def test_pytorch_approximator():
np.random.seed(1)
torch.manual_seed(1)
n_actions = 2
s = np.random.rand(1000, 4)
a = np.random.randint(n_actions, size=(1000, 1))
q = np.random.rand(1000)
approximator = Regressor(TorchApproximator, input_shape=(4,),
output_shape=(2,), n_actions=n_actions,
network=ExampleNet,
optimizer={'class': optim.Adam,
'params': {}}, loss=F.mse_loss,
batch_size=100, quiet=True)
approximator.fit(s, a, q, n_epochs=20)
x_s = np.random.rand(2, 4)
x_a = np.random.randint(n_actions, size=(2, 1))
y = approximator.predict(x_s, x_a)
y_test = np.array([0.37191153, 0.5920861])
assert np.allclose(y, y_test)
y = approximator.predict(x_s)
y_test = np.array([[0.47908658, 0.37191153],
[0.5920861, 0.27575058]])
assert np.allclose(y, y_test)
gradient = approximator.diff(x_s[0], x_a[0])
gradient_test = np.array([0., 0., 0., 0., 0.02627479, 0.76513696,
0.6672573, 0.35979462, 0., 1.])
assert np.allclose(gradient, gradient_test)
gradient = approximator.diff(x_s[0])
gradient_test = np.array([[0.02627479, 0.], [0.76513696, 0.],
[0.6672573, 0.], [0.35979462, 0.],
[0., 0.02627479], [0., 0.76513696],
[0., 0.6672573], [0., 0.35979462], [1, 0.],
[0., 1.]])
assert np.allclose(gradient, gradient_test)
old_weights = approximator.get_weights()
approximator.set_weights(old_weights)
new_weights = approximator.get_weights()
assert np.array_equal(new_weights, old_weights)
random_weights = np.random.randn(*old_weights.shape).astype(np.float32)
approximator.set_weights(random_weights)
random_weight_new = approximator.get_weights()
assert np.array_equal(random_weights, random_weight_new)
assert not np.any(np.equal(random_weights, old_weights))
def test_linear_approximator():
np.random.seed(1)
# Generic regressor
a = np.random.rand(1000, 3)
k = np.random.rand(3, 2)
b = a.dot(k) + np.random.randn(1000, 2)
approximator = Regressor(LinearApproximator,
input_shape=(3, ),
output_shape=(2, ))
approximator.fit(a, b)
x = np.random.rand(2, 3)
y = approximator.predict(x)
y_test = np.array([[0.57638247, 0.1573216], [0.11388247, 0.24123678]])
assert np.allclose(y, y_test)
point = np.random.randn(3, )
derivative = approximator.diff(point)
lp = len(point)
for i in range(derivative.shape[1]):
assert (derivative[i * lp:(i + 1) * lp, i] == point).all()
old_weights = approximator.get_weights()
approximator.set_weights(old_weights)
new_weights = approximator.get_weights()
assert np.array_equal(new_weights, old_weights)
random_weights = np.random.randn(*old_weights.shape).astype(np.float32)
approximator.set_weights(random_weights)
random_weight_new = approximator.get_weights()
assert np.array_equal(random_weights, random_weight_new)
assert not np.any(np.equal(random_weights, old_weights))
# Action regressor + Ensemble
n_actions = 2
s = np.random.rand(1000, 3)
a = np.random.randint(n_actions, size=(1000, 1))
q = np.random.rand(1000)
approximator = Regressor(LinearApproximator,
input_shape=(3, ),
n_actions=n_actions,
n_models=5)
approximator.fit(s, a, q)
x_s = np.random.rand(2, 3)
x_a = np.random.randint(n_actions, size=(2, 1))
y = approximator.predict(x_s, x_a, prediction='mean')
y_test = np.array([0.49225698, 0.69660881])
assert np.allclose(y, y_test)
y = approximator.predict(x_s, x_a, prediction='sum')
y_test = np.array([2.46128492, 3.48304404])
assert np.allclose(y, y_test)
y = approximator.predict(x_s, x_a, prediction='min')
y_test = np.array([[0.49225698, 0.69660881]])
assert np.allclose(y, y_test)
y = approximator.predict(x_s)
y_test = np.array([[0.49225698, 0.44154141], [0.69660881, 0.69060195]])
assert np.allclose(y, y_test)
approximator = Regressor(LinearApproximator,
input_shape=(3, ),
n_actions=n_actions)
approximator.fit(s, a, q)
gradient = approximator.diff(x_s[0], x_a[0])
gradient_test = np.array([0.88471362, 0.11666548, 0.45466254, 0., 0., 0.])
assert np.allclose(gradient, gradient_test)
def test_cmac_approximator():
np.random.seed(1)
# Generic regressor
x = np.random.rand(1000, 2)
k1 = np.random.rand(2)
k2 = np.random.rand(2)
y = np.array(
[np.sin(x.dot(k1) * 2 * np.pi),
np.sin(x.dot(k2) * 2 * np.pi)]).T
tilings = Tiles.generate(10, [10, 10], np.zeros(2), np.ones(2))
approximator = Regressor(CMAC,
tilings=tilings,
input_shape=(2, ),
output_shape=(2, ))
approximator.fit(x, y)
x = np.random.rand(2, 2)
y_hat = approximator.predict(x)
y_true = np.array(
[np.sin(x.dot(k1) * 2 * np.pi),
np.sin(x.dot(k2) * 2 * np.pi)]).T
y_test = np.array([[-0.73787754, 0.90673493], [-0.94972964, -0.72380013]])
assert np.allclose(y_hat, y_test)
point = np.random.rand(2)
derivative = approximator.diff(point)
assert np.array_equal(np.sum(derivative, axis=0), np.ones(2) * 10)
assert len(derivative) == approximator.weights_size
old_weights = approximator.get_weights()
approximator.set_weights(old_weights)
new_weights = approximator.get_weights()
assert np.array_equal(new_weights, old_weights)
random_weights = np.random.randn(*old_weights.shape).astype(np.float32)
approximator.set_weights(random_weights)
random_weight_new = approximator.get_weights()
assert np.array_equal(random_weights, random_weight_new)
assert not np.any(np.equal(random_weights, old_weights))
# Action regressor + Ensemble
n_actions = 2
s = np.random.rand(1000, 3)
a = np.random.randint(n_actions, size=(1000, 1))
q = np.random.rand(1000)
tilings = Tiles.generate(10, [10, 10, 10], np.zeros(3), np.ones(3))
approximator = Regressor(CMAC,
tilings=tilings,
input_shape=(3, ),
n_actions=n_actions,
n_models=5)
approximator.fit(s, a, q)
x_s = np.random.rand(2, 3)
x_a = np.random.randint(n_actions, size=(2, 1))
y = approximator.predict(x_s, x_a, prediction='mean')
y_test = np.array([[0.10921918, 0.09923379]])
assert np.allclose(y, y_test)
y = approximator.predict(x_s, x_a, prediction='sum')
y_test = np.array([0.54609592, 0.49616895])
assert np.allclose(y, y_test)
y = approximator.predict(x_s, x_a, prediction='min')
y_test = np.array([[0.10921918, 0.09923379]])
assert np.allclose(y, y_test)
y = approximator.predict(x_s)
y_test = np.array([[0.07606651, 0.10921918], [0.40698114, 0.09923379]])
assert np.allclose(y, y_test)
def test_cmac_approximator():
np.random.seed(1)
# Generic regressor
x = np.random.rand(1000, 2)
k1 = np.random.rand(2)
k2 = np.random.rand(2)
y = np.array(
[np.sin(x.dot(k1) * 2 * np.pi),
np.sin(x.dot(k2) * 2 * np.pi)]).T
tilings = Tiles.generate(10, [10, 10], np.zeros(2), np.ones(2))
approximator = Regressor(CMAC,
tilings=tilings,
input_shape=(2, ),
output_shape=(2, ))
approximator.fit(x, y)
x = np.random.rand(2, 2)
y_hat = approximator.predict(x)
y_true = np.array(
[np.sin(x.dot(k1) * 2 * np.pi),
np.sin(x.dot(k2) * 2 * np.pi)]).T
y_test = np.array([[-0.73581504, 0.90877225], [-0.95854488, -0.72429239]])
assert np.allclose(y_hat, y_test)
point = np.random.rand(2)
derivative = approximator.diff(point)
assert np.array_equal(np.sum(derivative, axis=0), np.ones(2) * 10)
assert len(derivative) == approximator.weights_size
old_weights = approximator.get_weights()
approximator.set_weights(old_weights)
new_weights = approximator.get_weights()
assert np.array_equal(new_weights, old_weights)
random_weights = np.random.randn(*old_weights.shape).astype(np.float32)
approximator.set_weights(random_weights)
random_weight_new = approximator.get_weights()
assert np.array_equal(random_weights, random_weight_new)
assert not np.any(np.equal(random_weights, old_weights))
# Action regressor + Ensemble
n_actions = 2
s = np.random.rand(1000, 3)
a = np.random.randint(n_actions, size=(1000, 1))
q = np.random.rand(1000)
tilings = Tiles.generate(10, [10, 10, 10], np.zeros(3), np.ones(3))
approximator = Regressor(CMAC,
tilings=tilings,
input_shape=(3, ),
n_actions=n_actions,
n_models=5)
approximator.fit(s, a, q)
np.random.seed(2)
x_s = np.random.rand(2, 3)
x_a = np.random.randint(n_actions, size=(2, 1))
y = approximator.predict(x_s, x_a, prediction='mean')
y_test = np.array([[0.56235045, 0.25080909]])
assert np.allclose(y, y_test)
y = approximator.predict(x_s, x_a, prediction='sum')
y_test = np.array([2.81175226, 1.25404543])
assert np.allclose(y, y_test)
y = approximator.predict(x_s, x_a, prediction='min')
y_test = np.array([0.56235045, 0.25080909])
assert np.allclose(y, y_test)
y = approximator.predict(x_s)
y_test = np.array([[0.10367145, 0.56235045], [0.05575822, 0.25080909]])
assert np.allclose(y, y_test)