def test_output_shape(self, obs_dim, action_dim):
env = TfEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
with mock.patch(('garage.tf.q_functions.'
'continuous_mlp_q_function.MLPMergeModel'),
new=SimpleMLPMergeModel):
qf = ContinuousMLPQFunction(env_spec=env.spec)
env.reset()
obs, _, _, _ = env.step(1)
obs = obs.flatten()
act = np.full(action_dim, 0.5).flatten()
obs_ph, act_ph = qf.inputs
outputs = qf.get_qval([obs], [act])
assert outputs.shape == (1, 1)
def test_output_shape(self, obs_dim, act_dim, output_dim, hidden_sizes):
env_spec = TfEnv(DummyBoxEnv())
obs = torch.ones(obs_dim, dtype=torch.float32).unsqueeze(0)
act = torch.ones(act_dim, dtype=torch.float32).unsqueeze(0)
nn_module = MLPModule(input_dim=obs_dim + act_dim,
output_dim=output_dim,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
qf = ContinuousNNQFunction(env_spec, nn_module)
output = qf.get_qval(obs, act)
assert output.shape == (1, 1)
def test_param_values(self, obs_dim):
box_env = TfEnv(DummyBoxEnv(obs_dim=obs_dim))
with mock.patch(('garage.tf.baselines.'
'gaussian_mlp_baseline_with_model.'
'GaussianMLPRegressorWithModel'),
new=SimpleGaussianMLPRegressor):
gmb = GaussianMLPBaselineWithModel(env_spec=box_env.spec)
new_gmb = GaussianMLPBaselineWithModel(
env_spec=box_env.spec, name='GaussianMLPBaselineWithModel2')
old_param_values = gmb.get_param_values()
new_param_values = new_gmb.get_param_values()
assert not np.array_equal(old_param_values, new_param_values)
new_gmb.set_param_values(old_param_values)
new_param_values = new_gmb.get_param_values()
assert np.array_equal(old_param_values, new_param_values)
def test_get_embedding(self, obs_dim, embedding_dim):
env = GarageEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=embedding_dim))
embedding_spec = InOutSpec(input_space=env.spec.observation_space,
output_space=env.spec.action_space)
embedding = GaussianMLPEncoder(embedding_spec)
task_input = tf.compat.v1.placeholder(tf.float32,
shape=(None, None,
embedding.input_dim))
embedding.build(task_input)
env.reset()
obs, _, _, _ = env.step(1)
latent, _ = embedding.forward(obs)
assert env.action_space.contains(latent)
def test_get_action(self, obs_dim, action_dim, hidden_dim):
env = GarageEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
policy = GaussianLSTMPolicy(env_spec=env.spec,
hidden_dim=hidden_dim,
state_include_action=False)
policy.reset()
obs = env.reset()
action, _ = policy.get_action(obs.flatten())
assert env.action_space.contains(action)
actions, _ = policy.get_actions([obs.flatten()])
for action in actions:
assert env.action_space.contains(action)
def test_output_shape(self, batch_size, hidden_sizes):
env_spec = GymEnv(DummyBoxEnv()).spec
obs_dim = env_spec.observation_space.flat_dim
act_dim = env_spec.action_space.flat_dim
obs = torch.ones(batch_size, obs_dim, dtype=torch.float32)
act = torch.ones(batch_size, act_dim, dtype=torch.float32)
qf = ContinuousMLPQFunction(env_spec=env_spec,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
output = qf(obs, act)
assert output.shape == (batch_size, 1)
def test_build(self, obs_dim, action_dim):
env = GymEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
policy = GaussianMLPPolicy(env_spec=env.spec)
obs = env.reset()[0]
state_input = tf.compat.v1.placeholder(tf.float32,
shape=(None, None,
policy.input_dim))
dist_sym = policy.build(state_input, name='dist_sym').dist
dist_sym2 = policy.build(state_input, name='dist_sym2').dist
output1 = self.sess.run([dist_sym.loc],
feed_dict={state_input: [[obs.flatten()]]})
output2 = self.sess.run([dist_sym2.loc],
feed_dict={state_input: [[obs.flatten()]]})
assert np.array_equal(output1, output2)
def test_is_pickleable(batch_size):
env_spec = GymEnv(DummyBoxEnv())
obs_dim = env_spec.observation_space.flat_dim
obs = torch.ones([batch_size, obs_dim], dtype=torch.float32)
qf = DiscreteMLPQFunction(env_spec=env_spec,
hidden_nonlinearity=None,
hidden_sizes=(2, 2))
policy = DiscreteQFArgmaxPolicy(qf, env_spec)
output1 = policy.get_actions(obs.numpy())[0]
p = pickle.dumps(policy)
policy_pickled = pickle.loads(p)
output2 = policy_pickled.get_actions(obs.numpy())[0]
assert np.array_equal(output1, output2)
def test_get_actions(self, obs_dim, act_dim, batch_size, hidden_sizes):
env_spec = TfEnv(DummyBoxEnv())
obs = torch.ones([batch_size, obs_dim], dtype=torch.float32)
nn_module = MLPModule(
input_dim=obs_dim,
output_dim=act_dim,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
policy = DeterministicPolicy(env_spec, nn_module)
expected_output = np.full([batch_size, act_dim],
fill_value=obs_dim * np.prod(hidden_sizes),
dtype=np.float32)
assert np.array_equal(policy.get_actions(obs), expected_output)
def test_is_pickleable(self):
box_env_spec = GarageEnv(DummyBoxEnv(obs_dim=(2, ))).spec
cmb = ContinuousMLPBaseline(env_spec=box_env_spec)
with tf.compat.v1.variable_scope('ContinuousMLPBaseline', reuse=True):
bias = tf.compat.v1.get_variable('mlp/hidden_0/bias')
bias.load(tf.ones_like(bias).eval())
_, _, paths, _ = get_train_test_data()
result1 = cmb.predict(paths)
h = pickle.dumps(cmb)
with tf.compat.v1.Session(graph=tf.Graph()):
cmb_pickled = pickle.loads(h)
result2 = cmb_pickled.predict(paths)
assert np.array_equal(result1, result2)
def test_get_actions(self, batch_size, hidden_sizes):
env_spec = TfEnv(DummyBoxEnv())
obs_dim = env_spec.observation_space.flat_dim
act_dim = env_spec.action_space.flat_dim
obs = torch.ones([batch_size, obs_dim], dtype=torch.float32)
policy = DeterministicMLPPolicy(env_spec=env_spec,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
expected_output = np.full([batch_size, act_dim],
fill_value=obs_dim * np.prod(hidden_sizes),
dtype=np.float32)
assert np.array_equal(policy.get_actions(obs)[0], expected_output)
def test_log_prob(self):
"""Test log_prob method of the policy."""
env_spec = MetaRLEnv(DummyBoxEnv())
init_std = 1.
obs = torch.Tensor([0, 0, 0, 0]).float()
action = torch.Tensor([0, 0]).float()
policy = GaussianMLPPolicy(env_spec=env_spec,
hidden_sizes=(1, ),
init_std=init_std,
hidden_nonlinearity=None,
std_parameterization='exp',
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
dist = policy(obs)
assert torch.allclose(dist.log_prob(action),
policy.log_likelihood(obs, action))
def test_is_pickleable(self, batch_size, hidden_sizes):
env_spec = TfEnv(DummyBoxEnv())
obs_dim = env_spec.observation_space.flat_dim
obs = torch.ones([batch_size, obs_dim], dtype=torch.float32)
policy = DeterministicMLPPolicy(env_spec=env_spec,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
output1 = policy.get_actions(obs)[0]
p = pickle.dumps(policy)
policy_pickled = pickle.loads(p)
output2 = policy_pickled.get_actions(obs)[0]
assert np.array_equal(output1, output2)
def test_get_action(self, obs_dim, action_dim):
"""Test get_action method"""
env = GarageEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
policy = ContinuousMLPPolicy(env_spec=env.spec)
env.reset()
obs, _, _, _ = env.step(1)
action, _ = policy.get_action(obs.flatten())
assert env.action_space.contains(action)
actions, _ = policy.get_actions(
[obs.flatten(), obs.flatten(),
obs.flatten()])
for action in actions:
assert env.action_space.contains(action)
def test_param_values(self):
box_env_spec = GarageEnv(DummyBoxEnv(obs_dim=(2, ))).spec
cmb = ContinuousMLPBaseline(env_spec=box_env_spec)
new_cmb = ContinuousMLPBaseline(env_spec=box_env_spec,
name='ContinuousMLPBaseline2')
# Manual change the parameter of ContinuousMLPBaseline
with tf.compat.v1.variable_scope('ContinuousMLPBaseline', reuse=True):
bias = tf.compat.v1.get_variable('mlp/hidden_0/bias')
bias.load(tf.ones_like(bias).eval())
old_param_values = cmb.get_param_values()
new_param_values = new_cmb.get_param_values()
assert not np.array_equal(old_param_values, new_param_values)
new_cmb.set_param_values(old_param_values)
new_param_values = new_cmb.get_param_values()
assert np.array_equal(old_param_values, new_param_values)
def test_forward(hidden_sizes):
env_spec = GymEnv(DummyBoxEnv()).spec
obs_dim = env_spec.observation_space.flat_dim
obs = torch.ones(obs_dim, dtype=torch.float32).unsqueeze(0)
qf = DiscreteMLPQFunction(env_spec=env_spec,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
output = qf(obs)
expected_output = torch.full([1, 1],
fill_value=(obs_dim) * np.prod(hidden_sizes),
dtype=torch.float32)
assert torch.eq(output, expected_output).all()
def test_pickling(self):
obs_dim, action_dim, task_num, latent_dim = (2, ), (2, ), 5, 2
env = GarageEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
embedding_spec = InOutSpec(
input_space=akro.Box(low=np.zeros(task_num),
high=np.ones(task_num)),
output_space=akro.Box(low=np.zeros(latent_dim),
high=np.ones(latent_dim)))
encoder = GaussianMLPEncoder(embedding_spec)
policy = GaussianMLPTaskEmbeddingPolicy(env_spec=env.spec,
encoder=encoder)
pickled = pickle.dumps(policy)
with tf.compat.v1.variable_scope('resumed'):
unpickled = pickle.loads(pickled)
assert hasattr(unpickled, '_f_dist_obs_latent')
assert hasattr(unpickled, '_f_dist_obs_task')
def setup_method(self):
with mock.patch('tensorflow.random.normal') as mock_rand:
mock_rand.return_value = 0.5
super().setup_method()
self.box_env = TfEnv(DummyBoxEnv())
self.policy1 = GaussianMLPPolicy(env_spec=self.box_env,
init_std=1.0,
name='P1')
self.policy2 = GaussianMLPPolicy(env_spec=self.box_env,
init_std=1.2,
name='P2')
self.policy3 = GaussianMLPPolicyWithModel(env_spec=self.box_env,
init_std=1.0,
name='P3')
self.policy4 = GaussianMLPPolicyWithModel(env_spec=self.box_env,
init_std=1.2,
name='P4')
self.sess.run(tf.global_variables_initializer())
for a, b in zip(self.policy3.get_params(),
self.policy1.get_params()):
self.sess.run(tf.assign(b, a))
for a, b in zip(self.policy4.get_params(),
self.policy2.get_params()):
self.sess.run(tf.assign(b, a))
self.obs = [self.box_env.reset()]
self.obs_ph = tf.placeholder(
tf.float32,
shape=(None, self.box_env.observation_space.flat_dim))
self.action_ph = tf.placeholder(
tf.float32, shape=(None, self.box_env.action_space.flat_dim))
self.dist1_sym = self.policy1.dist_info_sym(self.obs_ph,
name='p1_sym')
self.dist2_sym = self.policy2.dist_info_sym(self.obs_ph,
name='p2_sym')
self.dist3_sym = self.policy3.dist_info_sym(self.obs_ph,
name='p3_sym')
self.dist4_sym = self.policy4.dist_info_sym(self.obs_ph,
name='p4_sym')
assert self.policy1.vectorized == self.policy2.vectorized
assert self.policy3.vectorized == self.policy4.vectorized
def test_param_values(self):
box_env_spec = GarageEnv(DummyBoxEnv(obs_dim=(2, ))).spec
gmb = GaussianMLPBaseline(env_spec=box_env_spec)
new_gmb = GaussianMLPBaseline(env_spec=box_env_spec,
name='GaussianMLPBaseline2')
# Manual change the parameter of GaussianMLPBaseline
with tf.compat.v1.variable_scope('GaussianMLPBaseline', reuse=True):
bias = tf.compat.v1.get_variable(
'dist_params/mean_network/hidden_0/bias')
bias.load(tf.ones_like(bias).eval())
old_param_values = gmb.get_param_values()
new_param_values = new_gmb.get_param_values()
assert not np.array_equal(old_param_values, new_param_values)
new_gmb.set_param_values(old_param_values)
new_param_values = new_gmb.get_param_values()
assert np.array_equal(old_param_values, new_param_values)
def test_to(self):
"""Test Tanh Gaussian Policy can be moved to cpu."""
env_spec = GymEnv(DummyBoxEnv())
init_std = 2.
policy = TanhGaussianMLPPolicy(env_spec=env_spec,
hidden_sizes=(1, ),
init_std=init_std,
hidden_nonlinearity=None,
std_parameterization='exp',
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
if torch.cuda.is_available():
policy.to(torch.device('cuda:0'))
assert str(next(policy.parameters()).device) == 'cuda:0'
else:
policy.to(None)
assert str(next(policy.parameters()).device) == 'cpu'
def test_is_pickleable(hidden_sizes):
env_spec = GymEnv(DummyBoxEnv()).spec
obs_dim = env_spec.observation_space.flat_dim
obs = torch.ones(obs_dim, dtype=torch.float32).unsqueeze(0)
qf = DiscreteMLPQFunction(env_spec=env_spec,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
output1 = qf(obs)
p = pickle.dumps(qf)
qf_pickled = pickle.loads(p)
output2 = qf_pickled(obs)
assert torch.eq(output1, output2).all()
def test_is_pickleable(self, obs_dim, act_dim, batch_size, hidden_sizes):
env_spec = TfEnv(DummyBoxEnv())
obs = torch.ones([batch_size, obs_dim], dtype=torch.float32)
nn_module = MLPModule(
input_dim=obs_dim,
output_dim=act_dim,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
policy = DeterministicPolicy(env_spec, nn_module)
output1 = policy.get_actions(obs)
p = pickle.dumps(policy)
policy_pickled = pickle.loads(p)
output2 = policy_pickled.get_actions(obs)
assert np.array_equal(output1, output2)
def test_get_qval(self, obs_dim, act_dim, output_dim, hidden_sizes):
env_spec = TfEnv(DummyBoxEnv())
obs = torch.ones(obs_dim, dtype=torch.float32).unsqueeze(0)
act = torch.ones(act_dim, dtype=torch.float32).unsqueeze(0)
nn_module = MLPModule(input_dim=obs_dim + act_dim,
output_dim=output_dim,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
qf = ContinuousNNQFunction(env_spec, nn_module)
output = qf.get_qval(obs, act)
expected_output = torch.full([1, output_dim],
fill_value=(obs_dim + act_dim) *
np.prod(hidden_sizes),
dtype=torch.float32)
assert torch.eq(output, expected_output)
def test_get_embedding(self, obs_dim, embedding_dim):
env = GymEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=embedding_dim))
embedding_spec = InOutSpec(input_space=env.spec.observation_space,
output_space=env.spec.action_space)
embedding = GaussianMLPEncoder(embedding_spec)
task_input = tf.compat.v1.placeholder(tf.float32,
shape=(None, None,
embedding.input_dim))
embedding.build(task_input, name='task_input')
env.reset()
obs = env.step(env.action_space.sample()).observation
latent, _ = embedding.get_latent(obs)
latents, _ = embedding.get_latents([obs] * 5)
assert env.action_space.contains(latent)
for latent in latents:
assert env.action_space.contains(latent)
def test_is_pickleable(self, obs_dim, action_dim):
env = TfEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
with mock.patch(('garage.tf.policies.'
'deterministic_mlp_policy_with_model.MLPModel'),
new=SimpleMLPModel):
policy = DeterministicMLPPolicyWithModel(env_spec=env.spec)
env.reset()
obs, _, _, _ = env.step(1)
action1, _ = policy.get_action(obs)
p = pickle.dumps(policy)
with tf.Session(graph=tf.Graph()):
policy_pickled = pickle.loads(p)
action2, _ = policy_pickled.get_action(obs)
assert env.action_space.contains(action2)
assert np.array_equal(action1, action2)
def test_build(self, obs_dim, action_dim):
"""Test build method"""
env = GymEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
policy = ContinuousMLPPolicy(env_spec=env.spec)
env.reset()
obs = env.step(1).observation
obs_dim = env.spec.observation_space.flat_dim
state_input = tf.compat.v1.placeholder(tf.float32,
shape=(None, obs_dim))
action_sym = policy.build(state_input, name='action_sym')
action = self.sess.run(action_sym,
feed_dict={state_input: [obs.flatten()]})
action = policy.action_space.unflatten(action)
assert env.action_space.contains(action)
def test_is_pickleable(self):
env = TfEnv(DummyBoxEnv(obs_dim=(1, ), action_dim=(1, )))
obs_var = tf.compat.v1.placeholder(
tf.float32,
shape=[None, None, env.observation_space.flat_dim],
name='obs')
policy = GaussianGRUPolicy(env_spec=env.spec,
state_include_action=False)
policy.build(obs_var)
env.reset()
obs = env.reset()
with tf.compat.v1.variable_scope('GaussianGRUPolicy/GaussianGRUModel',
reuse=True):
param = tf.compat.v1.get_variable(
'dist_params/log_std_param/parameter')
# assign it to all one
param.load(tf.ones_like(param).eval())
output1 = self.sess.run(
[policy.distribution.loc,
policy.distribution.stddev()],
feed_dict={policy.model.input: [[obs.flatten()], [obs.flatten()]]})
p = pickle.dumps(policy)
with tf.compat.v1.Session(graph=tf.Graph()) as sess:
policy_pickled = pickle.loads(p)
obs_var = tf.compat.v1.placeholder(
tf.float32,
shape=[None, None, env.observation_space.flat_dim],
name='obs')
policy_pickled.build(obs_var)
# yapf: disable
output2 = sess.run(
[
policy_pickled.distribution.loc,
policy_pickled.distribution.stddev()
],
feed_dict={
policy_pickled.model.input: [[obs.flatten()],
[obs.flatten()]]
})
assert np.array_equal(output1, output2)
def test_forward(self, hidden_sizes):
env_spec = TfEnv(DummyBoxEnv())
obs_dim = env_spec.observation_space.flat_dim
act_dim = env_spec.action_space.flat_dim
obs = torch.ones(obs_dim, dtype=torch.float32).unsqueeze(0)
act = torch.ones(act_dim, dtype=torch.float32).unsqueeze(0)
qf = ContinuousMLPQFunction(env_spec=env_spec,
hidden_nonlinearity=None,
hidden_sizes=hidden_sizes,
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
output = qf(obs, act)
expected_output = torch.full([1, 1],
fill_value=(obs_dim + act_dim) *
np.prod(hidden_sizes),
dtype=torch.float32)
assert torch.eq(output, expected_output)
def test_get_latent(self):
obs_dim, action_dim, task_num, latent_dim = (2, ), (2, ), 5, 2
env = GarageEnv(DummyBoxEnv(obs_dim=obs_dim, action_dim=action_dim))
embedding_spec = InOutSpec(
input_space=akro.Box(low=np.zeros(task_num),
high=np.ones(task_num)),
output_space=akro.Box(low=np.zeros(latent_dim),
high=np.ones(latent_dim)))
encoder = GaussianMLPEncoder(embedding_spec)
policy = GaussianMLPTaskEmbeddingPolicy(env_spec=env.spec,
encoder=encoder)
task_id = 3
task_onehot = np.zeros(task_num)
task_onehot[task_id] = 1
latent, latent_info = policy.get_latent(task_onehot)
assert latent.shape == (latent_dim, )
assert latent_info['mean'].shape == (latent_dim, )
assert latent_info['log_std'].shape == (latent_dim, )
def test_get_action_np(self, hidden_sizes):
"""Test Policy get action function with numpy inputs."""
env_spec = GymEnv(DummyBoxEnv())
obs_dim = env_spec.observation_space.flat_dim
act_dim = env_spec.action_space.flat_dim
obs = np.ones((obs_dim, ), dtype=np.float32)
init_std = 2.
policy = TanhGaussianMLPPolicy(env_spec=env_spec,
hidden_sizes=hidden_sizes,
init_std=init_std,
hidden_nonlinearity=None,
std_parameterization='exp',
hidden_w_init=nn.init.ones_,
output_w_init=nn.init.ones_)
expected_mean = torch.full((act_dim, ), 1.0, dtype=torch.float)
action, prob = policy.get_action(obs)
assert np.allclose(prob['mean'], expected_mean.numpy(), rtol=1e-3)
assert action.shape == (act_dim, )
