public void TestRunModel_deterministic()
{
var actionSpec = GetContinuous2vis8vec2actionActionSpec();
var modelRunner = new ModelRunner(deterministicContinuousNNModel, actionSpec, InferenceDevice.Burst);
var sensor_8 = new Sensors.VectorSensor(8, "VectorSensor8");
var info1 = new AgentInfo();
var obs = new[]
{
sensor_8,
sensor_21_20_3.CreateSensors()[0],
sensor_20_22_3.CreateSensors()[0]
}.ToList();
var deterministicModelRunner = new ModelRunner(deterministicContinuousNNModel, actionSpec, InferenceDevice.Burst,
deterministicInference: true);
info1.episodeId = 1;
deterministicModelRunner.PutObservations(info1, obs);
deterministicModelRunner.DecideBatch();
var deterministicAction1 = (float[])deterministicModelRunner.GetAction(1).ContinuousActions.Array.Clone();
deterministicModelRunner.PutObservations(info1, obs);
deterministicModelRunner.DecideBatch();
var deterministicAction2 = (float[])deterministicModelRunner.GetAction(1).ContinuousActions.Array.Clone();
// Deterministic action selection should output same action everytime
Assert.IsTrue(Enumerable.SequenceEqual(deterministicAction1, deterministicAction2, new FloatThresholdComparer(0.001f)));
modelRunner.Dispose();
}
public void TestRunModel()
{
var actionSpec = GetContinuous2vis8vec2actionActionSpec();
var modelRunner = new ModelRunner(continuousONNXModel, actionSpec, InferenceDevice.Burst);
var sensor_8 = new Sensors.VectorSensor(8, "VectorSensor8");
var info1 = new AgentInfo();
info1.episodeId = 1;
modelRunner.PutObservations(info1, new[] {
sensor_8,
sensor_21_20_3.CreateSensors()[0],
sensor_20_22_3.CreateSensors()[0]
}.ToList());
var info2 = new AgentInfo();
info2.episodeId = 2;
modelRunner.PutObservations(info2, new[] {
sensor_8,
sensor_21_20_3.CreateSensors()[0],
sensor_20_22_3.CreateSensors()[0]
}.ToList());
modelRunner.DecideBatch();
Assert.IsFalse(modelRunner.GetAction(1).Equals(ActionBuffers.Empty));
Assert.IsFalse(modelRunner.GetAction(2).Equals(ActionBuffers.Empty));
Assert.IsTrue(modelRunner.GetAction(3).Equals(ActionBuffers.Empty));
Assert.AreEqual(actionSpec.NumDiscreteActions, modelRunner.GetAction(1).DiscreteActions.Length);
modelRunner.Dispose();
}
public void TestRunModel_stochastic()
{
var actionSpec = GetContinuous2vis8vec2actionActionSpec();
// deterministicInference = false by default
var modelRunner = new ModelRunner(deterministicContinuousNNModel, actionSpec, InferenceDevice.Burst);
var sensor_8 = new Sensors.VectorSensor(8, "VectorSensor8");
var info1 = new AgentInfo();
var obs = new[]
{
sensor_8,
sensor_21_20_3.CreateSensors()[0],
sensor_20_22_3.CreateSensors()[0]
}.ToList();
info1.episodeId = 1;
modelRunner.PutObservations(info1, obs);
modelRunner.DecideBatch();
var stochAction1 = (float[])modelRunner.GetAction(1).ContinuousActions.Array.Clone();
modelRunner.PutObservations(info1, obs);
modelRunner.DecideBatch();
var stochAction2 = (float[])modelRunner.GetAction(1).ContinuousActions.Array.Clone();
// Stochastic action selection should output randomly different action values with same obs
Assert.IsFalse(Enumerable.SequenceEqual(stochAction1, stochAction2, new FloatThresholdComparer(0.001f)));
modelRunner.Dispose();
}
