def test_insert_demos(self):
"""
Tests inserting into the demo memory.
"""
env = OpenAIGymEnv.from_spec(self.env_spec)
agent_config = config_from_path("configs/dqfd_agent_for_cartpole.json")
agent = DQFDAgent.from_spec(
agent_config,
state_space=env.state_space,
action_space=env.action_space
)
terminals = BoolBox(add_batch_rank=True)
rewards = FloatBox(add_batch_rank=True)
# Observe a single data point.
agent.observe_demos(
preprocessed_states=agent.preprocessed_state_space.with_batch_rank().sample(1),
actions=env.action_space.with_batch_rank().sample(1),
rewards=rewards.sample(1),
next_states=agent.preprocessed_state_space.with_batch_rank().sample(1),
terminals=terminals.sample(1),
)
# Observe a batch of demos.
agent.observe_demos(
preprocessed_states=agent.preprocessed_state_space.sample(10),
actions=env.action_space.sample(10),
rewards=FloatBox().sample(10),
terminals=terminals.sample(10),
next_states=agent.preprocessed_state_space.sample(10)
)
def test_update_online(self):
"""
Tests if joint updates from demo and online memory work.
"""
env = OpenAIGymEnv.from_spec(self.env_spec)
agent_config = config_from_path("configs/dqfd_agent_for_cartpole.json")
agent = DQFDAgent.from_spec(
agent_config,
state_space=env.state_space,
action_space=env.action_space
)
terminals = BoolBox(add_batch_rank=True)
# Observe a batch of demos.
agent.observe_demos(
preprocessed_states=agent.preprocessed_state_space.sample(32),
actions=env.action_space.sample(32),
rewards=FloatBox().sample(32),
terminals=terminals.sample(32),
next_states=agent.preprocessed_state_space.sample(32)
)
# Observe a batch of online data.
agent._observe_graph(
preprocessed_states=agent.preprocessed_state_space.sample(32),
actions=env.action_space.sample(32),
rewards=FloatBox().sample(32),
internals=[],
terminals=terminals.sample(32),
next_states=agent.preprocessed_state_space.sample(32)
)
# Call update.
agent.update()
def test_demos_with_container_actions(self):
# Tests if dqfd can fit a set of states to a set of actions.
vocab_size = 100
embed_dim = 128
# ID/state space.
state_space = IntBox(vocab_size, shape=(10, ))
# Container action space.
actions_space = {}
num_outputs = 3
for i in range(3):
actions_space['action_{}'.format(i)] = IntBox(low=0,
high=num_outputs)
actions_space = Dict(actions_space)
agent_config = config_from_path("configs/dqfd_container.json")
agent_config["network_spec"] = [
dict(type="embedding", embed_dim=embed_dim, vocab_size=vocab_size),
dict(type="reshape", flatten=True),
dict(type="dense",
units=embed_dim,
activation="relu",
scope="dense_1")
]
agent = DQFDAgent.from_spec(agent_config,
state_space=state_space,
action_space=actions_space)
terminals = BoolBox(add_batch_rank=True)
rewards = FloatBox(add_batch_rank=True)
# Create a set of demos.
demo_states = agent.preprocessed_state_space.with_batch_rank().sample(
20)
demo_actions = actions_space.with_batch_rank().sample(20)
demo_rewards = rewards.sample(20, fill_value=1.0)
demo_next_states = agent.preprocessed_state_space.with_batch_rank(
).sample(20)
demo_terminals = terminals.sample(20, fill_value=False)
# Insert.
agent.observe_demos(
preprocessed_states=demo_states,
actions=demo_actions,
rewards=demo_rewards,
next_states=demo_next_states,
terminals=demo_terminals,
)
# Fit demos.
agent.update_from_demos(num_updates=5000, batch_size=20)
# Evaluate demos:
agent_actions = agent.get_action(demo_states,
apply_preprocessing=False,
use_exploration=False)
recursive_assert_almost_equal(agent_actions, demo_actions)
def test_update_from_demos(self):
"""
Tests the separate API method to update from demos.
"""
env = OpenAIGymEnv.from_spec(self.env_spec)
agent_config = config_from_path("configs/dqfd_agent_for_cartpole.json")
agent = DQFDAgent.from_spec(agent_config,
state_space=env.state_space,
action_space=env.action_space)
terminals = BoolBox(add_batch_rank=True)
rewards = FloatBox(add_batch_rank=True)
state_1 = agent.preprocessed_state_space.with_batch_rank().sample(1)
action_1 = [1]
state_2 = agent.preprocessed_state_space.with_batch_rank().sample(1)
action_2 = [0]
# Insert two states with fixed actions and a few random examples.
for _ in range(10):
# State with correct action
agent.observe_demos(
preprocessed_states=state_1,
actions=action_1,
rewards=rewards.sample(1),
next_states=agent.preprocessed_state_space.with_batch_rank().
sample(1),
terminals=terminals.sample(1),
)
agent.observe_demos(
preprocessed_states=state_2,
actions=action_2,
rewards=rewards.sample(1),
next_states=agent.preprocessed_state_space.with_batch_rank().
sample(1),
terminals=terminals.sample(1),
)
# Update.
agent.update_from_demos(num_updates=100, batch_size=8)
# Test if fixed states and actions map.
action = agent.get_action(states=state_1,
apply_preprocessing=False,
use_exploration=False)
self.assertEqual(action, action_1)
action = agent.get_action(states=state_2,
apply_preprocessing=False,
use_exploration=False)
self.assertEqual(action, action_2)
def test_container_actions(self):
# Test container actions with embedding.
vocab_size = 100
embed_dim = 128
# ID/state space.
state_space = IntBox(vocab_size, shape=(10, ))
# Container action space.
actions_space = {}
num_outputs = 3
for i in range(3):
actions_space['action_{}'.format(i)] = IntBox(low=0,
high=num_outputs)
actions_space = Dict(actions_space)
agent_config = config_from_path("configs/dqfd_container.json")
agent_config["network_spec"] = [
dict(type="embedding", embed_dim=embed_dim, vocab_size=vocab_size),
dict(type="reshape", flatten=True),
dict(type="dense",
units=embed_dim,
activation="relu",
scope="dense_1")
]
agent = DQFDAgent.from_spec(agent_config,
state_space=state_space,
action_space=actions_space)
terminals = BoolBox(add_batch_rank=True)
rewards = FloatBox(add_batch_rank=True)
agent.observe_demos(
preprocessed_states=agent.preprocessed_state_space.with_batch_rank(
).sample(1),
actions=actions_space.with_batch_rank().sample(1),
rewards=rewards.sample(1),
next_states=agent.preprocessed_state_space.with_batch_rank().
sample(1),
terminals=terminals.sample(1),
)
def test_custom_margin_demos_with_container_actions(self):
# Tests if using different margins per sample works.
# Same state, but different
vocab_size = 100
embed_dim = 8
# ID/state space.
state_space = IntBox(vocab_size, shape=(10,))
# Container action space.
actions_space = {}
num_outputs = 3
for i in range(3):
actions_space['action_{}'.format(i)] = IntBox(
low=0,
high=num_outputs
)
actions_space = Dict(actions_space)
agent_config = config_from_path("configs/dqfd_container.json")
agent_config["network_spec"] = [
dict(type="embedding", embed_dim=embed_dim, vocab_size=vocab_size),
dict(type="reshape", flatten=True),
dict(type="dense", units=embed_dim, activation="relu", scope="dense_1")
]
agent = DQFDAgent.from_spec(
agent_config,
state_space=state_space,
action_space=actions_space
)
terminals = BoolBox(add_batch_rank=True)
rewards = FloatBox(add_batch_rank=True)
# Create a set of demos.
demo_states = agent.preprocessed_state_space.with_batch_rank().sample(2)
# Same state.
demo_states[1] = demo_states[0]
demo_actions = actions_space.with_batch_rank().sample(2)
for name, action in actions_space.items():
demo_actions[name][0] = 0
demo_actions[name][1] = 1
demo_rewards = rewards.sample(2, fill_value=.0)
# One action has positive reward, one negative
demo_rewards[0] = 0
demo_rewards[1] = 0
# One action is encouraged, one is discouraged.
margins = np.asarray([0.5, -0.5])
demo_next_states = agent.preprocessed_state_space.with_batch_rank().sample(2)
demo_terminals = terminals.sample(2, fill_value=False)
# When using margins, need to use external batch.
batch = dict(
states=demo_states,
actions=demo_actions,
rewards=demo_rewards,
next_states=demo_next_states,
importance_weights=np.ones_like(demo_rewards),
terminals=demo_terminals,
)
# Fit demos with custom margins.
for _ in range(10000):
agent.update(batch=batch, update_from_demos=False, apply_demo_loss_to_batch=True, expert_margins=margins)
# Evaluate demos for the state -> should have action with positive reward.
agent_actions = agent.get_action(np.array([demo_states[0]]), apply_preprocessing=False, use_exploration=False)
print("learned action = ", agent_actions)