def doTestNestedDict(self, make_env, test_lstm=False):
ModelCatalog.register_custom_model("composite", DictSpyModel)
register_env("nested", make_env)
pg = PGAgent(env="nested",
config={
"num_workers": 0,
"sample_batch_size": 5,
"model": {
"custom_model": "composite",
"use_lstm": test_lstm,
},
})
pg.train()
# Check that the model sees the correct reconstructed observations
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"d_spy_in_{}".format(i)))
pos_i = DICT_SAMPLES[i]["sensors"]["position"].tolist()
cam_i = DICT_SAMPLES[i]["sensors"]["front_cam"][0].tolist()
task_i = one_hot(
DICT_SAMPLES[i]["inner_state"]["job_status"]["task"], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
def doTestNestedTuple(self, make_env):
ModelCatalog.register_custom_model("composite2", TupleSpyModel)
register_env("nested2", make_env)
pg = PGAgent(env="nested2",
config={
"num_workers": 0,
"sample_batch_size": 5,
"train_batch_size": 5,
"model": {
"custom_model": "composite2",
},
})
pg.train()
# Check that the model sees the correct reconstructed observations
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"t_spy_in_{}".format(i)))
pos_i = TUPLE_SAMPLES[i][0].tolist()
cam_i = TUPLE_SAMPLES[i][1][0].tolist()
task_i = one_hot(TUPLE_SAMPLES[i][2], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
def testCallbacks(self):
counts = Counter()
pg = PGAgent(env="CartPole-v0",
config={
"num_workers": 0,
"sample_batch_size": 50,
"callbacks": {
"on_episode_start":
lambda x: counts.update({"start": 1}),
"on_episode_step":
lambda x: counts.update({"step": 1}),
"on_episode_end":
lambda x: counts.update({"end": 1}),
"on_sample_end":
lambda x: counts.update({"sample": 1}),
},
})
pg.train()
pg.train()
pg.train()
pg.train()
self.assertEqual(counts["sample"], 4)
self.assertGreater(counts["start"], 0)
self.assertGreater(counts["end"], 0)
self.assertGreater(counts["step"], 200)
self.assertLess(counts["step"], 400)
def doTestNestedTuple(self, make_env):
ModelCatalog.register_custom_model("composite2", TupleSpyModel)
register_env("nested2", make_env)
pg = PGAgent(
env="nested2",
config={
"num_workers": 0,
"sample_batch_size": 5,
"train_batch_size": 5,
"model": {
"custom_model": "composite2",
},
})
pg.train()
# Check that the model sees the correct reconstructed observations
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"t_spy_in_{}".format(i)))
pos_i = TUPLE_SAMPLES[i][0].tolist()
cam_i = TUPLE_SAMPLES[i][1][0].tolist()
task_i = one_hot(TUPLE_SAMPLES[i][2], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
def doTestNestedDict(self, make_env, test_lstm=False):
ModelCatalog.register_custom_model("composite", DictSpyModel)
register_env("nested", make_env)
pg = PGAgent(
env="nested",
config={
"num_workers": 0,
"sample_batch_size": 5,
"train_batch_size": 5,
"model": {
"custom_model": "composite",
"use_lstm": test_lstm,
},
})
pg.train()
# Check that the model sees the correct reconstructed observations
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"d_spy_in_{}".format(i)))
pos_i = DICT_SAMPLES[i]["sensors"]["position"].tolist()
cam_i = DICT_SAMPLES[i]["sensors"]["front_cam"][0].tolist()
task_i = one_hot(
DICT_SAMPLES[i]["inner_state"]["job_status"]["task"], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
def writeOutputs(self, output):
agent = PGAgent(env="CartPole-v0",
config={
"output": output,
"sample_batch_size": 250,
})
agent.train()
return agent
def writeOutputs(self, output):
agent = PGAgent(
env="CartPole-v0",
config={
"output": output,
"sample_batch_size": 250,
})
agent.train()
return agent
def testMultiAgentComplexSpaces(self):
ModelCatalog.register_custom_model("dict_spy", DictSpyModel)
ModelCatalog.register_custom_model("tuple_spy", TupleSpyModel)
register_env("nested_ma", lambda _: NestedMultiAgentEnv())
act_space = spaces.Discrete(2)
pg = PGAgent(env="nested_ma",
config={
"num_workers": 0,
"sample_batch_size": 5,
"train_batch_size": 5,
"multiagent": {
"policy_graphs": {
"tuple_policy":
(PGPolicyGraph, TUPLE_SPACE, act_space, {
"model": {
"custom_model": "tuple_spy"
}
}),
"dict_policy":
(PGPolicyGraph, DICT_SPACE, act_space, {
"model": {
"custom_model": "dict_spy"
}
}),
},
"policy_mapping_fn": lambda a: {
"tuple_agent": "tuple_policy",
"dict_agent": "dict_policy"
}[a],
},
})
pg.train()
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"d_spy_in_{}".format(i)))
pos_i = DICT_SAMPLES[i]["sensors"]["position"].tolist()
cam_i = DICT_SAMPLES[i]["sensors"]["front_cam"][0].tolist()
task_i = one_hot(
DICT_SAMPLES[i]["inner_state"]["job_status"]["task"], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"t_spy_in_{}".format(i)))
pos_i = TUPLE_SAMPLES[i][0].tolist()
cam_i = TUPLE_SAMPLES[i][1][0].tolist()
task_i = one_hot(TUPLE_SAMPLES[i][2], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
def testMultiAgent(self):
register_env("multi_cartpole", lambda _: MultiCartpole(10))
single_env = gym.make("CartPole-v0")
def gen_policy():
obs_space = single_env.observation_space
act_space = single_env.action_space
return (PGPolicyGraph, obs_space, act_space, {})
pg = PGAgent(
env="multi_cartpole",
config={
"num_workers": 0,
"output": self.test_dir,
"multiagent": {
"policy_graphs": {
"policy_1": gen_policy(),
"policy_2": gen_policy(),
},
"policy_mapping_fn": (
lambda agent_id: random.choice(
["policy_1", "policy_2"])),
},
})
pg.train()
self.assertEqual(len(os.listdir(self.test_dir)), 1)
pg.stop()
pg = PGAgent(
env="multi_cartpole",
config={
"num_workers": 0,
"input": self.test_dir,
"input_evaluation": ["simulation"],
"train_batch_size": 2000,
"multiagent": {
"policy_graphs": {
"policy_1": gen_policy(),
"policy_2": gen_policy(),
},
"policy_mapping_fn": (
lambda agent_id: random.choice(
["policy_1", "policy_2"])),
},
})
for _ in range(50):
result = pg.train()
if not np.isnan(result["episode_reward_mean"]):
return # simulation ok
time.sleep(0.1)
assert False, "did not see any simulation results"
def testRolloutDictSpace(self):
register_env("nested", lambda _: NestedDictEnv())
agent = PGAgent(env="nested")
agent.train()
path = agent.save()
agent.stop()
# Test train works on restore
agent2 = PGAgent(env="nested")
agent2.restore(path)
agent2.train()
# Test rollout works on restore
rollout(agent2, "nested", 100)
def testRolloutDictSpace(self):
register_env("nested", lambda _: NestedDictEnv())
agent = PGAgent(env="nested")
agent.train()
path = agent.save()
agent.stop()
# Test train works on restore
agent2 = PGAgent(env="nested")
agent2.restore(path)
agent2.train()
# Test rollout works on restore
rollout(agent2, "nested", 100)
def testMultiAgent(self):
register_env("multi_cartpole", lambda _: MultiCartpole(10))
single_env = gym.make("CartPole-v0")
def gen_policy():
obs_space = single_env.observation_space
act_space = single_env.action_space
return (PGPolicyGraph, obs_space, act_space, {})
pg = PGAgent(
env="multi_cartpole",
config={
"num_workers": 0,
"output": self.test_dir,
"multiagent": {
"policy_graphs": {
"policy_1": gen_policy(),
"policy_2": gen_policy(),
},
"policy_mapping_fn":
(lambda agent_id: random.choice(["policy_1", "policy_2"])),
},
})
pg.train()
self.assertEqual(len(os.listdir(self.test_dir)), 1)
pg.stop()
pg = PGAgent(
env="multi_cartpole",
config={
"num_workers": 0,
"input": self.test_dir,
"input_evaluation": "simulation",
"train_batch_size": 2000,
"multiagent": {
"policy_graphs": {
"policy_1": gen_policy(),
"policy_2": gen_policy(),
},
"policy_mapping_fn":
(lambda agent_id: random.choice(["policy_1", "policy_2"])),
},
})
for _ in range(50):
result = pg.train()
if not np.isnan(result["episode_reward_mean"]):
return # simulation ok
time.sleep(0.1)
assert False, "did not see any simulation results"
def testMultiAgentComplexSpaces(self):
ModelCatalog.register_custom_model("dict_spy", DictSpyModel)
ModelCatalog.register_custom_model("tuple_spy", TupleSpyModel)
register_env("nested_ma", lambda _: NestedMultiAgentEnv())
act_space = spaces.Discrete(2)
pg = PGAgent(
env="nested_ma",
config={
"num_workers": 0,
"sample_batch_size": 5,
"train_batch_size": 5,
"multiagent": {
"policy_graphs": {
"tuple_policy": (
PGPolicyGraph, TUPLE_SPACE, act_space,
{"model": {"custom_model": "tuple_spy"}}),
"dict_policy": (
PGPolicyGraph, DICT_SPACE, act_space,
{"model": {"custom_model": "dict_spy"}}),
},
"policy_mapping_fn": lambda a: {
"tuple_agent": "tuple_policy",
"dict_agent": "dict_policy"}[a],
},
})
pg.train()
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"d_spy_in_{}".format(i)))
pos_i = DICT_SAMPLES[i]["sensors"]["position"].tolist()
cam_i = DICT_SAMPLES[i]["sensors"]["front_cam"][0].tolist()
task_i = one_hot(
DICT_SAMPLES[i]["inner_state"]["job_status"]["task"], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
for i in range(4):
seen = pickle.loads(
ray.experimental.internal_kv._internal_kv_get(
"t_spy_in_{}".format(i)))
pos_i = TUPLE_SAMPLES[i][0].tolist()
cam_i = TUPLE_SAMPLES[i][1][0].tolist()
task_i = one_hot(TUPLE_SAMPLES[i][2], 5)
self.assertEqual(seen[0][0].tolist(), pos_i)
self.assertEqual(seen[1][0].tolist(), cam_i)
self.assertEqual(seen[2][0].tolist(), task_i)
def testAgentInputPostprocessingEnabled(self):
self.writeOutputs(self.test_dir)
# Rewrite the files to drop advantages and value_targets for testing
for path in glob.glob(self.test_dir + "/*.json"):
out = []
for line in open(path).readlines():
data = json.loads(line)
del data["advantages"]
del data["value_targets"]
out.append(data)
with open(path, "w") as f:
for data in out:
f.write(json.dumps(data))
agent = PGAgent(
env="CartPole-v0",
config={
"input": self.test_dir,
"input_evaluation": None,
"postprocess_inputs": True, # adds back 'advantages'
})
result = agent.train()
self.assertEqual(result["timesteps_total"], 250) # read from input
self.assertTrue(np.isnan(result["episode_reward_mean"]))
def testAgentInputPostprocessingEnabled(self):
self.writeOutputs(self.test_dir)
# Rewrite the files to drop advantages and value_targets for testing
for path in glob.glob(self.test_dir + "/*.json"):
out = []
for line in open(path).readlines():
data = json.loads(line)
del data["advantages"]
del data["value_targets"]
out.append(data)
with open(path, "w") as f:
for data in out:
f.write(json.dumps(data))
agent = PGAgent(
env="CartPole-v0",
config={
"input": self.test_dir,
"input_evaluation": [],
"postprocess_inputs": True, # adds back 'advantages'
})
result = agent.train()
self.assertEqual(result["timesteps_total"], 250) # read from input
self.assertTrue(np.isnan(result["episode_reward_mean"]))
def testAgentInputDir(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(env="CartPole-v0",
config={
"input": self.test_dir,
"input_evaluation": None,
})
result = agent.train()
self.assertEqual(result["timesteps_total"], 250) # read from input
self.assertTrue(np.isnan(result["episode_reward_mean"]))
def testTrainCartpole(self):
register_env("test", lambda _: SimpleServing(gym.make("CartPole-v0")))
pg = PGAgent(env="test", config={"num_workers": 0})
for i in range(100):
result = pg.train()
print("Iteration {}, reward {}, timesteps {}".format(
i, result["episode_reward_mean"], result["timesteps_total"]))
if result["episode_reward_mean"] >= 100:
return
raise Exception("failed to improve reward")
def testTrainCartpole(self):
register_env("test", lambda _: SimpleServing(gym.make("CartPole-v0")))
pg = PGAgent(env="test", config={"num_workers": 0})
for i in range(100):
result = pg.train()
print("Iteration {}, reward {}, timesteps {}".format(
i, result["episode_reward_mean"], result["timesteps_total"]))
if result["episode_reward_mean"] >= 100:
return
raise Exception("failed to improve reward")
def testAgentInputList(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(env="CartPole-v0",
config={
"input": glob.glob(self.test_dir + "/*.json"),
"input_evaluation": None,
"sample_batch_size": 99,
})
result = agent.train()
self.assertEqual(result["timesteps_total"], 250) # read from input
self.assertTrue(np.isnan(result["episode_reward_mean"]))
def testTrainMultiCartpoleSinglePolicy(self):
n = 10
register_env("multi_cartpole", lambda _: MultiCartpole(n))
pg = PGAgent(env="multi_cartpole", config={"num_workers": 0})
for i in range(100):
result = pg.train()
print("Iteration {}, reward {}, timesteps {}".format(
i, result["episode_reward_mean"], result["timesteps_total"]))
if result["episode_reward_mean"] >= 50 * n:
return
raise Exception("failed to improve reward")
def testAgentInputDir(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(
env="CartPole-v0",
config={
"input": self.test_dir,
"input_evaluation": [],
})
result = agent.train()
self.assertEqual(result["timesteps_total"], 250) # read from input
self.assertTrue(np.isnan(result["episode_reward_mean"]))
def testTrainMultiCartpoleSinglePolicy(self):
n = 10
register_env("multi_cartpole", lambda _: MultiCartpole(n))
pg = PGAgent(env="multi_cartpole", config={"num_workers": 0})
for i in range(100):
result = pg.train()
print("Iteration {}, reward {}, timesteps {}".format(
i, result["episode_reward_mean"], result["timesteps_total"]))
if result["episode_reward_mean"] >= 50 * n:
return
raise Exception("failed to improve reward")
def testAgentInputList(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(
env="CartPole-v0",
config={
"input": glob.glob(self.test_dir + "/*.json"),
"input_evaluation": [],
"sample_batch_size": 99,
})
result = agent.train()
self.assertEqual(result["timesteps_total"], 250) # read from input
self.assertTrue(np.isnan(result["episode_reward_mean"]))
def testAgentInputDict(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(env="CartPole-v0",
config={
"input": {
self.test_dir: 0.1,
"sampler": 0.9,
},
"train_batch_size": 2000,
"input_evaluation": None,
})
result = agent.train()
self.assertTrue(not np.isnan(result["episode_reward_mean"]))
def testAgentInputEvalSim(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(env="CartPole-v0",
config={
"input": self.test_dir,
"input_evaluation": "simulation",
})
for _ in range(50):
result = agent.train()
if not np.isnan(result["episode_reward_mean"]):
return # simulation ok
time.sleep(0.1)
assert False, "did not see any simulation results"
def testCallbacks(self):
counts = Counter()
pg = PGAgent(
env="CartPole-v0", config={
"num_workers": 0,
"sample_batch_size": 50,
"train_batch_size": 50,
"callbacks": {
"on_episode_start": lambda x: counts.update({"start": 1}),
"on_episode_step": lambda x: counts.update({"step": 1}),
"on_episode_end": lambda x: counts.update({"end": 1}),
"on_sample_end": lambda x: counts.update({"sample": 1}),
},
})
pg.train()
pg.train()
pg.train()
pg.train()
self.assertEqual(counts["sample"], 4)
self.assertGreater(counts["start"], 0)
self.assertGreater(counts["end"], 0)
self.assertGreater(counts["step"], 200)
self.assertLess(counts["step"], 400)
def testAgentInputEvalSim(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(
env="CartPole-v0",
config={
"input": self.test_dir,
"input_evaluation": ["simulation"],
})
for _ in range(50):
result = agent.train()
if not np.isnan(result["episode_reward_mean"]):
return # simulation ok
time.sleep(0.1)
assert False, "did not see any simulation results"
def testAgentInputDict(self):
self.writeOutputs(self.test_dir)
agent = PGAgent(
env="CartPole-v0",
config={
"input": {
self.test_dir: 0.1,
"sampler": 0.9,
},
"train_batch_size": 2000,
"input_evaluation": [],
})
result = agent.train()
self.assertTrue(not np.isnan(result["episode_reward_mean"]))
def testTrainMultiCartpoleMultiPolicy(self):
n = 10
register_env("multi_cartpole", lambda _: MultiCartpole(n))
single_env = gym.make("CartPole-v0")
def gen_policy():
config = {
"gamma": random.choice([0.5, 0.8, 0.9, 0.95, 0.99]),
"n_step": random.choice([1, 2, 3, 4, 5]),
}
obs_space = single_env.observation_space
act_space = single_env.action_space
return (None, obs_space, act_space, config)
pg = PGAgent(
env="multi_cartpole",
config={
"num_workers": 0,
"multiagent": {
"policy_graphs": {
"policy_1": gen_policy(),
"policy_2": gen_policy(),
},
"policy_mapping_fn": lambda agent_id: "policy_1",
},
})
# Just check that it runs without crashing
for i in range(10):
result = pg.train()
print("Iteration {}, reward {}, timesteps {}".format(
i, result["episode_reward_mean"], result["timesteps_total"]))
self.assertTrue(
pg.compute_action([0, 0, 0, 0], policy_id="policy_1") in [0, 1])
self.assertTrue(
pg.compute_action([0, 0, 0, 0], policy_id="policy_2") in [0, 1])
self.assertRaises(
KeyError,
lambda: pg.compute_action([0, 0, 0, 0], policy_id="policy_3"))
def testTrainMultiCartpoleMultiPolicy(self):
n = 10
register_env("multi_cartpole", lambda _: MultiCartpole(n))
single_env = gym.make("CartPole-v0")
def gen_policy():
config = {
"gamma": random.choice([0.5, 0.8, 0.9, 0.95, 0.99]),
"n_step": random.choice([1, 2, 3, 4, 5]),
}
obs_space = single_env.observation_space
act_space = single_env.action_space
return (PGPolicyGraph, obs_space, act_space, config)
pg = PGAgent(
env="multi_cartpole",
config={
"num_workers": 0,
"multiagent": {
"policy_graphs": {
"policy_1": gen_policy(),
"policy_2": gen_policy(),
},
"policy_mapping_fn": lambda agent_id: "policy_1",
},
})
# Just check that it runs without crashing
for i in range(10):
result = pg.train()
print("Iteration {}, reward {}, timesteps {}".format(
i, result["episode_reward_mean"], result["timesteps_total"]))
self.assertTrue(
pg.compute_action([0, 0, 0, 0], policy_id="policy_1") in [0, 1])
self.assertTrue(
pg.compute_action([0, 0, 0, 0], policy_id="policy_2") in [0, 1])
self.assertRaises(
KeyError,
lambda: pg.compute_action([0, 0, 0, 0], policy_id="policy_3"))
def testNoStepOnInit(self):
register_env("fail", lambda _: FailOnStepEnv())
pg = PGAgent(env="fail", config={"num_workers": 1})
self.assertRaises(Exception, lambda: pg.train())
(PGPolicyGraph, obs_space, act_space, {
"gamma": 0.85
}),
'agent_1':
(PGPolicyGraph, obs_space, act_space, {
"gamma": 0.90
}),
'agent_2':
(PGPolicyGraph, obs_space, act_space, {
"gamma": 0.95
}),
'agent_3':
(PGPolicyGraph, obs_space, act_space, {
"gamma": 0.99
}),
},
'policy_mapping_fn': lambda agent_id: agent_id
},
'model': {
'custom_preprocessor': 'Featurize_Preprocessor'
},
'env_config': env_config
})
print('\nTrainer Config:\n', trainer.config, '\n')
# quick IPython embed to review the config
import IPython
IPython.embed()
while True:
print(trainer.train())
def testNoStepOnInit(self):
register_env("fail", lambda _: FailOnStepEnv())
pg = PGAgent(env="fail", config={"num_workers": 1})
self.assertRaises(Exception, lambda: pg.train())