class TestHierReplayBuffer(unittest.TestCase):
"""Tests for the HierReplayBuffer object."""
def setUp(self):
self.replay_buffer = HierReplayBuffer(
buffer_size=2,
batch_size=1,
meta_period=3,
obs_dim=1,
ac_dim=1,
co_dim=1,
goal_dim=1,
num_levels=3,
)
def tearDown(self):
del self.replay_buffer
def test_buffer_size(self):
"""Validate the buffer_size output from the replay buffer."""
self.assertEqual(self.replay_buffer.buffer_size, 2)
def test_add_sample(self):
"""Test the `add` and `sample` methods the replay buffer."""
# Set the random seed.
random.seed(0)
obs_t = [
np.array([0]),
np.array([1]),
np.array([2]),
np.array([3]),
np.array([4]),
np.array([5]),
np.array([6]),
np.array([7]),
np.array([8]),
np.array([9])
]
action_t = [[
np.array([0]),
np.array([1]),
np.array([2]),
np.array([3])
],
[
np.array([0]),
np.array([1]),
np.array([2]),
np.array([3]),
np.array([4]),
np.array([5]),
np.array([6]),
np.array([7]),
np.array([8]),
np.array([9])
],
[
np.array([0]),
np.array([1]),
np.array([2]),
np.array([3]),
np.array([4]),
np.array([5]),
np.array([6]),
np.array([7]),
np.array([8]),
np.array([9])
]]
context_t = [np.array([0]), np.array([1])]
reward_t = [[0], [0, 1, 2], [0, 1, 2, 3, 4, 5, 6, 7, 8]]
done_t = [
False, False, False, False, False, False, False, False, False
]
# Add an element.
self.replay_buffer.add(
obs_t=obs_t,
action_t=action_t,
context_t=context_t,
reward_t=reward_t,
done_t=done_t,
)
# Check is_full in the False case.
self.assertEqual(self.replay_buffer.is_full(), False)
# Add an element.
self.replay_buffer.add(
obs_t=obs_t,
action_t=action_t,
context_t=context_t,
reward_t=reward_t,
done_t=done_t,
)
# Check is_full in the True case.
self.assertEqual(self.replay_buffer.is_full(), True)
# Check can_sample in the True case.
self.assertEqual(self.replay_buffer.can_sample(), True)
# Test the `sample` method.
obs0, obs1, act, rew, done, _ = self.replay_buffer.sample(False)
np.testing.assert_array_almost_equal(obs0[0], [[0, 0]])
np.testing.assert_array_almost_equal(obs0[1], [[6, 2]])
np.testing.assert_array_almost_equal(obs0[2], [[6, 6]])
np.testing.assert_array_almost_equal(obs1[0], [[9, 1]])
np.testing.assert_array_almost_equal(obs1[1], [[9, 3]])
np.testing.assert_array_almost_equal(obs1[2], [[7, 7]])
np.testing.assert_array_almost_equal(act[0], [[0]])
np.testing.assert_array_almost_equal(act[1], [[6]])
np.testing.assert_array_almost_equal(act[2], [[6]])
np.testing.assert_array_almost_equal(rew[0], [0])
np.testing.assert_array_almost_equal(rew[1], [2])
np.testing.assert_array_almost_equal(rew[2], [6])
np.testing.assert_array_almost_equal(done[0], [0])
np.testing.assert_array_almost_equal(done[1], [0])
np.testing.assert_array_almost_equal(done[2], [0])
class TestHierReplayBuffer(unittest.TestCase):
"""Tests for the HierReplayBuffer object."""
def setUp(self):
self.replay_buffer = HierReplayBuffer(buffer_size=2,
batch_size=1,
meta_period=1,
meta_obs_dim=2,
meta_ac_dim=3,
worker_obs_dim=4,
worker_ac_dim=5)
def tearDown(self):
del self.replay_buffer
def test_init(self):
"""Validate that all the attributes were initialize properly."""
self.assertTupleEqual(self.replay_buffer.meta_obs0.shape, (1, 2))
self.assertTupleEqual(self.replay_buffer.meta_obs1.shape, (1, 2))
self.assertTupleEqual(self.replay_buffer.meta_act.shape, (1, 3))
self.assertTupleEqual(self.replay_buffer.meta_rew.shape, (1, ))
self.assertTupleEqual(self.replay_buffer.meta_done.shape, (1, ))
self.assertTupleEqual(self.replay_buffer.worker_obs0.shape, (1, 4))
self.assertTupleEqual(self.replay_buffer.worker_obs1.shape, (1, 4))
self.assertTupleEqual(self.replay_buffer.worker_act.shape, (1, 5))
self.assertTupleEqual(self.replay_buffer.worker_rew.shape, (1, ))
self.assertTupleEqual(self.replay_buffer.worker_done.shape, (1, ))
def test_buffer_size(self):
"""Validate the buffer_size output from the replay buffer."""
self.assertEqual(self.replay_buffer.buffer_size, 2)
def test_add_sample(self):
"""Test the `add` and `sample` methods the replay buffer."""
"""Test the `add` and `sample` methods the replay buffer."""
# Add an element.
self.replay_buffer.add(
obs_t=[np.array([0, 0, 0, 0]),
np.array([1, 1, 1, 1])],
goal_t=np.array([2, 2, 2]),
action_t=[np.array([3, 3, 3, 3, 3])],
reward_t=[4],
done=[False],
meta_obs_t=(np.array([5, 5]), np.array([6, 6])),
meta_reward_t=7,
)
# Check is_full in the False case.
self.assertEqual(self.replay_buffer.is_full(), False)
# Add an element.
self.replay_buffer.add(
obs_t=[np.array([0, 0, 0, 0]),
np.array([1, 1, 1, 1])],
goal_t=np.array([2, 2, 2]),
action_t=[np.array([3, 3, 3, 3, 3])],
reward_t=[4],
done=[False],
meta_obs_t=(np.array([5, 5]), np.array([6, 6])),
meta_reward_t=7,
)
# Check is_full in the True case.
self.assertEqual(self.replay_buffer.is_full(), True)
# Check can_sample in the True case.
self.assertEqual(self.replay_buffer.can_sample(), True)
# Test the `sample` method.
meta_obs0, meta_obs1, meta_act, meta_rew, meta_done, worker_obs0, \
worker_obs1, worker_act, worker_rew, worker_done, _ = \
self.replay_buffer.sample()
np.testing.assert_array_almost_equal(meta_obs0, [[5, 5]])
np.testing.assert_array_almost_equal(meta_obs1, [[6, 6]])
np.testing.assert_array_almost_equal(meta_act, [[2, 2, 2]])
np.testing.assert_array_almost_equal(meta_rew, [7])
np.testing.assert_array_almost_equal(meta_done, [0])
np.testing.assert_array_almost_equal(worker_obs0, [[0, 0, 0, 0]])
np.testing.assert_array_almost_equal(worker_obs1, [[1, 1, 1, 1]])
np.testing.assert_array_almost_equal(worker_act, [[3, 3, 3, 3, 3]])
np.testing.assert_array_almost_equal(worker_rew, [4])
np.testing.assert_array_almost_equal(worker_done, [0])