def create_bc_trainer(dummy_config, is_discrete=False):
mock_env = mock.Mock()
if is_discrete:
mock_brain = mb.create_mock_pushblock_brain()
mock_braininfo = mb.create_mock_braininfo(num_agents=12,
num_vector_observations=70)
else:
mock_brain = mb.create_mock_3dball_brain()
mock_braininfo = mb.create_mock_braininfo(num_agents=12,
num_vector_observations=8)
mb.setup_mock_unityenvironment(mock_env, mock_brain, mock_braininfo)
env = mock_env()
trainer_parameters = dummy_config
trainer_parameters["summary_path"] = "tmp"
trainer_parameters["model_path"] = "tmp"
trainer_parameters["demo_path"] = (
os.path.dirname(os.path.abspath(__file__)) + "/test.demo")
trainer = BCTrainer(mock_brain,
trainer_parameters,
training=True,
load=False,
seed=0,
run_id=0)
trainer.demonstration_buffer = mb.simulate_rollout(env, trainer.policy,
100)
return trainer, env
def create_ppo_policy_mock(
mock_env, dummy_config, reward_signal_config, use_rnn, use_discrete, use_visual
):
if not use_visual:
mock_brain = mb.create_mock_brainparams(
vector_action_space_type="discrete" if use_discrete else "continuous",
vector_action_space_size=DISCRETE_ACTION_SPACE
if use_discrete
else VECTOR_ACTION_SPACE,
vector_observation_space_size=VECTOR_OBS_SPACE,
)
mock_braininfo = mb.create_mock_braininfo(
num_agents=NUM_AGENTS,
num_vector_observations=VECTOR_OBS_SPACE,
num_vector_acts=sum(
DISCRETE_ACTION_SPACE if use_discrete else VECTOR_ACTION_SPACE
),
discrete=use_discrete,
)
else:
mock_brain = mb.create_mock_brainparams(
vector_action_space_type="discrete" if use_discrete else "continuous",
vector_action_space_size=DISCRETE_ACTION_SPACE
if use_discrete
else VECTOR_ACTION_SPACE,
vector_observation_space_size=0,
number_visual_observations=1,
)
mock_braininfo = mb.create_mock_braininfo(
num_agents=NUM_AGENTS,
num_vis_observations=1,
num_vector_acts=sum(
DISCRETE_ACTION_SPACE if use_discrete else VECTOR_ACTION_SPACE
),
discrete=use_discrete,
)
mb.setup_mock_unityenvironment(mock_env, mock_brain, mock_braininfo)
env = mock_env()
trainer_parameters = dummy_config
model_path = env.brain_names[0]
trainer_parameters["model_path"] = model_path
trainer_parameters["keep_checkpoints"] = 3
trainer_parameters["reward_signals"].update(reward_signal_config)
trainer_parameters["use_recurrent"] = use_rnn
policy = PPOPolicy(0, mock_brain, trainer_parameters, False, False)
return env, policy
def create_ppo_policy_with_bc_mock(mock_env, mock_brain, dummy_config, use_rnn,
demo_file):
mock_braininfo = mb.create_mock_braininfo(num_agents=12,
num_vector_observations=8)
mb.setup_mock_unityenvironment(mock_env, mock_brain, mock_braininfo)
env = mock_env()
trainer_parameters = dummy_config
model_path = env.brain_names[0]
trainer_parameters["model_path"] = model_path
trainer_parameters["keep_checkpoints"] = 3
trainer_parameters["use_recurrent"] = use_rnn
trainer_parameters["pretraining"]["demo_path"] = (
os.path.dirname(os.path.abspath(__file__)) + "/" + demo_file)
policy = PPOPolicy(0, mock_brain, trainer_parameters, False, False)
return env, policy
def create_policy_with_bc_mock(mock_env, mock_brain, trainer_config, use_rnn,
demo_file):
mock_braininfo = mb.create_mock_braininfo(num_agents=12,
num_vector_observations=8)
mb.setup_mock_unityenvironment(mock_env, mock_brain, mock_braininfo)
env = mock_env()
model_path = env.external_brain_names[0]
trainer_config["model_path"] = model_path
trainer_config["keep_checkpoints"] = 3
trainer_config["use_recurrent"] = use_rnn
trainer_config["behavioral_cloning"]["demo_path"] = (
os.path.dirname(os.path.abspath(__file__)) + "/" + demo_file)
policy = (PPOPolicy(0, mock_brain, trainer_config, False, False)
if trainer_config["trainer"] == "ppo" else SACPolicy(
0, mock_brain, trainer_config, False, False))
return env, policy
def test_bc_trainer(mock_env, dummy_config):
mock_brain = mb.create_mock_3dball_brain()
mock_braininfo = mb.create_mock_braininfo(num_agents=12,
num_vector_observations=8)
mb.setup_mock_unityenvironment(mock_env, mock_brain, mock_braininfo)
env = mock_env()
trainer_parameters = dummy_config
trainer_parameters["summary_path"] = "tmp"
trainer_parameters["model_path"] = "tmp"
trainer_parameters["demo_path"] = (
os.path.dirname(os.path.abspath(__file__)) + "/test.demo")
trainer = BCTrainer(mock_brain,
trainer_parameters,
training=True,
load=False,
seed=0,
run_id=0)
trainer.demonstration_buffer = mb.simulate_rollout(env, trainer.policy,
100)
trainer.update_policy()
assert len(trainer.stats["Losses/Cloning Loss"]) > 0
trainer.increment_step(1)
assert trainer.step == 1
