def test_higher_level_step():
"""Tests environment for higher level steps correctly"""
hiro_agent = HIRO(config)
ll_env = hiro_agent.lower_level_agent.environment
h_env = hiro_agent.higher_level_agent.environment
h_env.reset()
# HIRO.goal_transition = lambda x, y, z: y
state_before = hiro_agent.higher_level_state
assert hiro_agent.higher_level_next_state is None
next_state, reward, done, _ = h_env.step(np.array([-1.0, 2.0, 3.0]))
assert np.allclose(hiro_agent.goal, HIRO.goal_transition(
state_before, np.array([-1.0, 2.0, 3.0]), next_state))
assert all(hiro_agent.higher_level_state == next_state)
assert all(hiro_agent.higher_level_next_state == next_state)
assert hiro_agent.higher_level_reward == reward
assert hiro_agent.higher_level_done == done
assert next_state.shape[0] == 3
assert isinstance(reward, float)
assert not done
for _ in range(200):
next_state, reward, done, _ = h_env.step(np.array([-1.0, 2.0, 3.0]))
assert all(hiro_agent.higher_level_next_state == next_state)
assert all(hiro_agent.higher_level_next_state == next_state)
assert hiro_agent.higher_level_reward == reward
assert hiro_agent.higher_level_done == done
def test_changing_max_lower_timesteps():
"""Tests that changing the max lower level timesteps works"""
config2 = copy.deepcopy(config)
config2.hyperparameters["LOWER_LEVEL"]["max_lower_level_timesteps"] = 1
hiro_agent2 = HIRO(config2)
h_env2 = hiro_agent2.higher_level_agent.environment
h_env2.reset()
next_state, reward, done, _ = h_env2.step(np.array([-1.0, 2.0, 3.0]))
assert not done
assert hiro_agent2.lower_level_done
assert reward == hiro_agent2.higher_level_reward
def test_goal_transition():
"""Tests environment does goal transitions properly"""
hiro_agent.higher_level_state = 2
hiro_agent.goal = 9
next_state = 3
assert HIRO.goal_transition(hiro_agent.higher_level_state, hiro_agent.goal, next_state) == 8
hiro_agent.higher_level_state = 2
hiro_agent.goal = 9
next_state = 3
ll_env.update_goal(next_state)
assert hiro_agent.goal == 8
h_env.reset()
hiro_agent.goal = np.array([2.0, 4.0, -3.0])
hiro_agent.higher_level_reward = 0
ll_env.reset()
state = hiro_agent.higher_level_state
next_state, reward, done, _ = ll_env.step(np.array([random.random()]))
assert all(hiro_agent.goal == state + np.array([2.0, 4.0, -3.0]) - next_state[0:3])
"theta": 0.15, # for O-H noise
"sigma": 0.25, # for O-H noise
"action_noise_std": 0.2, # for TD3
"action_noise_clipping_range": 0.5, # for TD3
"update_every_n_steps": 20,
"learning_updates_per_learning_session": 10,
"number_goal_candidates": 8,
"clip_rewards": False
},
}
hiro_agent = HIRO(config)
ll_env = hiro_agent.lower_level_agent.environment
h_env = hiro_agent.higher_level_agent.environment
def test_environment_resets():
"""Tests created environments reset properly"""
lower_level_state = ll_env.reset()
assert lower_level_state.shape[0] == 6
assert ll_env.max_sub_policy_timesteps == 3
assert ll_env.lower_level_timesteps == 0
hiro_agent.higher_level_state = np.array([0., 1.0, 2.0])
hiro_agent.goal = np.array([1.0, 4.0, -22.])
assert all(ll_env.reset() == np.array([0.0, 1.0, 2.0, 1.0, 4.0, -22.0]))