def test_vpg_cart_pole_ram(self):
experiment_config['episode_runner_config']['number_of_episodes'] = 2
experiment_config['data_saver_config']['store_on_ram_only'] = True
self.experiment = Experiment(
ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
self.experiment.shutdown()
def test_train_model_on_external_dataset_as_hdf5(self):
network = eval(self.experiment_config['architecture_config']['architecture']).Net(
config=ArchitectureConfig().create(config_dict=self.experiment_config['architecture_config'])
)
external_dataset = f'{os.environ["PWD"]}/test_dir/external_dataset'
os.makedirs(external_dataset, exist_ok=True)
info = generate_random_dataset_in_raw_data(output_dir=external_dataset,
num_runs=5,
input_size=network.input_size,
output_size=network.output_size,
continuous=not network.discrete,
store_hdf5=True)
self.assertTrue(os.path.isfile(os.path.join(external_dataset, 'train.hdf5')))
self.assertTrue(os.path.isfile(os.path.join(external_dataset, 'validation.hdf5')))
self.experiment_config["trainer_config"]["data_loader_config"]["hdf5_files"] = [os.path.join(external_dataset,
'train.hdf5')]
self.experiment_config["evaluator_config"]["data_loader_config"]["hdf5_files"] = [os.path.join(external_dataset,
'validation.hdf5')]
experiment = Experiment(config=ExperimentConfig().create(config_dict=self.experiment_config))
experiment.run()
# check if 5 + 2 checkpoints were stored in torch_checkpoints
self.assertTrue(len([f for f in os.listdir(os.path.join(self.output_dir, 'torch_checkpoints'))
if f.endswith('ckpt')]), 4)
shutil.rmtree(external_dataset, ignore_errors=True)
def test_ros_with_model_evaluation(self):
experiment_config['output_path'] = self.output_dir
self.experiment = Experiment(ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
raw_data_dirs = [os.path.join(self.output_dir, 'raw_data', d)
for d in os.listdir(os.path.join(self.output_dir, 'raw_data'))]
self.assertEqual(len(raw_data_dirs), 1)
run_dir = raw_data_dirs[0]
with open(os.path.join(run_dir, 'done.data'), 'r') as f:
self.assertEqual(experiment_config["episode_runner_config"]["number_of_episodes"] *
experiment_config["environment_config"]["max_number_of_steps"],
len(f.readlines()))
self.experiment.shutdown()
def test_train_model_on_generated_dataset_with_tensorboard(self):
network = eval(self.experiment_config['architecture_config']['architecture']).Net(
config=ArchitectureConfig().create(config_dict=self.experiment_config['architecture_config'])
)
info = generate_random_dataset_in_raw_data(output_dir=self.output_dir,
num_runs=5,
input_size=network.input_size,
output_size=network.output_size,
continuous=not network.discrete,
store_hdf5=True)
self.experiment_config['tensorboard'] = True
experiment = Experiment(config=ExperimentConfig().create(config_dict=self.experiment_config))
experiment.run()
self.assertGreater(len(glob(os.path.join(self.output_dir, 'events.*'))), 0)
class TestVPGGym(unittest.TestCase):
def setUp(self) -> None:
self.output_dir = f'{get_data_dir(os.environ["PWD"])}/test_dir/{get_filename_without_extension(__file__)}'
os.makedirs(self.output_dir, exist_ok=True)
experiment_config['output_path'] = self.output_dir
def test_vpg_cart_pole_fs(self):
experiment_config['episode_runner_config']['number_of_episodes'] = 2
experiment_config['data_saver_config']['store_on_ram_only'] = False
experiment_config['data_saver_config']['separate_raw_data_runs'] = True
self.experiment = Experiment(
ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
self.experiment.shutdown()
def test_vpg_cart_pole_ram(self):
experiment_config['episode_runner_config']['number_of_episodes'] = 2
experiment_config['data_saver_config']['store_on_ram_only'] = True
self.experiment = Experiment(
ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
self.experiment.shutdown()
def tearDown(self) -> None:
self.experiment = None
shutil.rmtree(self.output_dir, ignore_errors=True)
def test_train_model_on_generated_dataset(self):
network = eval(self.experiment_config['architecture_config']['architecture']).Net(
config=ArchitectureConfig().create(config_dict=self.experiment_config['architecture_config'])
)
info = generate_random_dataset_in_raw_data(output_dir=self.output_dir,
num_runs=5,
input_size=network.input_size,
output_size=network.output_size,
continuous=not network.discrete,
store_hdf5=True)
experiment = Experiment(config=ExperimentConfig().create(config_dict=self.experiment_config))
experiment.run()
print(os.listdir(os.path.join(self.output_dir, 'torch_checkpoints')))
# check if checkpoints were stored in torch_checkpoints
self.assertEqual(5, len([f for f in os.listdir(os.path.join(self.output_dir, 'torch_checkpoints'))
if f.endswith('ckpt')]))
class TestGymModelEvaluation(unittest.TestCase):
def setUp(self) -> None:
self.output_dir = f'{os.environ["PWD"]}/test_dir/{get_filename_without_extension(__file__)}'
shutil.rmtree(self.output_dir, ignore_errors=True)
os.makedirs(self.output_dir, exist_ok=True)
experiment_config['output_path'] = self.output_dir
def test_discrete_stochastic_cart_pole(self):
experiment_config["environment_config"]["gym_config"][
"world_name"] = "CartPole-v0"
experiment_config["architecture_config"][
"architecture"] = "cart_pole_4_2d_stochastic"
self.experiment = Experiment(
ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
raw_data_dirs = [
os.path.join(self.output_dir, 'raw_data', d)
for d in os.listdir(os.path.join(self.output_dir, 'raw_data'))
]
self.assertEqual(len(raw_data_dirs), 1)
run_dir = raw_data_dirs[0]
with open(os.path.join(run_dir, 'done.data'), 'r') as f:
self.assertEqual(
experiment_config["episode_runner_config"]
["number_of_episodes"] *
experiment_config["environment_config"]["max_number_of_steps"],
len(f.readlines()))
self.experiment.shutdown()
def test_continuous_stochastic_pendulum(self):
experiment_config["environment_config"]["gym_config"][
"world_name"] = "Pendulum-v0"
experiment_config["architecture_config"][
"architecture"] = "pendulum_3_1c_stochastic"
self.experiment = Experiment(
ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
raw_data_dirs = [
os.path.join(self.output_dir, 'raw_data', d)
for d in os.listdir(os.path.join(self.output_dir, 'raw_data'))
]
self.assertEqual(len(raw_data_dirs), 1)
run_dir = raw_data_dirs[0]
with open(os.path.join(run_dir, 'done.data'), 'r') as f:
self.assertEqual(
len(f.readlines()), experiment_config["episode_runner_config"]
["number_of_episodes"] *
experiment_config["environment_config"]["max_number_of_steps"])
self.experiment.shutdown()
def tearDown(self) -> None:
shutil.rmtree(self.output_dir, ignore_errors=True)
def test_continuous_stochastic_pendulum(self):
experiment_config["environment_config"]["gym_config"][
"world_name"] = "Pendulum-v0"
experiment_config["architecture_config"][
"architecture"] = "pendulum_3_1c_stochastic"
self.experiment = Experiment(
ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
raw_data_dirs = [
os.path.join(self.output_dir, 'raw_data', d)
for d in os.listdir(os.path.join(self.output_dir, 'raw_data'))
]
self.assertEqual(len(raw_data_dirs), 1)
run_dir = raw_data_dirs[0]
with open(os.path.join(run_dir, 'done.data'), 'r') as f:
self.assertEqual(
len(f.readlines()), experiment_config["episode_runner_config"]
["number_of_episodes"] *
experiment_config["environment_config"]["max_number_of_steps"])
self.experiment.shutdown()
class TestRosModelEvaluation(unittest.TestCase):
def setUp(self) -> None:
self.output_dir = f'{os.environ["PWD"]}/test_dir/{get_filename_without_extension(__file__)}'
os.makedirs(self.output_dir, exist_ok=True)
def test_ros_with_model_evaluation(self):
experiment_config['output_path'] = self.output_dir
self.experiment = Experiment(ExperimentConfig().create(config_dict=experiment_config))
self.experiment.run()
raw_data_dirs = [os.path.join(self.output_dir, 'raw_data', d)
for d in os.listdir(os.path.join(self.output_dir, 'raw_data'))]
self.assertEqual(len(raw_data_dirs), 1)
run_dir = raw_data_dirs[0]
with open(os.path.join(run_dir, 'done.data'), 'r') as f:
self.assertEqual(experiment_config["episode_runner_config"]["number_of_episodes"] *
experiment_config["environment_config"]["max_number_of_steps"],
len(f.readlines()))
self.experiment.shutdown()
def tearDown(self) -> None:
shutil.rmtree(self.output_dir, ignore_errors=True)
class TestExperiment(unittest.TestCase):
def setUp(self) -> None:
self.output_dir = f'{os.environ["PWD"]}/test_dir/{get_filename_without_extension(__file__)}'
os.makedirs(self.output_dir, exist_ok=True)
def test_experiment_with_empty_config(self):
self.config = ExperimentConfig().create(
config_dict={'output_path': self.output_dir})
self.experiment = Experiment(self.config)
self.experiment.run()
self.experiment.shutdown()
def test_save_and_restore_architecture(self):
config_dict = {
'output_path': self.output_dir,
'number_of_epochs': 10,
'episode_runner_config': {
'number_of_episodes': -1,
'train_every_n_steps': 10
},
'load_checkpoint_dir': None,
'load_checkpoint_found': True,
'save_checkpoint_every_n': 3,
'tensorboard': False,
'environment_config': {
"factory_key": "GYM",
"max_number_of_steps": 50,
'normalize_observations': True,
'normalize_rewards': True,
'observation_clipping': 10,
'reward_clipping': 10,
"gym_config": {
"random_seed": 123,
"world_name": 'CartPole-v0',
"render": False,
},
},
'data_saver_config': {
'clear_buffer_before_episode': True,
'store_on_ram_only': True
},
'architecture_config': {
'architecture': 'cart_pole_4_2d_stochastic',
'log_std': 0.0,
'device': 'cpu',
'random_seed': 2048,
'initialisation_type': 'orthogonal'
},
'trainer_config': {
'criterion': 'MSELoss',
'critic_learning_rate': 0.0001,
'actor_learning_rate': 0.00015,
'scheduler_config': {
'number_of_epochs': 488
},
'gradient_clip_norm': -1,
'optimizer': 'Adam',
'data_loader_config': {
'batch_size': 5,
'random_seed': 2048
},
'device': 'cpu',
'discount': 0.99,
'factory_key': 'PPO',
'gae_lambda': 0.95,
'phi_key': 'gae',
'entropy_coefficient': 0.0,
'max_actor_training_iterations': 10,
'max_critic_training_iterations': 10,
'epsilon': 0.2,
'kl_target': 0.01
},
'evaluator_config': None,
}
self.config = ExperimentConfig().create(config_dict=config_dict)
experiment = Experiment(self.config)
experiment.run()
self.assertEqual(
len(glob(f'{self.output_dir}/torch_checkpoints/*.ckpt')), 6)
# best checkpoint might not be latest, so remove this one.
os.remove(f'{self.output_dir}/torch_checkpoints/checkpoint_best.ckpt')
config_dict['architecture_config']['random_seed'] = 543
new_experiment = Experiment(
ExperimentConfig().create(config_dict=config_dict))
# assert models are equal
self.assertEqual(experiment._net.get_checksum(),
new_experiment._net.get_checksum())
# assert learning rate is loaded correctly
self.assertEqual(experiment._trainer._actor_scheduler.get_lr(),
new_experiment._trainer._actor_scheduler.get_lr())
# assert filter values are loaded correctly
self.assertEqual(
experiment._environment._observation_filter._statistic.mean.sum(
).item(),
new_experiment._environment._observation_filter._statistic.mean.
sum().item())
def tearDown(self) -> None:
shutil.rmtree(self.output_dir, ignore_errors=True)
def test_experiment_with_empty_config(self):
self.config = ExperimentConfig().create(
config_dict={'output_path': self.output_dir})
self.experiment = Experiment(self.config)
self.experiment.run()
self.experiment.shutdown()