class RewardsTests(unittest.TestCase):
def setUp(self):
"""Create simple environment to test rewards."""
self._env = TGEnv('4x4-test-rewards')
def test_reward_guard_catch_thief(self):
"""Test reward for guard catching thief."""
_, reward, _, _ = self._env.step([NOOP, UP])
self.assertEqual(tuple(reward), REWARDS['killed'])
def test_reward_thief_runs_into_guard(self):
"""Test reward for thief running into a guard, stupidly."""
_, reward, _, _ = self._env.step([DOWN, NOOP])
self.assertEqual(tuple(reward), REWARDS['killed'])
def test_reward_thief_finds_treasure(self):
"""Test reward for thief getting that sweet, sweet treasure."""
_, reward, _, _ = self._env.step([UP, NOOP])
self.assertEqual(tuple(reward), REWARDS['treasure'])
def test_reward_out_of_time(self):
"""Test rewards for when environment time is spent."""
# Perform no movements until the max number of steps
done = [False]
# TODO check this
while not all(done):
_, reward, done, _ = self._env.step([NOOP, NOOP])
self.assertEqual(tuple(reward), REWARDS['out_of_time'])
def setUp(self):
"""Create simple environment to test thief and guardian movements."""
"""
'4x4-test-movements': [
[_, _, _, _],
[_, T, _, _],
[_, _, G, _],
[_, _, _, S],
],
"""
self._env = TGEnv('4x4-test-movements')
self._init_thief_pos = self._env._id2pos[0]
self._init_guard_pos = self._env._id2pos[1]
def setUp(self):
"""Create simple environment where thief and guardian can't move."""
"""
'4x4-test-movements-walls': [
[_, W, _, _],
[W, T, W, _],
[_, W, G, W],
[_, _, W, _],
],
"""
self._env = TGEnv('4x4-test-movements-walls')
self._init_thief_pos = self._env._id2pos[0]
self._init_guard_pos = self._env._id2pos[1]
class WallMovementsTests(unittest.TestCase):
def setUp(self):
"""Create simple environment where thief and guardian can't move."""
"""
'4x4-test-movements-walls': [
[_, W, _, _],
[W, T, W, _],
[_, W, G, W],
[_, _, W, _],
],
"""
self._env = TGEnv('4x4-test-movements-walls')
self._init_thief_pos = self._env._id2pos[0]
self._init_guard_pos = self._env._id2pos[1]
def test_move_up_to_wall(self):
"""Move up to a wall."""
self._env.step([UP, UP])
curr_thief_pos = self._env._id2pos[0]
curr_guard_pos = self._env._id2pos[1]
self.assertEqual(curr_thief_pos, self._init_thief_pos)
self.assertEqual(curr_guard_pos, self._init_guard_pos)
def test_move_down_to_wall(self):
"""Move down to a wall."""
self._env.step([DOWN, DOWN])
curr_thief_pos = self._env._id2pos[0]
curr_guard_pos = self._env._id2pos[1]
self.assertEqual(curr_thief_pos, self._init_thief_pos)
self.assertEqual(curr_guard_pos, self._init_guard_pos)
def test_move_left_to_wall(self):
"""Move left to a wall."""
self._env.step([LEFT, LEFT])
curr_thief_pos = self._env._id2pos[0]
curr_guard_pos = self._env._id2pos[1]
self.assertEqual(curr_thief_pos, self._init_thief_pos)
self.assertEqual(curr_guard_pos, self._init_guard_pos)
def test_move_right_to_wall(self):
"""Move up to a wall."""
self._env.step([RIGHT, RIGHT])
curr_thief_pos = self._env._id2pos[0]
curr_guard_pos = self._env._id2pos[1]
self.assertEqual(curr_thief_pos, self._init_thief_pos)
self.assertEqual(curr_guard_pos, self._init_guard_pos)
def instantiate(
config: Config) -> (TGEnv, List[Policy], List[RolloutsStorage]):
""" Instantiate the environment, agents and storages """
env = TGEnv(config)
# Each avatar has its own storage (because they do not all die at the same time)
storage_class = CyclicStorage if config.algorithm == 'sac' else OnPolicyStorage
avatar_storages = [
storage_class(config, env.state_shape) for _ in range(env.num_avatars)
]
# Each team has its own copy of the policy
policy_class = POLICY_CLASSES[config.algorithm]
team_policies = [
policy_class(config, env.state_shape, env.num_actions[team])
for team in range(env.num_teams)
]
return env, team_policies, avatar_storages
def test_thieves_guardian_alive_on_treasure_touch(self):
""" It's still considered alive for this time step, but will be dead for next timestep """
env = TGEnv('2x3-2thieves-guardian-treasure')
_, _, done, _ = env.step([NOOP, DOWN, NOOP])
self.assertEqual(list(env.avatar_alive), [False, False, False])
def test_thieves_guardian_done_after_treasure(self):
env = TGEnv('2x3-2thieves-guardian-treasure')
_, _, done, _ = env.step([NOOP, DOWN, NOOP])
self.assertEqual(list(done), [True, True, True])
def test_thieves_guardian_alive_after_move(self):
env = TGEnv('2x3-2thieves-guardian-treasure')
_, _, done, _ = env.step([NOOP, RIGHT, NOOP])
self.assertEqual(list(env.avatar_alive), [True, True, True])
def test_thieves_guardian_not_done_after_move(self):
env = TGEnv('2x3-2thieves-guardian-treasure')
_, _, done, _ = env.step([NOOP, RIGHT, NOOP])
self.assertEqual(list(done), [False, False, False])
def test_thief_guardian_done_after_treasure(self):
env = TGEnv('2x2-thief-guardian-treasure')
_, _, done, _ = env.step([RIGHT, NOOP])
_, _, done, _ = env.step([DOWN, NOOP])
self.assertEqual(list(done), [True, True])
def test_single_alive_after_move(self):
env = TGEnv('2x2-thief-treasure')
_, _, done, _ = env.step([RIGHT])
self.assertEqual(env.avatar_alive, [True])
def test_single_not_done_after_move(self):
env = TGEnv('2x2-thief-treasure')
_, _, done, _ = env.step([RIGHT])
self.assertEqual(done, [False])
def test_single_initial_done(self):
env = TGEnv('2x2-thief-treasure')
self.assertEqual(env.avatar_alive, [True])
def setUp(self):
"""Create simple environment to test rewards."""
self._env = TGEnv('4x4-test-rewards')
def test_thieves_guardian_one_done_after_guardian_touch(self):
""" It's still considered alive for this time step, but will be dead for next timestep """
env = TGEnv('2x3-2thieves-guardian-treasure')
_, _, done, _ = env.step([NOOP, NOOP, UP])
self.assertEqual(list(done), [True, False, False])
def test_single_done_after_treasure(self):
env = TGEnv('2x2-thief-treasure')
_, _, done, _ = env.step([RIGHT])
_, _, done, _ = env.step([DOWN])
self.assertEqual(done, [True])
def simulate_episode(env: TGEnv, team_policies: List[Policy], sampling_method):
"""
sampling_method: either one int or one for each team
"""
if type(sampling_method) is int:
sampling_method = [sampling_method] * env.num_teams
map_history = []
pos2id_history = []
rewards_history = []
actions_history = []
avatar_policies = [
team_policies[env.id2team[avatar_id]]
for avatar_id in range(env.num_avatars)
]
env_states = env.reset() # shape: [num_avatars, *env_state_shape]
rec_hs, rec_cs = _get_initial_recurrent_state(avatar_policies)
dones = [False] * env.num_avatars
cumulative_reward = np.zeros(env.num_avatars)
actions = [0] * env.num_avatars
action_log_probs = [0] * env.num_avatars
# Set to evaluation mode
for policy in team_policies:
policy.controller.eval()
while not all(dones):
map_history.append(env._map.copy())
pos2id_history.append(copy(env._pos2id))
rewards_history.append(cumulative_reward.copy())
# Alive at the beginning of step
avatar_alive = env.avatar_alive.copy()
# Run each alive avatar individually
for avatar_id in range(env.num_avatars):
if avatar_alive[avatar_id]:
# Chose action based on the policy
team = env.id2team[avatar_id]
policy = team_policies[team]
if sampling_method[team] == SCRIPTED:
scripted_action = env.scripted_action(avatar_id)
else:
scripted_action = None
with torch.no_grad():
(
actions[avatar_id],
action_log_probs[avatar_id],
_,
_,
rec_hs[avatar_id],
rec_cs[avatar_id],
) = policy.pick_action_and_info(
env_states[avatar_id],
rec_hs[avatar_id],
rec_cs[avatar_id],
sampling_method=sampling_method[team],
externally_chosen_action=scripted_action,
)
else:
actions[avatar_id] = DEAD
# Step the environment with one action for each avatar
env_states, rewards, dones, infos = env.step(actions)
cumulative_reward += rewards
actions_history.append([
ACTION_IDX2SYMBOL[env._interpret_action(a, env.id2team[i])]
for i, a in enumerate(actions)
])
# Add final state as well
map_history.append(env._map.copy())
pos2id_history.append(copy(env._pos2id))
rewards_history.append(cumulative_reward.copy())
actions_history.append([ACTION_IDX2SYMBOL[DEAD]] * env.num_avatars)
return map_history, pos2id_history, rewards_history, actions_history, infos[
'end_reason']
def test_single_alive_on_treasure_touch(self):
""" It's still considered alive for this time step, but will be dead for next timestep """
env = TGEnv('2x2-thief-treasure')
_, _, done, _ = env.step([RIGHT])
_, _, done, _ = env.step([DOWN])
self.assertEqual(env.avatar_alive, [False])
def perform_update(config, env: TGEnv, team_policies: List[Policy],
avatar_storages: List[RolloutsStorage]):
""" Collects rollouts and updates """
# Used to log
total_rewards = EpisodeAccumulator(env.num_avatars)
steps_alive = EpisodeAccumulator(env.num_avatars)
first_step_probas = EpisodeAccumulator(env.num_avatars,
max(env.num_actions))
end_reasons = []
# Will be filled in for each avatar when stepping the environment individually
actions = [0] * env.num_avatars
action_log_probs = [0] * env.num_avatars
values = [0] * env.num_avatars
avatar_policies = [
team_policies[env.id2team[avatar_id]]
for avatar_id in range(env.num_avatars)
]
# Always start with a fresh env
env_states = env.reset() # shape: [num_avatars, *env_state_shape]
rec_hs, rec_cs = _get_initial_recurrent_state(avatar_policies)
next_rec_hs, next_rec_cs = rec_hs, rec_cs
first_episode_step = True
# Set to eval mode because batch norm cannot be computed on a batch size of 1
# and when we pick actions we only pick one at a time
for policy in team_policies:
policy.controller.eval()
# Collect rollouts
# TODO (?): collect in parallel
for step in range(config.num_transitions):
# Alive at the beginning of step
avatar_alive = env.avatar_alive.copy()
# Run each alive avatar individually
for avatar_id in range(env.num_avatars):
if avatar_alive[avatar_id]:
# Chose action based on the policy
team = env.id2team[avatar_id]
policy = team_policies[team]
action_source = policy.scheduler.pick_action_source()
if action_source == SCRIPTED:
scripted_action = env.scripted_action(avatar_id)
else:
scripted_action = None
(
actions[avatar_id],
action_log_probs[avatar_id],
actor_logits,
values[avatar_id],
next_rec_hs[avatar_id],
next_rec_cs[avatar_id],
) = policy.pick_action_and_info(
env_states[avatar_id],
rec_hs[avatar_id],
rec_cs[avatar_id],
sampling_method=action_source,
externally_chosen_action=scripted_action,
)
if first_episode_step:
probas = softmax(actor_logits.detach().numpy().flatten())
first_step_probas.current[avatar_id, :len(probas)] = probas
# Step the environment with one action for each avatar
next_env_states, rewards, dones, info = env.step(actions)
# Insert transitions for alive avatars
for avatar_id in range(env.num_avatars):
if avatar_alive[avatar_id]:
storage = avatar_storages[avatar_id]
storage.insert(
env_states[avatar_id],
actions[avatar_id],
action_log_probs[avatar_id],
values[avatar_id],
rewards[avatar_id],
dones[avatar_id],
rec_hs[avatar_id],
rec_cs[avatar_id],
)
total_rewards.current += rewards
steps_alive.current += avatar_alive
# Episode is done
if all(dones):
env_states = env.reset()
rec_hs, rec_cs = _get_initial_recurrent_state(avatar_policies)
total_rewards.episode_over()
steps_alive.episode_over()
first_step_probas.episode_over()
end_reasons.append(info['end_reason'])
first_episode_step = True
# The states were not immediately overwritten because we store the state that was used to generate (env_states)
# the action for the current time-step, not the one we arrive in (next_env_states)
else:
env_states = next_env_states
rec_hs = next_rec_hs
rec_cs = next_rec_cs
first_episode_step = False
# Compute returns for all storages
for storage in avatar_storages:
storage.compute_returns()
# Report progress
avatar_rewards = total_rewards.final_history(drop_last=True)
avg_team_rewards = np.array(
[
avatar_rewards[:, mask].sum() /
sum(mask) # take average per avatar
for mask in env.team_masks
]
) # shape [num_teams,] holds the average reward of all thieves thieves got and the average of all guardians
relative_team_rewards = avg_team_rewards / avg_team_rewards.sum()
for measure, policy in zip(relative_team_rewards, team_policies):
policy.scheduler.end_iteration_report(measure)
# Set to training mode
for policy in team_policies:
policy.controller.train()
# Update policies
losses_history = [[] for _ in range(env.num_teams)]
for epoch in range(config.num_epochs):
for avatar_id in range(env.num_avatars):
team = env.id2team[avatar_id]
policy = team_policies[team]
storage = avatar_storages[avatar_id]
for batch in storage.sample_batches():
# A batch contains multidimensional env_states, rec_hs, rec_cs, actions, old_action_log_probs, returns
losses = policy.update(*batch)
losses_history[team].append(losses)
# Prepare storages for the next update
for storage in avatar_storages:
storage.reset()
scheduling_statuses = [
policy.sync_scheduled_values() for policy in team_policies
]
# Ignore last episode since it's most likely unfinished
return (
total_rewards.final_history(drop_last=True),
steps_alive.final_history(drop_last=True),
first_step_probas.final_history(drop_last=False),
end_reasons,
losses_history,
scheduling_statuses,
)
class BasicMovementTests(unittest.TestCase):
def setUp(self):
"""Create simple environment to test thief and guardian movements."""
"""
'4x4-test-movements': [
[_, _, _, _],
[_, T, _, _],
[_, _, G, _],
[_, _, _, S],
],
"""
self._env = TGEnv('4x4-test-movements')
self._init_thief_pos = self._env._id2pos[0]
self._init_guard_pos = self._env._id2pos[1]
def basic_movement(self, moves: [int], expected_delta: [int]):
# Take a step
self._env.step(moves)
# Get the new thief and guardian positions
curr_thief_pos = self._env._id2pos[0]
curr_guard_pos = self._env._id2pos[1]
# Check the new positions against expected delta + old position
self.assertEqual(curr_thief_pos,
tuple(self._init_thief_pos + expected_delta))
self.assertEqual(curr_guard_pos,
tuple(self._init_guard_pos + expected_delta))
def test_move_right(self):
"""Test moving right for thief and guardian."""
self.basic_movement([RIGHT, RIGHT], action_idx2delta[RIGHT])
def test_move_down(self):
"""Test moving down for thief and guardian."""
self.basic_movement([DOWN, DOWN], action_idx2delta[DOWN])
def test_move_up(self):
"""Test moving up for thief and guardian."""
self.basic_movement([UP, UP], action_idx2delta[UP])
def test_move_left(self):
"""Test moving left for thief and guardian."""
self.basic_movement([LEFT, LEFT], action_idx2delta[LEFT])
def test_move_thief_boundary_left(self):
"""Test thief bumping into left boundary."""
self._env.step([LEFT, NOOP])
self._env.step([LEFT, NOOP])
self._env.step([LEFT, NOOP])
curr_thief_pos = self._env._id2pos[0]
expected_pos = (1, 0)
self.assertEqual(curr_thief_pos, expected_pos)
def test_move_thief_boundary_up(self):
"""Test thief bumping into top boundary"""
self._env.step([UP, NOOP])
self._env.step([UP, NOOP])
self._env.step([UP, NOOP])
curr_thief_pos = self._env._id2pos[0]
expected_pos = (0, 1)
self.assertEqual(curr_thief_pos, expected_pos)
def test_move_thief_boundary_down(self):
"""Test thief bumping into bottom boundary"""
self._env.step([DOWN, NOOP])
self._env.step([DOWN, NOOP])
self._env.step([DOWN, NOOP])
curr_thief_pos = self._env._id2pos[0]
expected_pos = (3, 1)
self.assertEqual(curr_thief_pos, expected_pos)
def test_move_thief_boundary_right(self):
"""Test thief bumping into right boundary"""
self._env.step([RIGHT, NOOP])
self._env.step([RIGHT, NOOP])
self._env.step([RIGHT, NOOP])
curr_thief_pos = self._env._id2pos[0]
expected_pos = (1, 3)
self.assertEqual(curr_thief_pos, expected_pos)
def test_move_guardian_boundary_left(self):
"""Test guardian bumping into left boundary."""
self._env.step([NOOP, LEFT])
self._env.step([NOOP, LEFT])
self._env.step([NOOP, LEFT])
curr_guardian_pos = self._env._id2pos[1]
expected_pos = (2, 0)
self.assertEqual(curr_guardian_pos, expected_pos)
def test_move_guardian_boundary_up(self):
"""Test guardian bumping into top boundary"""
self._env.step([NOOP, UP])
self._env.step([NOOP, UP])
self._env.step([NOOP, UP])
curr_guardian_pos = self._env._id2pos[1]
expected_pos = (0, 2)
self.assertEqual(curr_guardian_pos, expected_pos)
def test_move_guardian_boundary_down(self):
"""Test guardian bumping into bottom boundary"""
self._env.step([NOOP, DOWN])
self._env.step([NOOP, DOWN])
self._env.step([NOOP, DOWN])
curr_guardian_pos = self._env._id2pos[1]
expected_pos = (3, 2)
self.assertEqual(curr_guardian_pos, expected_pos)
def test_move_guardian_boundary_right(self):
"""Test guardian bumping into right boundary"""
self._env.step([NOOP, RIGHT])
self._env.step([NOOP, RIGHT])
self._env.step([NOOP, RIGHT])
curr_guardian_pos = self._env._id2pos[1]
expected_pos = (2, 3)
self.assertEqual(curr_guardian_pos, expected_pos)
def test_move_guardian_treasure(self):
"""Test guardian bumping into treasure."""
self._env.step([NOOP, DOWN])
self._env.step([NOOP, RIGHT])
curr_guardian_pos = self._env._id2pos[1]
expected_pos = (3, 2)
self.assertEqual(curr_guardian_pos, expected_pos)