627 lines
18 KiB
Python
627 lines
18 KiB
Python
import numpy as np
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import pytest
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import tqdm
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from torch.utils.tensorboard import SummaryWriter
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from tianshou.data import (
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AsyncCollector,
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Batch,
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CachedReplayBuffer,
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Collector,
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PrioritizedReplayBuffer,
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ReplayBuffer,
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VectorReplayBuffer,
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)
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from tianshou.env import DummyVectorEnv, SubprocVectorEnv
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from tianshou.policy import BasePolicy
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if __name__ == '__main__':
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from env import MyTestEnv, NXEnv
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else: # pytest
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from test.base.env import MyTestEnv, NXEnv
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class MyPolicy(BasePolicy):
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def __init__(self, dict_state=False, need_state=True):
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"""
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:param bool dict_state: if the observation of the environment is a dict
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:param bool need_state: if the policy needs the hidden state (for RNN)
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"""
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super().__init__()
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self.dict_state = dict_state
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self.need_state = need_state
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def forward(self, batch, state=None):
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if self.need_state:
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if state is None:
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state = np.zeros((len(batch.obs), 2))
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else:
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state += 1
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if self.dict_state:
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return Batch(act=np.ones(len(batch.obs['index'])), state=state)
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return Batch(act=np.ones(len(batch.obs)), state=state)
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def learn(self):
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pass
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class Logger:
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def __init__(self, writer):
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self.cnt = 0
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self.writer = writer
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def preprocess_fn(self, **kwargs):
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# modify info before adding into the buffer, and recorded into tfb
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# if obs && env_id exist -> reset
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# if obs_next/rew/done/info/env_id exist -> normal step
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if 'rew' in kwargs:
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info = kwargs['info']
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info.rew = kwargs['rew']
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if 'key' in info.keys():
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self.writer.add_scalar('key', np.mean(info.key), global_step=self.cnt)
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self.cnt += 1
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return Batch(info=info)
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else:
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return Batch()
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@staticmethod
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def single_preprocess_fn(**kwargs):
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# same as above, without tfb
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if 'rew' in kwargs:
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info = kwargs['info']
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info.rew = kwargs['rew']
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return Batch(info=info)
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else:
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return Batch()
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def test_collector():
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writer = SummaryWriter('log/collector')
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logger = Logger(writer)
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env_fns = [lambda x=i: MyTestEnv(size=x, sleep=0) for i in [2, 3, 4, 5]]
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venv = SubprocVectorEnv(env_fns)
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dum = DummyVectorEnv(env_fns)
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policy = MyPolicy()
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env = env_fns[0]()
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c0 = Collector(policy, env, ReplayBuffer(size=100), logger.preprocess_fn)
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c0.collect(n_step=3)
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assert len(c0.buffer) == 3
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assert np.allclose(c0.buffer.obs[:4, 0], [0, 1, 0, 0])
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assert np.allclose(c0.buffer[:].obs_next[..., 0], [1, 2, 1])
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c0.collect(n_episode=3)
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assert len(c0.buffer) == 8
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assert np.allclose(c0.buffer.obs[:10, 0], [0, 1, 0, 1, 0, 1, 0, 1, 0, 0])
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assert np.allclose(c0.buffer[:].obs_next[..., 0], [1, 2, 1, 2, 1, 2, 1, 2])
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c0.collect(n_step=3, random=True)
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c1 = Collector(
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policy, venv, VectorReplayBuffer(total_size=100, buffer_num=4),
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logger.preprocess_fn
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)
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c1.collect(n_step=8)
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obs = np.zeros(100)
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obs[[0, 1, 25, 26, 50, 51, 75, 76]] = [0, 1, 0, 1, 0, 1, 0, 1]
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assert np.allclose(c1.buffer.obs[:, 0], obs)
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assert np.allclose(c1.buffer[:].obs_next[..., 0], [1, 2, 1, 2, 1, 2, 1, 2])
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c1.collect(n_episode=4)
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assert len(c1.buffer) == 16
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obs[[2, 3, 27, 52, 53, 77, 78, 79]] = [0, 1, 2, 2, 3, 2, 3, 4]
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assert np.allclose(c1.buffer.obs[:, 0], obs)
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assert np.allclose(
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c1.buffer[:].obs_next[..., 0],
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[1, 2, 1, 2, 1, 2, 3, 1, 2, 3, 4, 1, 2, 3, 4, 5]
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)
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c1.collect(n_episode=4, random=True)
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c2 = Collector(
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policy, dum, VectorReplayBuffer(total_size=100, buffer_num=4),
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logger.preprocess_fn
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)
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c2.collect(n_episode=7)
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obs1 = obs.copy()
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obs1[[4, 5, 28, 29, 30]] = [0, 1, 0, 1, 2]
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obs2 = obs.copy()
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obs2[[28, 29, 30, 54, 55, 56, 57]] = [0, 1, 2, 0, 1, 2, 3]
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c2obs = c2.buffer.obs[:, 0]
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assert np.all(c2obs == obs1) or np.all(c2obs == obs2)
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c2.reset_env()
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c2.reset_buffer()
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assert c2.collect(n_episode=8)['n/ep'] == 8
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obs[[4, 5, 28, 29, 30, 54, 55, 56, 57]] = [0, 1, 0, 1, 2, 0, 1, 2, 3]
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assert np.all(c2.buffer.obs[:, 0] == obs)
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c2.collect(n_episode=4, random=True)
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# test corner case
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with pytest.raises(TypeError):
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Collector(policy, dum, ReplayBuffer(10))
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with pytest.raises(TypeError):
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Collector(policy, dum, PrioritizedReplayBuffer(10, 0.5, 0.5))
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with pytest.raises(TypeError):
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c2.collect()
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# test NXEnv
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for obs_type in ["array", "object"]:
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envs = SubprocVectorEnv(
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[lambda i=x: NXEnv(i, obs_type) for x in [5, 10, 15, 20]]
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)
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c3 = Collector(policy, envs, VectorReplayBuffer(total_size=100, buffer_num=4))
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c3.collect(n_step=6)
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assert c3.buffer.obs.dtype == object
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def test_collector_with_async():
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env_lens = [2, 3, 4, 5]
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writer = SummaryWriter('log/async_collector')
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logger = Logger(writer)
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env_fns = [
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lambda x=i: MyTestEnv(size=x, sleep=0.001, random_sleep=True) for i in env_lens
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]
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venv = SubprocVectorEnv(env_fns, wait_num=len(env_fns) - 1)
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policy = MyPolicy()
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bufsize = 60
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c1 = AsyncCollector(
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policy, venv, VectorReplayBuffer(total_size=bufsize * 4, buffer_num=4),
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logger.preprocess_fn
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)
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ptr = [0, 0, 0, 0]
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for n_episode in tqdm.trange(1, 30, desc="test async n_episode"):
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result = c1.collect(n_episode=n_episode)
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assert result["n/ep"] >= n_episode
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# check buffer data, obs and obs_next, env_id
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for i, count in enumerate(np.bincount(result["lens"], minlength=6)[2:]):
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env_len = i + 2
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total = env_len * count
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indices = np.arange(ptr[i], ptr[i] + total) % bufsize
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ptr[i] = (ptr[i] + total) % bufsize
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seq = np.arange(env_len)
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buf = c1.buffer.buffers[i]
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assert np.all(buf.info.env_id[indices] == i)
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assert np.all(buf.obs[indices].reshape(count, env_len) == seq)
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assert np.all(buf.obs_next[indices].reshape(count, env_len) == seq + 1)
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# test async n_step, for now the buffer should be full of data
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for n_step in tqdm.trange(1, 15, desc="test async n_step"):
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result = c1.collect(n_step=n_step)
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assert result["n/st"] >= n_step
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for i in range(4):
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env_len = i + 2
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seq = np.arange(env_len)
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buf = c1.buffer.buffers[i]
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assert np.all(buf.info.env_id == i)
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assert np.all(buf.obs.reshape(-1, env_len) == seq)
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assert np.all(buf.obs_next.reshape(-1, env_len) == seq + 1)
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with pytest.raises(TypeError):
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c1.collect()
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def test_collector_with_dict_state():
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env = MyTestEnv(size=5, sleep=0, dict_state=True)
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policy = MyPolicy(dict_state=True)
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c0 = Collector(policy, env, ReplayBuffer(size=100), Logger.single_preprocess_fn)
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c0.collect(n_step=3)
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c0.collect(n_episode=2)
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assert len(c0.buffer) == 10
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env_fns = [
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lambda x=i: MyTestEnv(size=x, sleep=0, dict_state=True) for i in [2, 3, 4, 5]
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]
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envs = DummyVectorEnv(env_fns)
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envs.seed(666)
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obs = envs.reset()
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assert not np.isclose(obs[0]['rand'], obs[1]['rand'])
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c1 = Collector(
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policy, envs, VectorReplayBuffer(total_size=100, buffer_num=4),
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Logger.single_preprocess_fn
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)
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c1.collect(n_step=12)
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result = c1.collect(n_episode=8)
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assert result['n/ep'] == 8
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lens = np.bincount(result['lens'])
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assert result['n/st'] == 21 and np.all(lens == [0, 0, 2, 2, 2, 2]) or \
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result['n/st'] == 20 and np.all(lens == [0, 0, 3, 1, 2, 2])
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batch, _ = c1.buffer.sample(10)
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c0.buffer.update(c1.buffer)
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assert len(c0.buffer) in [42, 43]
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if len(c0.buffer) == 42:
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assert np.all(
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c0.buffer[:].obs.index[..., 0] == [
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0,
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1,
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2,
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3,
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4,
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0,
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1,
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2,
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3,
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4,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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1,
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2,
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0,
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1,
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2,
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0,
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1,
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2,
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3,
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0,
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1,
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2,
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3,
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0,
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1,
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2,
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3,
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4,
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0,
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1,
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2,
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3,
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4,
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]
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), c0.buffer[:].obs.index[..., 0]
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else:
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assert np.all(
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c0.buffer[:].obs.index[..., 0] == [
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0,
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1,
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2,
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3,
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4,
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0,
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1,
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2,
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3,
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4,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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1,
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2,
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0,
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1,
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2,
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0,
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1,
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2,
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0,
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1,
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2,
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3,
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0,
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1,
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2,
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3,
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0,
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1,
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2,
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3,
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4,
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0,
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1,
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2,
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3,
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4,
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]
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), c0.buffer[:].obs.index[..., 0]
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c2 = Collector(
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policy, envs, VectorReplayBuffer(total_size=100, buffer_num=4, stack_num=4),
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Logger.single_preprocess_fn
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)
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c2.collect(n_episode=10)
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batch, _ = c2.buffer.sample(10)
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def test_collector_with_ma():
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env = MyTestEnv(size=5, sleep=0, ma_rew=4)
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policy = MyPolicy()
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c0 = Collector(policy, env, ReplayBuffer(size=100), Logger.single_preprocess_fn)
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# n_step=3 will collect a full episode
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rew = c0.collect(n_step=3)['rews']
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assert len(rew) == 0
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rew = c0.collect(n_episode=2)['rews']
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assert rew.shape == (2, 4) and np.all(rew == 1)
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env_fns = [lambda x=i: MyTestEnv(size=x, sleep=0, ma_rew=4) for i in [2, 3, 4, 5]]
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envs = DummyVectorEnv(env_fns)
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c1 = Collector(
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policy, envs, VectorReplayBuffer(total_size=100, buffer_num=4),
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Logger.single_preprocess_fn
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)
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rew = c1.collect(n_step=12)['rews']
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assert rew.shape == (2, 4) and np.all(rew == 1), rew
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rew = c1.collect(n_episode=8)['rews']
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assert rew.shape == (8, 4) and np.all(rew == 1)
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batch, _ = c1.buffer.sample(10)
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print(batch)
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c0.buffer.update(c1.buffer)
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assert len(c0.buffer) in [42, 43]
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if len(c0.buffer) == 42:
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rew = [
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0,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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0,
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1,
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0,
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0,
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1,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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0,
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1,
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]
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else:
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rew = [
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0,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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1,
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0,
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0,
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1,
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0,
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0,
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1,
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0,
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0,
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1,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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0,
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1,
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0,
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0,
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0,
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0,
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1,
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]
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assert np.all(c0.buffer[:].rew == [[x] * 4 for x in rew])
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assert np.all(c0.buffer[:].done == rew)
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c2 = Collector(
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policy, envs, VectorReplayBuffer(total_size=100, buffer_num=4, stack_num=4),
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Logger.single_preprocess_fn
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)
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rew = c2.collect(n_episode=10)['rews']
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assert rew.shape == (10, 4) and np.all(rew == 1)
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batch, _ = c2.buffer.sample(10)
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def test_collector_with_atari_setting():
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reference_obs = np.zeros([6, 4, 84, 84])
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for i in range(6):
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reference_obs[i, 3, np.arange(84), np.arange(84)] = i
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reference_obs[i, 2, np.arange(84)] = i
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reference_obs[i, 1, :, np.arange(84)] = i
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reference_obs[i, 0] = i
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# atari single buffer
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env = MyTestEnv(size=5, sleep=0, array_state=True)
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policy = MyPolicy()
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c0 = Collector(policy, env, ReplayBuffer(size=100))
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c0.collect(n_step=6)
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c0.collect(n_episode=2)
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assert c0.buffer.obs.shape == (100, 4, 84, 84)
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assert c0.buffer.obs_next.shape == (100, 4, 84, 84)
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assert len(c0.buffer) == 15
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obs = np.zeros_like(c0.buffer.obs)
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obs[np.arange(15)] = reference_obs[np.arange(15) % 5]
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assert np.all(obs == c0.buffer.obs)
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c1 = Collector(policy, env, ReplayBuffer(size=100, ignore_obs_next=True))
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c1.collect(n_episode=3)
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assert np.allclose(c0.buffer.obs, c1.buffer.obs)
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with pytest.raises(AttributeError):
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c1.buffer.obs_next
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assert np.all(reference_obs[[1, 2, 3, 4, 4] * 3] == c1.buffer[:].obs_next)
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c2 = Collector(
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policy, env,
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ReplayBuffer(size=100, ignore_obs_next=True, save_only_last_obs=True)
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)
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c2.collect(n_step=8)
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assert c2.buffer.obs.shape == (100, 84, 84)
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obs = np.zeros_like(c2.buffer.obs)
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obs[np.arange(8)] = reference_obs[[0, 1, 2, 3, 4, 0, 1, 2], -1]
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assert np.all(c2.buffer.obs == obs)
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assert np.allclose(
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c2.buffer[:].obs_next, reference_obs[[1, 2, 3, 4, 4, 1, 2, 2], -1]
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)
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# atari multi buffer
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env_fns = [
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lambda x=i: MyTestEnv(size=x, sleep=0, array_state=True) for i in [2, 3, 4, 5]
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]
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envs = DummyVectorEnv(env_fns)
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c3 = Collector(policy, envs, VectorReplayBuffer(total_size=100, buffer_num=4))
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c3.collect(n_step=12)
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result = c3.collect(n_episode=9)
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assert result["n/ep"] == 9 and result["n/st"] == 23
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|
assert c3.buffer.obs.shape == (100, 4, 84, 84)
|
|
obs = np.zeros_like(c3.buffer.obs)
|
|
obs[np.arange(8)] = reference_obs[[0, 1, 0, 1, 0, 1, 0, 1]]
|
|
obs[np.arange(25, 34)] = reference_obs[[0, 1, 2, 0, 1, 2, 0, 1, 2]]
|
|
obs[np.arange(50, 58)] = reference_obs[[0, 1, 2, 3, 0, 1, 2, 3]]
|
|
obs[np.arange(75, 85)] = reference_obs[[0, 1, 2, 3, 4, 0, 1, 2, 3, 4]]
|
|
assert np.all(obs == c3.buffer.obs)
|
|
obs_next = np.zeros_like(c3.buffer.obs_next)
|
|
obs_next[np.arange(8)] = reference_obs[[1, 2, 1, 2, 1, 2, 1, 2]]
|
|
obs_next[np.arange(25, 34)] = reference_obs[[1, 2, 3, 1, 2, 3, 1, 2, 3]]
|
|
obs_next[np.arange(50, 58)] = reference_obs[[1, 2, 3, 4, 1, 2, 3, 4]]
|
|
obs_next[np.arange(75, 85)] = reference_obs[[1, 2, 3, 4, 5, 1, 2, 3, 4, 5]]
|
|
assert np.all(obs_next == c3.buffer.obs_next)
|
|
c4 = Collector(
|
|
policy, envs,
|
|
VectorReplayBuffer(
|
|
total_size=100,
|
|
buffer_num=4,
|
|
stack_num=4,
|
|
ignore_obs_next=True,
|
|
save_only_last_obs=True
|
|
)
|
|
)
|
|
c4.collect(n_step=12)
|
|
result = c4.collect(n_episode=9)
|
|
assert result["n/ep"] == 9 and result["n/st"] == 23
|
|
assert c4.buffer.obs.shape == (100, 84, 84)
|
|
obs = np.zeros_like(c4.buffer.obs)
|
|
slice_obs = reference_obs[:, -1]
|
|
obs[np.arange(8)] = slice_obs[[0, 1, 0, 1, 0, 1, 0, 1]]
|
|
obs[np.arange(25, 34)] = slice_obs[[0, 1, 2, 0, 1, 2, 0, 1, 2]]
|
|
obs[np.arange(50, 58)] = slice_obs[[0, 1, 2, 3, 0, 1, 2, 3]]
|
|
obs[np.arange(75, 85)] = slice_obs[[0, 1, 2, 3, 4, 0, 1, 2, 3, 4]]
|
|
assert np.all(c4.buffer.obs == obs)
|
|
obs_next = np.zeros([len(c4.buffer), 4, 84, 84])
|
|
ref_index = np.array(
|
|
[
|
|
1,
|
|
1,
|
|
1,
|
|
1,
|
|
1,
|
|
1,
|
|
1,
|
|
1,
|
|
1,
|
|
2,
|
|
2,
|
|
1,
|
|
2,
|
|
2,
|
|
1,
|
|
2,
|
|
2,
|
|
1,
|
|
2,
|
|
3,
|
|
3,
|
|
1,
|
|
2,
|
|
3,
|
|
3,
|
|
1,
|
|
2,
|
|
3,
|
|
4,
|
|
4,
|
|
1,
|
|
2,
|
|
3,
|
|
4,
|
|
4,
|
|
]
|
|
)
|
|
obs_next[:, -1] = slice_obs[ref_index]
|
|
ref_index -= 1
|
|
ref_index[ref_index < 0] = 0
|
|
obs_next[:, -2] = slice_obs[ref_index]
|
|
ref_index -= 1
|
|
ref_index[ref_index < 0] = 0
|
|
obs_next[:, -3] = slice_obs[ref_index]
|
|
ref_index -= 1
|
|
ref_index[ref_index < 0] = 0
|
|
obs_next[:, -4] = slice_obs[ref_index]
|
|
assert np.all(obs_next == c4.buffer[:].obs_next)
|
|
|
|
buf = ReplayBuffer(100, stack_num=4, ignore_obs_next=True, save_only_last_obs=True)
|
|
c5 = Collector(policy, envs, CachedReplayBuffer(buf, 4, 10))
|
|
result_ = c5.collect(n_step=12)
|
|
assert len(buf) == 5 and len(c5.buffer) == 12
|
|
result = c5.collect(n_episode=9)
|
|
assert result["n/ep"] == 9 and result["n/st"] == 23
|
|
assert len(buf) == 35
|
|
assert np.all(
|
|
buf.obs[:len(buf)] == slice_obs[[
|
|
0, 1, 0, 1, 2, 0, 1, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 1, 0, 1, 2, 0, 1, 0, 1,
|
|
2, 3, 0, 1, 2, 0, 1, 2, 3, 4
|
|
]]
|
|
)
|
|
assert np.all(
|
|
buf[:].obs_next[:, -1] == slice_obs[[
|
|
1, 1, 1, 2, 2, 1, 1, 1, 2, 3, 3, 1, 2, 3, 4, 4, 1, 1, 1, 2, 2, 1, 1, 1, 2,
|
|
3, 3, 1, 2, 2, 1, 2, 3, 4, 4
|
|
]]
|
|
)
|
|
assert len(buf) == len(c5.buffer)
|
|
|
|
# test buffer=None
|
|
c6 = Collector(policy, envs)
|
|
result1 = c6.collect(n_step=12)
|
|
for key in ["n/ep", "n/st", "rews", "lens"]:
|
|
assert np.allclose(result1[key], result_[key])
|
|
result2 = c6.collect(n_episode=9)
|
|
for key in ["n/ep", "n/st", "rews", "lens"]:
|
|
assert np.allclose(result2[key], result[key])
|
|
|
|
|
|
if __name__ == '__main__':
|
|
test_collector()
|
|
test_collector_with_dict_state()
|
|
test_collector_with_ma()
|
|
test_collector_with_atari_setting()
|
|
test_collector_with_async()
|