed_behavior_id0, mock_specs)
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trainer.add_policy(parsed_behavior_id0, policy)
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parsed_behavior_id1 = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team1)
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policy = trainer.create_policy(parsed_behavior_id1, mock_specs)
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trainer.add_policy(parsed_behavior_id1, policy)
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trainer.save_model()
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# Make a new trainer, check that the policies are the same
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ppo_trainer2 = PPOTrainer(brain_name, 0, dummy_config, True, True, 0, tmp_path)
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trainer2 = GhostTrainer(
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ppo_trainer2, brain_name, controller, 0, dummy_config, True, tmp_path
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)
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policy = trainer2.create_policy(parsed_behavior_id0, mock_specs)
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trainer2.add_policy(parsed_behavior_id0, policy)
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policy = trainer2.create_policy(parsed_behavior_id1, mock_specs)
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trainer2.add_policy(parsed_behavior_id1, policy)
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trainer1_policy = trainer.get_policy(parsed_behavior_id1.behavior_id)
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trainer2_policy = trainer2.get_policy(parsed_behavior_id1.behavior_id)
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weights = trainer1_policy.get_weights()
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weights2 = trainer2_policy.get_weights()
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for w, lw in zip(weights, weights2):
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np.testing.assert_array_equal(w, lw)
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def test_process_trajectory(dummy_config):
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mock_specs = mb.setup_test_behavior_specs(
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True, False, vector_action_space=[2], vector_obs_space=1
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)
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behavior_id_team0 = "test_brain?team=0"
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behavior_id_team1 = "test_brain?team=1"
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brain_name = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team0).brain_name
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ppo_trainer = PPOTrainer(brain_name, 0, dummy_config, True, False, 0, "0")
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controller = GhostController(100)
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trainer = GhostTrainer(
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ppo_trainer, brain_name, controller, 0, dummy_config, True, "0"
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)
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# first policy encountered becomes policy trained by wrapped PPO
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parsed_behavior_id0 = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team0)
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policy = trainer.create_policy(parsed_behavior_id0, mock_specs)
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trainer.add_policy(parsed_behavior_id0, policy)
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trajectory_queue0 = AgentManagerQueue(behavior_id_team0)
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trainer.subscribe_trajectory_queue(trajectory_queue0)
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# Ghost trainer should ignore this queue because off policy
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parsed_behavior_id1 = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team1)
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policy = trainer.create_policy(parsed_behavior_id1, mock_specs)
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trainer.add_policy(parsed_behavior_id1, policy)
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trajectory_queue1 = AgentManagerQueue(behavior_id_team1)
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trainer.subscribe_trajectory_queue(trajectory_queue1)
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time_horizon = 15
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trajectory = make_fake_trajectory(
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length=time_horizon,
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max_step_complete=True,
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observation_specs=create_observation_specs_with_shapes([(1,)]),
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action_spec=mock_specs.action_spec,
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)
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trajectory_queue0.put(trajectory)
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trainer.advance()
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# Check that trainer put trajectory in update buffer
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assert trainer.trainer.update_buffer.num_experiences == 15
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trajectory_queue1.put(trajectory)
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trainer.advance()
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# Check that ghost trainer ignored off policy queue
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assert trainer.trainer.update_buffer.num_experiences == 15
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# Check that it emptied the queue
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assert trajectory_queue1.empty()
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def test_publish_queue(dummy_config):
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mock_specs = mb.setup_test_behavior_specs(
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True, False, vector_action_space=[1], vector_obs_space=8
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)
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behavior_id_team0 = "test_brain?team=0"
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behavior_id_team1 = "test_brain?team=1"
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parsed_behavior_id0 = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team0)
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brain_name = parsed_behavior_id0.brain_name
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ppo_trainer = PPOTrainer(brain_name, 0, dummy_config, True, False, 0, "0")
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controller = GhostController(100)
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trainer = GhostTrainer(
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ppo_trainer, brain_name, controller, 0, dummy_config, True, "0"
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)
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# First policy encountered becomes policy trained by wrapped PPO
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# This queue should remain empty after swap snapshot
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policy = trainer.create_policy(parsed_behavior_id0, mock_specs)
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trainer.add_policy(parsed_behavior_id0, policy)
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policy_queue0 = AgentManagerQueue(behavior_id_team0)
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trainer.publish_policy_queue(policy_queue0)
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# Ghost trainer should use this queue for ghost policy swap
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parsed_behavior_id1 = BehaviorIdentifiers.from_name_behavior_id(behavior_id_team1)
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policy = trainer.create_policy(parsed_behavior_id1, mock_specs)
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trainer.add_policy(parsed_behavior_id1, policy)
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policy_queue1 = AgentManagerQueue(behavior_id_team1)
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trainer.publish_policy_queue(policy_queue1)
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# check ghost trainer swap pushes to ghost queue and not trainer
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assert policy_queue0.empty() and policy_queue1.empty()
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trainer._swap_snapshots()
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assert policy_queue0.empty() and not policy_queue1.empty()
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# clear
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policy_queue1.get_nowait()
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mock_specs = mb.setup_test_behavior_specs(
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False,
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False,
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vector_action_space=VECTOR_ACTION_SPACE,
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vector_obs_space=VECTOR_OBS_SPACE,
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)
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buffer = mb.simulate_rollout(BUFFER_INIT_SAMPLES, mock_specs)
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# Mock out reward signal eval
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buffer["extrinsic_rewards"] = buffer["environment_rewards"]
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buffer["extrinsic_returns"] = buffer["environment_rewards"]
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buffer["extrinsic_value_estimates"] = buffer["environment_rewards"]
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buffer["curiosity_rewards"] = buffer["environment_rewards"]
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buffer["curiosity_returns"] = buffer["environment_rewards"]
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buffer["curiosity_value_estimates"] = buffer["environment_rewards"]
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buffer["advantages"] = buffer["environment_rewards"]
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trainer.trainer.update_buffer = buffer
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# when ghost trainer advance and wrapped trainer buffers full
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# the wrapped trainer pushes updated policy to correct queue
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assert policy_queue0.empty() and policy_queue1.empty()
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trainer.advance()
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assert not policy_queue0.empty() and policy_queue1.empty()
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if __name__ == "__main__":
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pytest.main()
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