def test_update():
buf1 = ReplayBuffer(4, stack_num=2)
buf2 = ReplayBuffer(4, stack_num=2)
for i in range(5):
buf1.add(
Batch(obs=np.array([i]),
act=float(i),
rew=i * i,
done=i % 2 == 0,
info={'incident': 'found'}))
assert len(buf1) > len(buf2)
buf2.update(buf1)
assert len(buf1) == len(buf2)
assert (buf2[0].obs == buf1[1].obs).all()
assert (buf2[-1].obs == buf1[0].obs).all()
b = CachedReplayBuffer(ReplayBuffer(10), 4, 5)
with pytest.raises(NotImplementedError):
b.update(b)
def test_collector_with_atari_setting():
reference_obs = np.zeros([6, 4, 84, 84])
for i in range(6):
reference_obs[i, 3, np.arange(84), np.arange(84)] = i
reference_obs[i, 2, np.arange(84)] = i
reference_obs[i, 1, :, np.arange(84)] = i
reference_obs[i, 0] = i
# atari single buffer
env = MyTestEnv(size=5, sleep=0, array_state=True)
policy = MyPolicy()
c0 = Collector(policy, env, ReplayBuffer(size=100))
c0.collect(n_step=6)
c0.collect(n_episode=2)
assert c0.buffer.obs.shape == (100, 4, 84, 84)
assert c0.buffer.obs_next.shape == (100, 4, 84, 84)
assert len(c0.buffer) == 15
obs = np.zeros_like(c0.buffer.obs)
obs[np.arange(15)] = reference_obs[np.arange(15) % 5]
assert np.all(obs == c0.buffer.obs)
c1 = Collector(policy, env, ReplayBuffer(size=100, ignore_obs_next=True))
c1.collect(n_episode=3)
assert np.allclose(c0.buffer.obs, c1.buffer.obs)
with pytest.raises(AttributeError):
c1.buffer.obs_next
assert np.all(reference_obs[[1, 2, 3, 4, 4] * 3] == c1.buffer[:].obs_next)
c2 = Collector(
policy, env,
ReplayBuffer(size=100, ignore_obs_next=True, save_only_last_obs=True))
c2.collect(n_step=8)
assert c2.buffer.obs.shape == (100, 84, 84)
obs = np.zeros_like(c2.buffer.obs)
obs[np.arange(8)] = reference_obs[[0, 1, 2, 3, 4, 0, 1, 2], -1]
assert np.all(c2.buffer.obs == obs)
assert np.allclose(c2.buffer[:].obs_next,
reference_obs[[1, 2, 3, 4, 4, 1, 2, 2], -1])
# atari multi buffer
env_fns = [
lambda x=i: MyTestEnv(size=x, sleep=0, array_state=True)
for i in [2, 3, 4, 5]
]
envs = DummyVectorEnv(env_fns)
c3 = Collector(policy, envs,
VectorReplayBuffer(total_size=100, buffer_num=4))
c3.collect(n_step=12)
result = c3.collect(n_episode=9)
assert result["n/ep"] == 9 and result["n/st"] == 23
assert c3.buffer.obs.shape == (100, 4, 84, 84)
obs = np.zeros_like(c3.buffer.obs)
obs[np.arange(8)] = reference_obs[[0, 1, 0, 1, 0, 1, 0, 1]]
obs[np.arange(25, 34)] = reference_obs[[0, 1, 2, 0, 1, 2, 0, 1, 2]]
obs[np.arange(50, 58)] = reference_obs[[0, 1, 2, 3, 0, 1, 2, 3]]
obs[np.arange(75, 85)] = reference_obs[[0, 1, 2, 3, 4, 0, 1, 2, 3, 4]]
assert np.all(obs == c3.buffer.obs)
obs_next = np.zeros_like(c3.buffer.obs_next)
obs_next[np.arange(8)] = reference_obs[[1, 2, 1, 2, 1, 2, 1, 2]]
obs_next[np.arange(25, 34)] = reference_obs[[1, 2, 3, 1, 2, 3, 1, 2, 3]]
obs_next[np.arange(50, 58)] = reference_obs[[1, 2, 3, 4, 1, 2, 3, 4]]
obs_next[np.arange(75, 85)] = reference_obs[[1, 2, 3, 4, 5, 1, 2, 3, 4, 5]]
assert np.all(obs_next == c3.buffer.obs_next)
c4 = Collector(
policy, envs,
VectorReplayBuffer(total_size=100,
buffer_num=4,
stack_num=4,
ignore_obs_next=True,
save_only_last_obs=True))
c4.collect(n_step=12)
result = c4.collect(n_episode=9)
assert result["n/ep"] == 9 and result["n/st"] == 23
assert c4.buffer.obs.shape == (100, 84, 84)
obs = np.zeros_like(c4.buffer.obs)
slice_obs = reference_obs[:, -1]
obs[np.arange(8)] = slice_obs[[0, 1, 0, 1, 0, 1, 0, 1]]
obs[np.arange(25, 34)] = slice_obs[[0, 1, 2, 0, 1, 2, 0, 1, 2]]
obs[np.arange(50, 58)] = slice_obs[[0, 1, 2, 3, 0, 1, 2, 3]]
obs[np.arange(75, 85)] = slice_obs[[0, 1, 2, 3, 4, 0, 1, 2, 3, 4]]
assert np.all(c4.buffer.obs == obs)
obs_next = np.zeros([len(c4.buffer), 4, 84, 84])
ref_index = np.array([
1,
1,
1,
1,
1,
1,
1,
1,
1,
2,
2,
1,
2,
2,
1,
2,
2,
1,
2,
3,
3,
1,
2,
3,
3,
1,
2,
3,
4,
4,
1,
2,
3,
4,
4,
])
obs_next[:, -1] = slice_obs[ref_index]
ref_index -= 1
ref_index[ref_index < 0] = 0
obs_next[:, -2] = slice_obs[ref_index]
ref_index -= 1
ref_index[ref_index < 0] = 0
obs_next[:, -3] = slice_obs[ref_index]
ref_index -= 1
ref_index[ref_index < 0] = 0
obs_next[:, -4] = slice_obs[ref_index]
assert np.all(obs_next == c4.buffer[:].obs_next)
buf = ReplayBuffer(100,
stack_num=4,
ignore_obs_next=True,
save_only_last_obs=True)
c5 = Collector(policy, envs, CachedReplayBuffer(buf, 4, 10))
result_ = c5.collect(n_step=12)
assert len(buf) == 5 and len(c5.buffer) == 12
result = c5.collect(n_episode=9)
assert result["n/ep"] == 9 and result["n/st"] == 23
assert len(buf) == 35
assert np.all(buf.obs[:len(buf)] == slice_obs[[
0, 1, 0, 1, 2, 0, 1, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 1, 0, 1, 2, 0, 1, 0,
1, 2, 3, 0, 1, 2, 0, 1, 2, 3, 4
]])
assert np.all(buf[:].obs_next[:, -1] == slice_obs[[
1, 1, 1, 2, 2, 1, 1, 1, 2, 3, 3, 1, 2, 3, 4, 4, 1, 1, 1, 2, 2, 1, 1, 1,
2, 3, 3, 1, 2, 2, 1, 2, 3, 4, 4
]])
assert len(buf) == len(c5.buffer)
# test buffer=None
c6 = Collector(policy, envs)
result1 = c6.collect(n_step=12)
for key in ["n/ep", "n/st", "rews", "lens"]:
assert np.allclose(result1[key], result_[key])
result2 = c6.collect(n_episode=9)
for key in ["n/ep", "n/st", "rews", "lens"]:
assert np.allclose(result2[key], result[key])
def test_multibuf_hdf5():
size = 100
buffers = {
"vector": ReplayBufferManager([ReplayBuffer(size) for i in range(4)]),
"cached": CachedReplayBuffer(ReplayBuffer(size), 4, size)
}
buffer_types = {k: b.__class__ for k, b in buffers.items()}
device = 'cuda' if torch.cuda.is_available() else 'cpu'
info_t = torch.tensor([1.]).to(device)
for i in range(4):
kwargs = {
'obs': Batch(index=np.array([i])),
'act': i,
'rew': np.array([1, 2]),
'done': i % 3 == 2,
'info': {
"number": {
"n": i,
"t": info_t
},
'extra': None
},
}
buffers["vector"].add(**Batch.stack([kwargs, kwargs, kwargs]),
buffer_ids=[0, 1, 2])
buffers["cached"].add(**Batch.stack([kwargs, kwargs, kwargs]),
cached_buffer_ids=[0, 1, 2])
# save
paths = {}
for k, buf in buffers.items():
f, path = tempfile.mkstemp(suffix='.hdf5')
os.close(f)
buf.save_hdf5(path)
paths[k] = path
# load replay buffer
_buffers = {k: buffer_types[k].load_hdf5(paths[k]) for k in paths.keys()}
# compare
for k in buffers.keys():
assert len(_buffers[k]) == len(buffers[k])
assert np.allclose(_buffers[k].act, buffers[k].act)
assert _buffers[k].stack_num == buffers[k].stack_num
assert _buffers[k].maxsize == buffers[k].maxsize
assert np.all(_buffers[k]._indices == buffers[k]._indices)
# check shallow copy in ReplayBufferManager
for k in ["vector", "cached"]:
buffers[k].info.number.n[0] = -100
assert buffers[k].buffers[0].info.number.n[0] == -100
# check if still behave normally
for k in ["vector", "cached"]:
kwargs = {
'obs': Batch(index=np.array([5])),
'act': 5,
'rew': np.array([2, 1]),
'done': False,
'info': {
"number": {
"n": i
},
'Timelimit.truncate': True
},
}
buffers[k].add(**Batch.stack([kwargs, kwargs, kwargs, kwargs]))
act = np.zeros(buffers[k].maxsize)
if k == "vector":
act[np.arange(5)] = np.array([0, 1, 2, 3, 5])
act[np.arange(5) + size] = np.array([0, 1, 2, 3, 5])
act[np.arange(5) + size * 2] = np.array([0, 1, 2, 3, 5])
act[size * 3] = 5
elif k == "cached":
act[np.arange(9)] = np.array([0, 1, 2, 0, 1, 2, 0, 1, 2])
act[np.arange(3) + size] = np.array([3, 5, 2])
act[np.arange(3) + size * 2] = np.array([3, 5, 2])
act[np.arange(3) + size * 3] = np.array([3, 5, 2])
act[size * 4] = 5
assert np.allclose(buffers[k].act, act)
for path in paths.values():
os.remove(path)
def test_multibuf_stack():
size = 5
bufsize = 9
stack_num = 4
cached_num = 3
env = MyTestEnv(size)
# test if CachedReplayBuffer can handle stack_num + ignore_obs_next
buf4 = CachedReplayBuffer(
ReplayBuffer(bufsize, stack_num=stack_num, ignore_obs_next=True),
cached_num, size)
# test if CachedReplayBuffer can handle super corner case:
# prio-buffer + stack_num + ignore_obs_next + sample_avail
buf5 = CachedReplayBuffer(
PrioritizedReplayBuffer(bufsize,
0.6,
0.4,
stack_num=stack_num,
ignore_obs_next=True,
sample_avail=True), cached_num, size)
obs = env.reset(1)
for i in range(18):
obs_next, rew, done, info = env.step(1)
obs_list = np.array([obs + size * i for i in range(cached_num)])
act_list = [1] * cached_num
rew_list = [rew] * cached_num
done_list = [done] * cached_num
obs_next_list = -obs_list
info_list = [info] * cached_num
buf4.add(obs_list, act_list, rew_list, done_list, obs_next_list,
info_list)
buf5.add(obs_list, act_list, rew_list, done_list, obs_next_list,
info_list)
obs = obs_next
if done:
obs = env.reset(1)
# check the `add` order is correct
assert np.allclose(
buf4.obs.reshape(-1),
[
12,
13,
14,
4,
6,
7,
8,
9,
11, # main_buffer
1,
2,
3,
4,
0, # cached_buffer[0]
6,
7,
8,
9,
0, # cached_buffer[1]
11,
12,
13,
14,
0, # cached_buffer[2]
]), buf4.obs
assert np.allclose(
buf4.done,
[
0,
0,
1,
1,
0,
0,
0,
1,
0, # main_buffer
0,
0,
0,
1,
0, # cached_buffer[0]
0,
0,
0,
1,
0, # cached_buffer[1]
0,
0,
0,
1,
0, # cached_buffer[2]
]), buf4.done
assert np.allclose(buf4.unfinished_index(), [10, 15, 20])
indice = sorted(buf4.sample_index(0))
assert np.allclose(indice, list(range(bufsize)) + [9, 10, 14, 15, 19, 20])
assert np.allclose(buf4[indice].obs[..., 0], [
[11, 11, 11, 12],
[11, 11, 12, 13],
[11, 12, 13, 14],
[4, 4, 4, 4],
[6, 6, 6, 6],
[6, 6, 6, 7],
[6, 6, 7, 8],
[6, 7, 8, 9],
[11, 11, 11, 11],
[1, 1, 1, 1],
[1, 1, 1, 2],
[6, 6, 6, 6],
[6, 6, 6, 7],
[11, 11, 11, 11],
[11, 11, 11, 12],
])
assert np.allclose(buf4[indice].obs_next[..., 0], [
[11, 11, 12, 13],
[11, 12, 13, 14],
[11, 12, 13, 14],
[4, 4, 4, 4],
[6, 6, 6, 7],
[6, 6, 7, 8],
[6, 7, 8, 9],
[6, 7, 8, 9],
[11, 11, 11, 12],
[1, 1, 1, 2],
[1, 1, 1, 2],
[6, 6, 6, 7],
[6, 6, 6, 7],
[11, 11, 11, 12],
[11, 11, 11, 12],
])
assert np.all(buf4.done == buf5.done)
indice = buf5.sample_index(0)
assert np.allclose(sorted(indice), [2, 7])
assert np.all(np.isin(buf5.sample_index(100), indice))
# manually change the stack num
buf5.stack_num = 2
for buf in buf5.buffers:
buf.stack_num = 2
indice = buf5.sample_index(0)
assert np.allclose(sorted(indice), [0, 1, 2, 5, 6, 7, 10, 15, 20])
batch, _ = buf5.sample(0)
assert np.allclose(buf5[np.arange(buf5.maxsize)].weight, 1)
buf5.update_weight(indice, batch.weight * 0)
weight = buf5[np.arange(buf5.maxsize)].weight
modified_weight = weight[[0, 1, 2, 5, 6, 7]]
assert modified_weight.min() == modified_weight.max()
assert modified_weight.max() < 1
unmodified_weight = weight[[3, 4, 8]]
assert unmodified_weight.min() == unmodified_weight.max()
assert unmodified_weight.max() < 1
cached_weight = weight[9:]
assert cached_weight.min() == cached_weight.max() == 1
# test Atari with CachedReplayBuffer, save_only_last_obs + ignore_obs_next
buf6 = CachedReplayBuffer(
ReplayBuffer(bufsize,
stack_num=stack_num,
save_only_last_obs=True,
ignore_obs_next=True), cached_num, size)
obs = np.random.rand(size, 4, 84, 84)
buf6.add(obs=[obs[2], obs[0]],
act=[1, 1],
rew=[0, 0],
done=[0, 1],
obs_next=[obs[3], obs[1]],
cached_buffer_ids=[1, 2])
assert buf6.obs.shape == (buf6.maxsize, 84, 84)
assert np.allclose(buf6.obs[0], obs[0, -1])
assert np.allclose(buf6.obs[14], obs[2, -1])
assert np.allclose(buf6.obs[19], obs[0, -1])
assert buf6[0].obs.shape == (4, 84, 84)
def test_cachedbuffer():
buf = CachedReplayBuffer(ReplayBuffer(10), 4, 5)
assert buf.sample_index(0).tolist() == []
# check the normal function/usage/storage in CachedReplayBuffer
ep_len, ep_rew = buf.add(obs=[1],
act=[1],
rew=[1],
done=[0],
cached_buffer_ids=[1])
obs = np.zeros(buf.maxsize)
obs[15] = 1
indice = buf.sample_index(0)
assert np.allclose(indice, [15])
assert np.allclose(buf.prev(indice), [15])
assert np.allclose(buf.next(indice), [15])
assert np.allclose(buf.obs, obs)
assert np.allclose(ep_len, [0]) and np.allclose(ep_rew, [0.0])
ep_len, ep_rew = buf.add(obs=[2],
act=[2],
rew=[2],
done=[1],
cached_buffer_ids=[3])
obs[[0, 25]] = 2
indice = buf.sample_index(0)
assert np.allclose(indice, [0, 15])
assert np.allclose(buf.prev(indice), [0, 15])
assert np.allclose(buf.next(indice), [0, 15])
assert np.allclose(buf.obs, obs)
assert np.allclose(ep_len, [1]) and np.allclose(ep_rew, [2.0])
assert np.allclose(buf.unfinished_index(), [15])
assert np.allclose(buf.sample_index(0), [0, 15])
ep_len, ep_rew = buf.add(obs=[3, 4],
act=[3, 4],
rew=[3, 4],
done=[0, 1],
cached_buffer_ids=[3, 1])
assert np.allclose(ep_len, [0, 2]) and np.allclose(ep_rew, [0, 5.0])
obs[[0, 1, 2, 15, 16, 25]] = [2, 1, 4, 1, 4, 3]
assert np.allclose(buf.obs, obs)
assert np.allclose(buf.unfinished_index(), [25])
indice = buf.sample_index(0)
assert np.allclose(indice, [0, 1, 2, 25])
assert np.allclose(buf.done[indice], [1, 0, 1, 0])
assert np.allclose(buf.prev(indice), [0, 1, 1, 25])
assert np.allclose(buf.next(indice), [0, 2, 2, 25])
indice = buf.sample_index(10000)
assert np.bincount(indice)[[0, 1, 2, 25]].min() > 2000 # uniform sample
# cached buffer with main_buffer size == 0 (no update)
# used in test_collector
buf = CachedReplayBuffer(ReplayBuffer(0, sample_avail=True), 4, 5)
data = np.zeros(4)
rew = np.ones([4, 4])
buf.add(obs=data, act=data, rew=rew, done=[0, 0, 1, 1], obs_next=data)
buf.add(obs=data, act=data, rew=rew, done=[0, 0, 0, 0], obs_next=data)
buf.add(obs=data, act=data, rew=rew, done=[1, 1, 1, 1], obs_next=data)
buf.add(obs=data, act=data, rew=rew, done=[0, 0, 0, 0], obs_next=data)
buf.add(obs=data, act=data, rew=rew, done=[0, 1, 0, 1], obs_next=data)
assert np.allclose(buf.done, [
0,
0,
1,
0,
0,
0,
1,
1,
0,
0,
0,
0,
0,
0,
0,
0,
1,
0,
0,
0,
])
indice = buf.sample_index(0)
assert np.allclose(indice, [0, 1, 10, 11])
assert np.allclose(buf.prev(indice), [0, 0, 10, 10])
assert np.allclose(buf.next(indice), [1, 1, 11, 11])
