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702 行
25 KiB
702 行
25 KiB
using System;
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using UnityEngine;
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using NUnit.Framework;
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using System.Reflection;
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using Unity.MLAgents.Actuators;
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using Unity.MLAgents.Sensors;
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using Unity.MLAgents.Sensors.Reflection;
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using Unity.MLAgents.Policies;
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using Unity.MLAgents.SideChannels;
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using Unity.MLAgents.Utils.Tests;
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namespace Unity.MLAgents.Tests
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{
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[TestFixture]
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public class EditModeTestGeneration
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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var aca = Academy.Instance;
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Assert.AreNotEqual(null, aca);
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Assert.AreEqual(0, aca.EpisodeCount);
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Assert.AreEqual(0, aca.StepCount);
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Assert.AreEqual(0, aca.TotalStepCount);
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}
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[Test]
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public void TestAgent()
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{
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var agentGo = new GameObject("TestAgent");
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agentGo.AddComponent<TestAgent>();
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var agent = agentGo.GetComponent<TestAgent>();
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Assert.AreNotEqual(null, agent);
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Assert.AreEqual(0, agent.initializeAgentCalls);
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}
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}
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[TestFixture]
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public class EditModeTestInitialization
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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Assert.AreEqual(false, Academy.IsInitialized);
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var aca = Academy.Instance;
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Assert.AreEqual(true, Academy.IsInitialized);
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// Check that init is idempotent
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aca.LazyInitialize();
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aca.LazyInitialize();
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Assert.AreEqual(0, aca.EpisodeCount);
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Assert.AreEqual(0, aca.StepCount);
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Assert.AreEqual(0, aca.TotalStepCount);
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Assert.AreNotEqual(null, SideChannelManager.GetSideChannel<EnvironmentParametersChannel>());
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Assert.AreNotEqual(null, SideChannelManager.GetSideChannel<EngineConfigurationChannel>());
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Assert.AreNotEqual(null, SideChannelManager.GetSideChannel<StatsSideChannel>());
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// Check that Dispose is idempotent
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aca.Dispose();
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Assert.AreEqual(false, Academy.IsInitialized);
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aca.Dispose();
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}
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[Test]
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public void TestAcademyDispose()
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{
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var envParams1 = SideChannelManager.GetSideChannel<EnvironmentParametersChannel>();
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var engineParams1 = SideChannelManager.GetSideChannel<EngineConfigurationChannel>();
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var statsParams1 = SideChannelManager.GetSideChannel<StatsSideChannel>();
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Academy.Instance.Dispose();
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Academy.Instance.LazyInitialize();
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var envParams2 = SideChannelManager.GetSideChannel<EnvironmentParametersChannel>();
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var engineParams2 = SideChannelManager.GetSideChannel<EngineConfigurationChannel>();
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var statsParams2 = SideChannelManager.GetSideChannel<StatsSideChannel>();
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Academy.Instance.Dispose();
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Assert.AreNotEqual(envParams1, envParams2);
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Assert.AreNotEqual(engineParams1, engineParams2);
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Assert.AreNotEqual(statsParams1, statsParams2);
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}
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[Test]
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public void TestAgent()
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{
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var agentGo1 = new GameObject("TestAgent");
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var bp1 = agentGo1.GetComponent<BehaviorParameters>();
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bp1.ObservableAttributeHandling = ObservableAttributeOptions.ExcludeInherited;
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var agentGo2 = new GameObject("TestAgent");
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agentGo2.AddComponent<TestAgent>();
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var agent2 = agentGo2.GetComponent<TestAgent>();
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Assert.AreEqual(0, agent1.agentOnEpisodeBeginCalls);
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Assert.AreEqual(0, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(0, agent1.initializeAgentCalls);
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Assert.AreEqual(0, agent2.initializeAgentCalls);
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Assert.AreEqual(0, agent1.agentActionCalls);
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Assert.AreEqual(0, agent2.agentActionCalls);
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agent2.LazyInitialize();
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agent1.LazyInitialize();
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// agent1 was not enabled when the academy started
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// The agents have been initialized
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Assert.AreEqual(0, agent1.agentOnEpisodeBeginCalls);
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Assert.AreEqual(0, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(1, agent1.initializeAgentCalls);
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Assert.AreEqual(1, agent2.initializeAgentCalls);
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Assert.AreEqual(0, agent1.agentActionCalls);
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Assert.AreEqual(0, agent2.agentActionCalls);
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// Make sure the Sensors were sorted
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Assert.AreEqual(agent1.sensors[0].GetName(), "observableFloat");
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Assert.AreEqual(agent1.sensors[1].GetName(), "testsensor1");
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Assert.AreEqual(agent1.sensors[2].GetName(), "testsensor2");
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// agent2 should only have two sensors (no observableFloat)
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Assert.AreEqual(agent2.sensors[0].GetName(), "testsensor1");
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Assert.AreEqual(agent2.sensors[1].GetName(), "testsensor2");
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}
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}
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[TestFixture]
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public class EditModeTestStep
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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var aca = Academy.Instance;
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var numberReset = 0;
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for (var i = 0; i < 10; i++)
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{
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Assert.AreEqual(numberReset, aca.EpisodeCount);
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Assert.AreEqual(i, aca.StepCount);
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// The reset happens at the beginning of the first step
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if (i == 0)
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{
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numberReset += 1;
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}
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Academy.Instance.EnvironmentStep();
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}
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}
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[Test]
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public void TestAcademyAutostep()
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{
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var aca = Academy.Instance;
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Assert.IsTrue(aca.AutomaticSteppingEnabled);
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aca.AutomaticSteppingEnabled = false;
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Assert.IsFalse(aca.AutomaticSteppingEnabled);
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aca.AutomaticSteppingEnabled = true;
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Assert.IsTrue(aca.AutomaticSteppingEnabled);
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}
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[Test]
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public void TestAgent()
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{
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var agentGo1 = new GameObject("TestAgent");
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var bp1 = agentGo1.AddComponent<BehaviorParameters>();
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bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var agentGo2 = new GameObject("TestAgent");
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var bp2 = agentGo2.AddComponent<BehaviorParameters>();
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bp2.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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agentGo2.AddComponent<TestAgent>();
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var agent2 = agentGo2.GetComponent<TestAgent>();
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var aca = Academy.Instance;
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var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
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decisionRequester.DecisionPeriod = 2;
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decisionRequester.Awake();
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// agent1 will take an action at every step and request a decision every 2 steps
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// agent2 will request decisions only when RequestDecision is called
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agent1.LazyInitialize();
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var numberAgent1Episodes = 0;
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var numberAgent2Episodes = 0;
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var numberAgent2Initialization = 0;
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var requestDecision = 0;
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var requestAction = 0;
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for (var i = 0; i < 50; i++)
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{
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(1, agent1.initializeAgentCalls);
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Assert.AreEqual(numberAgent2Initialization, agent2.initializeAgentCalls);
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Assert.AreEqual(i, agent1.agentActionCalls);
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Assert.AreEqual(requestAction, agent2.agentActionCalls);
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Assert.AreEqual((i + 1) / 2, agent1.collectObservationsCalls);
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Assert.AreEqual(requestDecision, agent2.collectObservationsCalls);
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// Agent 1 starts a new episode at the first step
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if (i == 0)
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{
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numberAgent1Episodes += 1;
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}
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//Agent 2 is only initialized at step 2
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if (i == 2)
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{
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// Since Agent2 is initialized after the Academy has stepped, its OnEpisodeBegin should be called now.
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Assert.AreEqual(0, agent2.agentOnEpisodeBeginCalls);
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agent2.LazyInitialize();
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Assert.AreEqual(1, agent2.agentOnEpisodeBeginCalls);
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numberAgent2Initialization += 1;
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numberAgent2Episodes += 1;
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}
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// We are testing request decision and request actions when called
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// at different intervals
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if ((i % 3 == 0) && (i > 2))
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{
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//Every 3 steps after agent 2 is initialized, request decision
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requestDecision += 1;
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requestAction += 1;
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agent2.RequestDecision();
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}
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else if ((i % 5 == 0) && (i > 2))
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{
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// Every 5 steps after agent 2 is initialized, request action
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requestAction += 1;
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agent2.RequestAction();
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}
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aca.EnvironmentStep();
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}
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}
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}
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[TestFixture]
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public class EditModeTestReset
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestAcademy()
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{
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var aca = Academy.Instance;
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var numberReset = 0;
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var stepsSinceReset = 0;
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for (var i = 0; i < 50; i++)
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{
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Assert.AreEqual(stepsSinceReset, aca.StepCount);
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Assert.AreEqual(numberReset, aca.EpisodeCount);
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Assert.AreEqual(i, aca.TotalStepCount);
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// Academy resets at the first step
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if (i == 0)
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{
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numberReset += 1;
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}
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stepsSinceReset += 1;
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aca.EnvironmentStep();
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}
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}
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[Test]
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public void TestAgent()
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{
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var agentGo1 = new GameObject("TestAgent");
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var bp1 = agentGo1.AddComponent<BehaviorParameters>();
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bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var agentGo2 = new GameObject("TestAgent");
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var bp2 = agentGo2.AddComponent<BehaviorParameters>();
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bp2.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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agentGo2.AddComponent<TestAgent>();
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var agent2 = agentGo2.GetComponent<TestAgent>();
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var aca = Academy.Instance;
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var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
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decisionRequester.DecisionPeriod = 2;
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agent2.LazyInitialize();
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var numberAgent1Episodes = 0;
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var numberAgent2Episodes = 0;
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var numberAcaReset = 0;
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var acaStepsSinceReset = 0;
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var agent2StepForEpisode = 0;
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for (var i = 0; i < 5000; i++)
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{
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Assert.AreEqual(acaStepsSinceReset, aca.StepCount);
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Assert.AreEqual(numberAcaReset, aca.EpisodeCount);
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Assert.AreEqual(i, aca.TotalStepCount);
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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Assert.AreEqual(agent2StepForEpisode, agent2.StepCount);
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// Agent 2 and academy reset at the first step
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if (i == 0)
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{
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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numberAcaReset += 1;
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numberAgent2Episodes += 1;
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}
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//Agent 1 is only initialized at step 2
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if (i == 2)
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{
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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agent1.LazyInitialize();
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numberAgent1Episodes += 1;
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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}
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// Set agent 1 to done every 11 steps to test behavior
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if (i % 11 == 5)
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{
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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agent1.EndEpisode();
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numberAgent1Episodes += 1;
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Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
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}
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// Ending the episode for agent 2 regularly
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if (i % 13 == 3)
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{
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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agent2.EndEpisode();
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numberAgent2Episodes += 1;
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agent2StepForEpisode = 0;
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Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
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}
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// Request a decision for agent 2 regularly
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if (i % 3 == 2)
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{
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agent2.RequestDecision();
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}
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else if (i % 5 == 1)
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{
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// Request an action without decision regularly
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agent2.RequestAction();
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}
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acaStepsSinceReset += 1;
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agent2StepForEpisode += 1;
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aca.EnvironmentStep();
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}
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}
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}
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[TestFixture]
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public class EditModeTestMiscellaneous
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{
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[SetUp]
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public void SetUp()
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{
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if (Academy.IsInitialized)
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{
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Academy.Instance.Dispose();
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}
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}
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[Test]
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public void TestCumulativeReward()
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{
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var agentGo1 = new GameObject("TestAgent");
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var bp1 = agentGo1.AddComponent<BehaviorParameters>();
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bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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var agent1 = agentGo1.AddComponent<TestAgent>();
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var agentGo2 = new GameObject("TestAgent");
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var bp2 = agentGo2.AddComponent<BehaviorParameters>();
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bp2.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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var agent2 = agentGo2.AddComponent<TestAgent>();
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var aca = Academy.Instance;
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var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
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decisionRequester.DecisionPeriod = 2;
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decisionRequester.Awake();
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agent1.MaxStep = 20;
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agent2.LazyInitialize();
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agent1.LazyInitialize();
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agent2.SetPolicy(new TestPolicy());
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var expectedAgent1ActionForEpisode = 0;
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for (var i = 0; i < 50; i++)
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{
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expectedAgent1ActionForEpisode += 1;
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if (expectedAgent1ActionForEpisode == agent1.MaxStep || i == 0)
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{
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expectedAgent1ActionForEpisode = 0;
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}
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agent2.RequestAction();
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Assert.LessOrEqual(Mathf.Abs(expectedAgent1ActionForEpisode * 10.1f - agent1.GetCumulativeReward()), 0.05f);
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Assert.LessOrEqual(Mathf.Abs(i * 0.1f - agent2.GetCumulativeReward()), 0.05f);
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agent1.AddReward(10f);
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aca.EnvironmentStep();
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}
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}
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[Test]
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public void TestMaxStepsReset()
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{
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var agentGo1 = new GameObject("TestAgent");
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var bp1 = agentGo1.AddComponent<BehaviorParameters>();
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bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var aca = Academy.Instance;
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var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
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decisionRequester.DecisionPeriod = 1;
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decisionRequester.Awake();
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const int maxStep = 6;
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agent1.MaxStep = maxStep;
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agent1.LazyInitialize();
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var expectedAgentStepCount = 0;
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var expectedEpisodes = 0;
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var expectedAgentAction = 0;
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var expectedAgentActionForEpisode = 0;
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var expectedCollectObsCalls = 0;
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var expectedCollectObsCallsForEpisode = 0;
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var expectedCompletedEpisodes = 0;
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var expectedSensorResetCalls = 0;
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for (var i = 0; i < 15; i++)
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{
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// Agent should observe and act on each Academy step
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expectedAgentAction += 1;
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expectedAgentActionForEpisode += 1;
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expectedCollectObsCalls += 1;
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expectedCollectObsCallsForEpisode += 1;
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expectedAgentStepCount += 1;
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// If the next step will put the agent at maxSteps, we expect it to reset
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if (agent1.StepCount == maxStep - 1 || (i == 0))
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{
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expectedEpisodes += 1;
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}
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if (agent1.StepCount == maxStep - 1)
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{
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expectedAgentActionForEpisode = 0;
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expectedCollectObsCallsForEpisode = 0;
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expectedAgentStepCount = 0;
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expectedCompletedEpisodes++;
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expectedSensorResetCalls++;
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expectedCollectObsCalls += 1;
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}
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aca.EnvironmentStep();
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Assert.AreEqual(expectedAgentStepCount, agent1.StepCount);
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Assert.AreEqual(expectedEpisodes, agent1.agentOnEpisodeBeginCalls);
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Assert.AreEqual(expectedAgentAction, agent1.agentActionCalls);
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Assert.AreEqual(expectedAgentActionForEpisode, agent1.agentActionCallsForEpisode);
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Assert.AreEqual(expectedCollectObsCalls, agent1.collectObservationsCalls);
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Assert.AreEqual(expectedCollectObsCallsForEpisode, agent1.collectObservationsCallsForEpisode);
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Assert.AreEqual(expectedCompletedEpisodes, agent1.CompletedEpisodes);
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Assert.AreEqual(expectedSensorResetCalls, agent1.sensor1.numResetCalls);
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}
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}
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[Test]
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public void TestHeuristicPolicyStepsSensors()
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{
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// Make sure that Agents with HeuristicPolicies step their sensors each Academy step.
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var agentGo1 = new GameObject("TestAgent");
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var bp1 = agentGo1.AddComponent<BehaviorParameters>();
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bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
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agentGo1.AddComponent<TestAgent>();
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var agent1 = agentGo1.GetComponent<TestAgent>();
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var aca = Academy.Instance;
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var decisionRequester = agent1.gameObject.AddComponent<DecisionRequester>();
|
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decisionRequester.DecisionPeriod = 1;
|
|
decisionRequester.Awake();
|
|
|
|
agent1.LazyInitialize();
|
|
Assert.AreEqual(agent1.GetPolicy().GetType(), typeof(HeuristicPolicy));
|
|
|
|
var numSteps = 10;
|
|
for (var i = 0; i < numSteps; i++)
|
|
{
|
|
aca.EnvironmentStep();
|
|
}
|
|
Assert.AreEqual(numSteps, agent1.heuristicCalls);
|
|
Assert.AreEqual(numSteps, agent1.sensor1.numWriteCalls);
|
|
Assert.AreEqual(numSteps, agent1.sensor2.numCompressedCalls);
|
|
|
|
Assert.AreEqual(
|
|
agent1.collectObservationsCallsForEpisode,
|
|
agent1.GetStoredActionBuffers().ContinuousActions[0]
|
|
);
|
|
}
|
|
}
|
|
|
|
[TestFixture]
|
|
public class TestOnEnableOverride
|
|
{
|
|
public class OnEnableAgent : Agent
|
|
{
|
|
public bool callBase;
|
|
|
|
protected override void OnEnable()
|
|
{
|
|
if (callBase)
|
|
base.OnEnable();
|
|
}
|
|
}
|
|
|
|
static void _InnerAgentTestOnEnableOverride(bool callBase = false)
|
|
{
|
|
var go = new GameObject();
|
|
var agent = go.AddComponent<OnEnableAgent>();
|
|
agent.callBase = callBase;
|
|
var onEnable = typeof(OnEnableAgent).GetMethod("OnEnable", BindingFlags.NonPublic | BindingFlags.Instance);
|
|
var sendInfo = typeof(Agent).GetMethod("SendInfoToBrain", BindingFlags.NonPublic | BindingFlags.Instance);
|
|
Assert.NotNull(onEnable);
|
|
onEnable.Invoke(agent, null);
|
|
Assert.NotNull(sendInfo);
|
|
if (agent.callBase)
|
|
{
|
|
Assert.DoesNotThrow(() => sendInfo.Invoke(agent, null));
|
|
}
|
|
else
|
|
{
|
|
Assert.Throws<UnityAgentsException>(() =>
|
|
{
|
|
try
|
|
{
|
|
sendInfo.Invoke(agent, null);
|
|
}
|
|
catch (TargetInvocationException e)
|
|
{
|
|
throw e.GetBaseException();
|
|
}
|
|
});
|
|
}
|
|
}
|
|
|
|
[Test]
|
|
public void TestAgentCallBaseOnEnable()
|
|
{
|
|
_InnerAgentTestOnEnableOverride(true);
|
|
}
|
|
|
|
[Test]
|
|
public void TestAgentDontCallBaseOnEnable()
|
|
{
|
|
_InnerAgentTestOnEnableOverride();
|
|
}
|
|
}
|
|
|
|
[TestFixture]
|
|
public class ObservableAttributeBehaviorTests
|
|
{
|
|
public class BaseObservableAgent : Agent
|
|
{
|
|
[Observable]
|
|
public float BaseField;
|
|
}
|
|
|
|
public class DerivedObservableAgent : BaseObservableAgent
|
|
{
|
|
[Observable]
|
|
public float DerivedField;
|
|
}
|
|
|
|
|
|
[Test]
|
|
public void TestObservableAttributeBehaviorIgnore()
|
|
{
|
|
var variants = new[]
|
|
{
|
|
// No observables found
|
|
(ObservableAttributeOptions.Ignore, 0),
|
|
// Only DerivedField found
|
|
(ObservableAttributeOptions.ExcludeInherited, 1),
|
|
// DerivedField and BaseField found
|
|
(ObservableAttributeOptions.ExamineAll, 2)
|
|
};
|
|
|
|
foreach (var (behavior, expectedNumSensors) in variants)
|
|
{
|
|
var go = new GameObject();
|
|
var agent = go.AddComponent<DerivedObservableAgent>();
|
|
var bp = go.GetComponent<BehaviorParameters>();
|
|
bp.ObservableAttributeHandling = behavior;
|
|
agent.LazyInitialize();
|
|
int numAttributeSensors = 0;
|
|
foreach (var sensor in agent.sensors)
|
|
{
|
|
if (sensor.GetType() != typeof(VectorSensor))
|
|
{
|
|
numAttributeSensors++;
|
|
}
|
|
}
|
|
Assert.AreEqual(expectedNumSensors, numAttributeSensors);
|
|
}
|
|
}
|
|
}
|
|
|
|
[TestFixture]
|
|
public class AgentRecursionTests
|
|
{
|
|
[SetUp]
|
|
public void SetUp()
|
|
{
|
|
if (Academy.IsInitialized)
|
|
{
|
|
Academy.Instance.Dispose();
|
|
}
|
|
}
|
|
|
|
class CollectObsEndEpisodeAgent : Agent
|
|
{
|
|
public override void CollectObservations(VectorSensor sensor)
|
|
{
|
|
// NEVER DO THIS IN REAL CODE!
|
|
EndEpisode();
|
|
}
|
|
}
|
|
|
|
class OnEpisodeBeginEndEpisodeAgent : Agent
|
|
{
|
|
public override void OnEpisodeBegin()
|
|
{
|
|
// NEVER DO THIS IN REAL CODE!
|
|
EndEpisode();
|
|
}
|
|
}
|
|
|
|
void TestRecursiveThrows<T>() where T : Agent
|
|
{
|
|
var gameObj = new GameObject();
|
|
var agent = gameObj.AddComponent<T>();
|
|
agent.LazyInitialize();
|
|
agent.RequestDecision();
|
|
|
|
Assert.Throws<UnityAgentsException>(() =>
|
|
{
|
|
Academy.Instance.EnvironmentStep();
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public void TestRecursiveCollectObsEndEpisodeThrows()
|
|
{
|
|
TestRecursiveThrows<CollectObsEndEpisodeAgent>();
|
|
}
|
|
|
|
[Test]
|
|
public void TestRecursiveOnEpisodeBeginEndEpisodeThrows()
|
|
{
|
|
TestRecursiveThrows<OnEpisodeBeginEndEpisodeAgent>();
|
|
}
|
|
}
|
|
}
|