ml-agents/ml-agents/mlagents/trainers/tests/test_simple_rl.py

import math
import random
import tempfile
import pytest
import yaml
from typing import Any, Dict


from mlagents.trainers.trainer_controller import TrainerController
from mlagents.trainers.trainer_util import TrainerFactory
from mlagents.envs.base_unity_environment import BaseUnityEnvironment
from mlagents.envs.brain import BrainInfo, AllBrainInfo, BrainParameters
from mlagents.envs.communicator_objects.agent_info_pb2 import AgentInfoProto
from mlagents.envs.simple_env_manager import SimpleEnvManager
from mlagents.envs.sampler_class import SamplerManager


BRAIN_NAME = __name__
OBS_SIZE = 1
STEP_SIZE = 0.1

TIME_PENALTY = 0.001
MIN_STEPS = int(1.0 / STEP_SIZE) + 1
SUCCESS_REWARD = 1.0 + MIN_STEPS * TIME_PENALTY


def clamp(x, min_val, max_val):
    return max(min_val, min(x, max_val))


class Simple1DEnvironment(BaseUnityEnvironment):
    """
    Very simple "game" - the agent has a position on [-1, 1], gets a reward of 1 if it reaches 1, and a reward of -1 if
    it reaches -1. The position is incremented by the action amount (clamped to [-step_size, step_size]).
    """

    def __init__(self, use_discrete):
        super().__init__()
        self.discrete = use_discrete
        self._brains: Dict[str, BrainParameters] = {}
        brain_params = BrainParameters(
            brain_name=BRAIN_NAME,
            vector_observation_space_size=OBS_SIZE,
            num_stacked_vector_observations=1,
            camera_resolutions=[],
            vector_action_space_size=[2] if use_discrete else [1],
            vector_action_descriptions=["moveDirection"],
            vector_action_space_type=0 if use_discrete else 1,
        )
        self._brains[BRAIN_NAME] = brain_params

        # state
        self.position = 0.0
        self.step_count = 0
        self.random = random.Random(str(brain_params))
        self.goal = self.random.choice([-1, 1])

    def step(
        self,
        vector_action: Dict[str, Any] = None,
        memory: Dict[str, Any] = None,
        text_action: Dict[str, Any] = None,
        value: Dict[str, Any] = None,
    ) -> AllBrainInfo:
        assert vector_action is not None

        if self.discrete:
            act = vector_action[BRAIN_NAME][0][0]
            delta = 1 if act else -1
        else:
            delta = vector_action[BRAIN_NAME][0][0]
        delta = clamp(delta, -STEP_SIZE, STEP_SIZE)
        self.position += delta
        self.position = clamp(self.position, -1, 1)
        self.step_count += 1
        done = self.position >= 1.0 or self.position <= -1.0
        if done:
            reward = SUCCESS_REWARD * self.position * self.goal
        else:
            reward = -TIME_PENALTY

        agent_info = AgentInfoProto(
            stacked_vector_observation=[self.goal] * OBS_SIZE, reward=reward, done=done
        )

        if done:
            self._reset_agent()

        return {
            BRAIN_NAME: BrainInfo.from_agent_proto(
                0, [agent_info], self._brains[BRAIN_NAME]
            )
        }

    def _reset_agent(self):
        self.position = 0.0
        self.step_count = 0
        self.goal = self.random.choice([-1, 1])

    def reset(
        self,
        config: Dict[str, float] = None,
        train_mode: bool = True,
        custom_reset_parameters: Any = None,
    ) -> AllBrainInfo:  # type: ignore
        self._reset_agent()

        agent_info = AgentInfoProto(
            stacked_vector_observation=[self.goal] * OBS_SIZE,
            done=False,
            max_step_reached=False,
        )
        return {
            BRAIN_NAME: BrainInfo.from_agent_proto(
                0, [agent_info], self._brains[BRAIN_NAME]
            )
        }

    @property
    def external_brains(self) -> Dict[str, BrainParameters]:
        return self._brains

    @property
    def reset_parameters(self) -> Dict[str, str]:
        return {}

    def close(self):
        pass


PPO_CONFIG = """
    default:
        trainer: ppo
        batch_size: 16
        beta: 5.0e-3
        buffer_size: 64
        epsilon: 0.2
        hidden_units: 128
        lambd: 0.95
        learning_rate: 5.0e-3
        max_steps: 2500
        memory_size: 256
        normalize: false
        num_epoch: 3
        num_layers: 2
        time_horizon: 64
        sequence_length: 64
        summary_freq: 500
        use_recurrent: false
        reward_signals:
            extrinsic:
                strength: 1.0
                gamma: 0.99
    """

SAC_CONFIG = """
    default:
        trainer: sac
        batch_size: 8
        buffer_size: 500
        buffer_init_steps: 100
        hidden_units: 16
        init_entcoef: 0.01
        learning_rate: 5.0e-3
        max_steps: 1000
        memory_size: 256
        normalize: false
        num_update: 1
        train_interval: 1
        num_layers: 1
        time_horizon: 64
        sequence_length: 64
        summary_freq: 500
        tau: 0.005
        use_recurrent: false
        curiosity_enc_size: 128
        demo_path: None
        vis_encode_type: simple
        reward_signals:
            extrinsic:
                strength: 1.0
                gamma: 0.99
    """


def _check_environment_trains(env, config):
    # Create controller and begin training.
    with tempfile.TemporaryDirectory() as dir:
        run_id = "id"
        save_freq = 99999
        seed = 1337

        trainer_config = yaml.safe_load(config)
        env_manager = SimpleEnvManager(env)
        trainer_factory = TrainerFactory(
            trainer_config=trainer_config,
            summaries_dir=dir,
            run_id=run_id,
            model_path=dir,
            keep_checkpoints=1,
            train_model=True,
            load_model=False,
            seed=seed,
            meta_curriculum=None,
            multi_gpu=False,
        )

        tc = TrainerController(
            trainer_factory=trainer_factory,
            summaries_dir=dir,
            model_path=dir,
            run_id=run_id,
            meta_curriculum=None,
            train=True,
            training_seed=seed,
            fast_simulation=True,
            sampler_manager=SamplerManager(None),
            resampling_interval=None,
            save_freq=save_freq,
        )

        # Begin training
        tc.start_learning(env_manager)
        print(tc._get_measure_vals())
        for brain_name, mean_reward in tc._get_measure_vals().items():
            assert not math.isnan(mean_reward)
            assert mean_reward > 0.99


@pytest.mark.parametrize("use_discrete", [True, False])
def test_simple_ppo(use_discrete):
    env = Simple1DEnvironment(use_discrete=use_discrete)
    _check_environment_trains(env, PPO_CONFIG)


@pytest.mark.parametrize("use_discrete", [True, False])
def test_simple_sac(use_discrete):
    env = Simple1DEnvironment(use_discrete=use_discrete)
    _check_environment_trains(env, SAC_CONFIG)