def test_uses_training_env_as_evaluation_env(self):
tf.compat.v1.reset_default_graph()
tf.keras.backend.clear_session()
self.assertFalse(tf.compat.v1.trainable_variables())
config = copy.deepcopy(CONFIG)
self.assertNotIn('evaluation', config['environment_params'])
config['run_params']['checkpoint_replay_pool'] = True
experiment_runner = ExperimentRunner(config=config)
session = experiment_runner._session
experiment_runner._build()
self.assertIs(experiment_runner.training_environment,
experiment_runner.evaluation_environment)
self.assertEqual(experiment_runner.algorithm._epoch, 0)
self.assertEqual(experiment_runner.algorithm._timestep, 0)
self.assertEqual(experiment_runner.algorithm._total_timestep, 0)
self.assertFalse(experiment_runner.algorithm._training_started)
self.assertEqual(experiment_runner.replay_pool.size, 0)
self.assertEqual(session.run(experiment_runner.algorithm._alpha), 1.0)
for i in range(2):
experiment_runner.train()
def test_checkpoint_pool_reconstruction(self):
tf.reset_default_graph()
tf.keras.backend.clear_session()
self.assertFalse(tf.trainable_variables())
experiment_runner = ExperimentRunner(config=CONFIG)
session = experiment_runner._session
experiment_runner._build()
self.assertEqual(experiment_runner.algorithm._epoch, 0)
self.assertEqual(experiment_runner.algorithm._timestep, 0)
self.assertEqual(experiment_runner.algorithm._total_timestep, 0)
self.assertFalse(experiment_runner.algorithm._training_started)
self.assertEqual(experiment_runner.replay_pool.size, 0)
self.assertEqual(session.run(experiment_runner.algorithm._alpha), 1.0)
for i in range(10):
experiment_runner.train()
def test_uses_training_env_as_evaluation_env(self):
config = copy.deepcopy(CONFIG)
self.assertNotIn('evaluation', config['environment_params'])
config['run_params']['checkpoint_replay_pool'] = True
experiment_runner = ExperimentRunner(config=config)
experiment_runner._build()
self.assertIs(experiment_runner.training_environment,
experiment_runner.evaluation_environment)
self.assertEqual(experiment_runner.algorithm._epoch, 0)
self.assertEqual(experiment_runner.algorithm._timestep, 0)
self.assertEqual(experiment_runner.algorithm._total_timestep, 0)
self.assertFalse(experiment_runner.algorithm._training_started)
self.assertEqual(experiment_runner.replay_pool.size, 0)
self.assertEqual(experiment_runner.algorithm._alpha.numpy(), 1.0)
for i in range(2):
experiment_runner.train()
def test_checkpoint_dict(self):
tf.compat.v1.reset_default_graph()
tf.keras.backend.clear_session()
self.assertFalse(tf.compat.v1.trainable_variables())
config = copy.deepcopy(CONFIG)
experiment_runner = ExperimentRunner(config=config)
session = experiment_runner._session
experiment_runner._build()
self.assertEqual(experiment_runner.algorithm._epoch, 0)
self.assertEqual(experiment_runner.algorithm._timestep, 0)
self.assertEqual(experiment_runner.algorithm._total_timestep, 0)
self.assertFalse(experiment_runner.algorithm._training_started)
self.assertEqual(experiment_runner.replay_pool.size, 0)
self.assertEqual(session.run(experiment_runner.algorithm._alpha), 1.0)
initial_policy_weights = experiment_runner.policy.get_weights()
initial_Qs_weights = [Q.get_weights() for Q in experiment_runner.Qs]
for i in range(10):
experiment_runner.train()
self.assertEqual(experiment_runner.algorithm._epoch, 9)
self.assertEqual(experiment_runner.algorithm._timestep, 20)
self.assertEqual(experiment_runner.algorithm._total_timestep, 200)
self.assertTrue(experiment_runner.algorithm._training_started)
self.assertNotEqual(session.run(experiment_runner.algorithm._alpha),
1.0)
self.assertEqual(experiment_runner.replay_pool.size, 210)
policy_weights = experiment_runner.policy.get_weights()
Qs_weights = [Q.get_weights() for Q in experiment_runner.Qs]
# Make sure that the training changed all the weights
assert_weights_not_equal(initial_policy_weights, policy_weights)
for initial_Q_weights, Q_weights in zip(initial_Qs_weights,
Qs_weights):
assert_weights_not_equal(initial_Q_weights, Q_weights)
expected_alpha_value = 5.0
session.run(
tf.assign(experiment_runner.algorithm._log_alpha,
np.log(expected_alpha_value)))
self.assertEqual(session.run(experiment_runner.algorithm._alpha),
expected_alpha_value)
trainable_variables_1 = {
'policy':
experiment_runner.policy.trainable_variables,
'Q0':
experiment_runner.Qs[0].trainable_variables,
'Q1':
experiment_runner.Qs[1].trainable_variables,
'target_Q0':
(experiment_runner.algorithm._Q_targets[0].trainable_variables),
'target_Q1':
(experiment_runner.algorithm._Q_targets[1].trainable_variables),
'log_alpha': [experiment_runner.algorithm._log_alpha],
}
trainable_variables_1_np = session.run(trainable_variables_1)
assert set(variable for _, variables in trainable_variables_1.items()
for variable in variables) == set(
variable for variable in tf.trainable_variables()
if 'save_counter' not in variable.name)
optimizer_variables_1 = {
'Q_optimizer_1':
(experiment_runner.algorithm._Q_optimizers[0].variables()),
'Q_optimizer_2':
(experiment_runner.algorithm._Q_optimizers[1].variables()),
'policy_optimizer':
(experiment_runner.algorithm._policy_optimizer.variables()),
'alpha_optimizer':
(experiment_runner.algorithm._alpha_optimizer.variables()),
}
optimizer_variables_1_np = session.run(optimizer_variables_1)
checkpoint = experiment_runner.save()
tf.compat.v1.reset_default_graph()
tf.keras.backend.clear_session()
self.assertFalse(tf.compat.v1.trainable_variables())
experiment_runner_2 = ExperimentRunner(config=config)
session = experiment_runner_2._session
self.assertFalse(experiment_runner_2._built)
experiment_runner_2.restore(checkpoint)
trainable_variables_2 = {
'policy':
experiment_runner_2.policy.trainable_variables,
'Q0':
experiment_runner_2.Qs[0].trainable_variables,
'Q1':
experiment_runner_2.Qs[1].trainable_variables,
'target_Q0':
(experiment_runner_2.algorithm._Q_targets[0].trainable_variables),
'target_Q1':
(experiment_runner_2.algorithm._Q_targets[1].trainable_variables),
'log_alpha': [experiment_runner_2.algorithm._log_alpha],
}
trainable_variables_2_np = session.run(trainable_variables_2)
assert set(variable for _, variables in trainable_variables_2.items()
for variable in variables) == set(
variable for variable in tf.trainable_variables()
if 'save_counter' not in variable.name)
optimizer_variables_2 = {
'Q_optimizer_1':
(experiment_runner_2.algorithm._Q_optimizers[0].variables()),
'Q_optimizer_2':
(experiment_runner_2.algorithm._Q_optimizers[1].variables()),
'policy_optimizer':
(experiment_runner_2.algorithm._policy_optimizer.variables()),
'alpha_optimizer':
(experiment_runner_2.algorithm._alpha_optimizer.variables()),
}
optimizer_variables_2_np = session.run(optimizer_variables_2)
for i, (key,
variables_1_np) in enumerate(trainable_variables_1_np.items()):
print()
variables_1_tf = trainable_variables_1[key]
variables_2_tf = trainable_variables_2[key]
variables_2_np = trainable_variables_2_np[key]
for j, (variable_1_np, variable_2_np, variable_1_tf,
variable_2_tf) in enumerate(
zip(variables_1_np, variables_2_np, variables_1_tf,
variables_2_tf)):
allclose = np.allclose(variable_1_np, variable_2_np)
variable_1_name = variable_1_tf.name
variable_2_name = variable_2_tf.name
print(f"i: {i}; j: {j}; {key};"
f" {allclose}; {variable_1_name}; {variable_2_name}")
if 'target_Q' in key:
pass
else:
np.testing.assert_allclose(variable_1_np, variable_2_np)
# for optimizer_key in optimizer_variables_1_np.keys():
# variables_1_np = optimizer_variables_1_np[optimizer_key]
# variables_2_np = optimizer_variables_2_np[optimizer_key]
# for variable_1_np, variable_2_np in zip(
# variables_1_np, variables_2_np):
# np.testing.assert_allclose(variable_1_np, variable_2_np)
for i in (0, 1):
Q_variables_tf = trainable_variables_1[f'Q{i}']
Q_variables_np = trainable_variables_1_np[f'Q{i}']
target_Q_variables_tf = trainable_variables_2[f'target_Q{i}']
target_Q_variables_np = trainable_variables_2_np[f'target_Q{i}']
for j, (Q_np, target_Q_np, Q_tf, target_Q_tf) in enumerate(
zip(Q_variables_np, target_Q_variables_np, Q_variables_tf,
target_Q_variables_tf)):
allclose = np.allclose(Q_np, target_Q_np)
Q_name = Q_tf.name
target_Q_name = target_Q_tf.name
# print(f"i: {i}; {allclose}; {Q_name}; {target_Q_name}")
self.assertEqual(experiment_runner_2.algorithm._epoch, 10)
self.assertEqual(experiment_runner_2.algorithm._timestep, 0)
self.assertEqual(session.run(experiment_runner_2.algorithm._alpha),
expected_alpha_value)
for i in range(10):
experiment_runner_2.train()
self.assertEqual(experiment_runner_2.algorithm._epoch, 19)
self.assertEqual(experiment_runner_2.algorithm._timestep, 20)
self.assertEqual(experiment_runner_2.algorithm._total_timestep, 400)
self.assertTrue(experiment_runner_2.algorithm._training_started)
def test_checkpoint_pool_reconstruction(self):
tf.compat.v1.reset_default_graph()
tf.keras.backend.clear_session()
self.assertFalse(tf.compat.v1.trainable_variables())
config = copy.deepcopy(CONFIG)
config['run_params']['checkpoint_replay_pool'] = True
experiment_runner = ExperimentRunner(config=config)
session = experiment_runner._session
experiment_runner._build()
self.assertEqual(experiment_runner.algorithm._epoch, 0)
self.assertEqual(experiment_runner.algorithm._timestep, 0)
self.assertEqual(experiment_runner.algorithm._total_timestep, 0)
self.assertFalse(experiment_runner.algorithm._training_started)
self.assertEqual(experiment_runner.replay_pool.size, 0)
self.assertEqual(session.run(experiment_runner.algorithm._alpha), 1.0)
checkpoints = []
while (experiment_runner.replay_pool.size <
experiment_runner.replay_pool._max_size):
for i in range(10):
experiment_runner.train()
checkpoints.append(experiment_runner.save())
tf.compat.v1.reset_default_graph()
tf.keras.backend.clear_session()
self.assertFalse(tf.compat.v1.trainable_variables())
experiment_runner_2 = ExperimentRunner(config=config)
session = experiment_runner_2._session
self.assertFalse(experiment_runner_2._built)
experiment_runner_2.restore(checkpoints[-1])
replay_pool_1 = experiment_runner.replay_pool
replay_pool_2 = experiment_runner_2.replay_pool
self.assertEqual(replay_pool_1._max_size, replay_pool_2._max_size)
self.assertEqual(replay_pool_1.size, replay_pool_2.size)
self.assertEqual(replay_pool_2._max_size, replay_pool_2.size)
self.assertEqual(set(replay_pool_1.fields.keys()),
set(replay_pool_2.fields.keys()))
for field_name in replay_pool_1.fields.keys():
np.testing.assert_array_equal(replay_pool_1.fields[field_name],
replay_pool_2.fields[field_name])
