def test_init():
env = CarEnvV10()
result = env.reset()
assert result[0] == 0.0
assert result[1] == env.distance
assert result[2] == 0.0
def create_control(params: SimpleNamespace, config_name) -> LoopControlV10:
env = CarEnvV10(mode_energy_penalty = params.env_mode_energy_penalty,
mode_random = params.env_mode_random,
mode_limit_steps = params.env_mode_limit_steps,
mode_time_penalty = params.env_mode_time_penalty)
agent = SimpleAgentV10(env,
devicestr = params.agent_device,
gamma = params.agent_gamma_exp,
buffer_size = params.agent_buffer_size,
target_net_sync = params.agent_target_net_sync,
eps_start = params.agent_simple_eps_start,
eps_final = params.agent_simple_eps_final,
eps_frames = params.agent_simple_eps_frames,
)
bridge = SimpleBridgeV10(agent=agent,
optimizer = params.bridge_optimizer,
learning_rate = params.bridge_learning_rate,
gamma = params.bridge_gamma,
initial_population = params.bridge_initial_population,
batch_size = params.bridge_batch_size,
)
control = LoopControlV10(
bridge = bridge,
run_name = config_name,
bound_avg_reward = params.loop_bound_avg_reward,
logtb = params.loop_logtb,
logfolder = "./../runs/runv00")
return control
def test_accelerate():
env = CarEnvV10()
env.reset()
state, reward, done, _ = env.step(0)
assert reward == 0
assert done == False
assert state[0] == 1.0
assert state[1] == 999.0
assert state[2] == 1.0
def test_declutch():
env = CarEnvV10()
env.reset()
env.step(0)
state, reward, done, _ = env.step(3)
assert reward == 0
assert done == False
assert abs(state[0] - 1.9)<0.001
assert abs(state[1] - 998.1)<0.001
assert abs(state[2] - 0.9)<0.001
def test_keep_velocity():
env = CarEnvV10()
env.reset()
env.step(0)
state, reward, done, _ = env.step(2)
assert reward == 0
assert done == False
assert state[0] == 2.0
assert state[1] == 998.0
assert state[2] == 1.0
def test_break():
env = CarEnvV10()
env.reset()
env.step(0)
state, reward, done, _ = env.step(1)
assert reward == -1
assert done == False
assert state[0] == 1.0
assert state[1] == 999.0
assert state[2] == 0.0
def basic_simple_init(devicestr="cpu") -> SimpleBridgeV10:
env = CarEnvV10()
agent = SimpleAgentV10(env, devicestr, gamma=0.9, buffer_size=1000)
bridge = SimpleBridgeV10(agent, gamma=0.9)
return bridge
def basic_init_bridge() -> SimpleBridgeV10:
env = CarEnvV10()
agent = SimpleAgentV10(env, "cpu", gamma=0.9, buffer_size=1000)
bridge = SimpleBridgeV10(agent, gamma=0.9)
return bridge
def test_simpleagent_cpu():
print("test cpu")
env = CarEnvV10()
agent = SimpleAgentV10(env, "cpu", gamma=GAMMA, buffer_size=REPLAY_SIZE)
print(agent.get_net())
def test_simpleagent_config():
print("test config")
env = CarEnvV10()
agent = SimpleAgentV10(env, "cuda", gamma=GAMMA, buffer_size=REPLAY_SIZE, hidden_size=16, hidden_layers=2)
print(agent.get_net())
def test_simpleagent_cuda():
print("test cuda")
env = CarEnvV10()
agent = SimpleAgentV10(env, "cuda", gamma=GAMMA, buffer_size=REPLAY_SIZE)