def test_record_outputs():
opt = CREPSOptimizer(initial_params=np.zeros(1))
ctrl = ContextualController(environment=ContextualObjectiveFunction(),
behavior_search=JustContextualOptimizer(opt),
record_outputs=True)
returns = ctrl.learn()
assert_equal(len(returns), 10)
assert_equal(np.array(ctrl.outputs_).shape, (10, 1, 0))
def test_record_feedbacks():
opt = CREPSOptimizer(initial_params=np.zeros(1))
ctrl = ContextualController(environment=ContextualObjectiveFunction(),
behavior_search=JustContextualOptimizer(opt),
accumulate_feedbacks=False,
record_feedbacks=True)
returns = ctrl.learn()
assert_array_equal(returns, ctrl.feedbacks_)
def test_missing_behavior_search():
ctrl = ContextualController(environment=ContextualObjectiveFunction())
beh = DummyBehavior(initial_params=np.array([0.0]))
beh.init(0, 1)
feedback = ctrl.episode_with(beh)
assert_equal(len(feedback), 1)
assert_less(
feedback[0],
ctrl.environment.get_maximum_feedback(ctrl.environment.context))
def test_learn_controller_cmaes_sphere():
test_contexts = np.linspace(-5, 5, 11)[:, np.newaxis]
opt = CREPSOptimizer(initial_params=np.zeros(1), random_state=0)
ctrl = ContextualController(environment=ContextualObjectiveFunction(),
behavior_search=JustContextualOptimizer(opt),
n_episodes=200,
n_episodes_before_test=200,
test_contexts=test_contexts)
ctrl.learn()
for d in ctrl.test_results_[-1]:
assert_greater(d, -1e-5)
def test_record_contexts():
contexts = np.linspace(-5, 5, 11)[:, np.newaxis]
class CREPSFixedContextOrder(CREPSOptimizer):
def get_desired_context(self):
return contexts[self.it]
opt = CREPSFixedContextOrder()
ctrl = ContextualController(environment=ContextualObjectiveFunction(),
behavior_search=JustContextualOptimizer(opt),
n_episodes=11,
record_contexts=True)
ctrl.learn()
assert_array_equal(contexts, ctrl.contexts_)
def test_controller_cmaes_sphere_via_config():
config = {
"Environment": {
"type": "bolero.environment.ContextualObjectiveFunction"
},
"BehaviorSearch": {
"type": "bolero.behavior_search.JustContextualOptimizer",
"optimizer": {
"type": "bolero.optimizer.CREPSOptimizer",
"initial_params": np.zeros(1)
}
}
}
ctrl = ContextualController(config)
returns = ctrl.learn()
assert_equal(len(returns), 10)
def test_context_cannot_be_set():
class EnvironmentWithRandomContext(ContextualObjectiveFunction):
def request_context(self, _):
self.context = np.random.randn(self.n_context_dims)
return self.context
test_contexts = np.linspace(-5, 5, 11)[:, np.newaxis]
opt = CREPSOptimizer(initial_params=np.zeros(1), random_state=0)
ctrl = ContextualController(environment=EnvironmentWithRandomContext(),
behavior_search=JustContextualOptimizer(opt),
n_episodes=2,
n_episodes_before_test=1,
test_contexts=test_contexts)
assert_raises_regexp(Exception, "could not set context", ctrl.learn)
def test_controller_creps_objective():
opt = CREPSOptimizer(initial_params=np.zeros(1))
ctrl = ContextualController(environment=ContextualObjectiveFunction(),
behavior_search=JustContextualOptimizer(opt))
returns = ctrl.learn()
assert_equal(len(returns), 10)
def test_learning_fails_with_missing_behavior_search():
controller = ContextualController(
environment=ContextualObjectiveFunction())
assert_raises_regexp(ValueError, "BehaviorSearch is required",
controller.learn)