public void TestRemotePolicyEvent()
{
var behaviorName = "testBehavior";
var sensor1 = new Test3DSensor("SensorA", 21, 20, 3);
var sensor2 = new Test3DSensor("SensorB", 20, 22, 3);
var sensors = new List <ISensor> {
sensor1, sensor2
};
var actionSpec = ActionSpec.MakeContinuous(2);
var vectorActuator = new VectorActuator(null, actionSpec, "test'");
var actuators = new IActuator[] { vectorActuator };
var remotePolicyEvent = TrainingAnalytics.GetEventForRemotePolicy(behaviorName, sensors, actionSpec, actuators);
// The behavior name should be hashed, not pass-through.
Assert.AreNotEqual(behaviorName, remotePolicyEvent.BehaviorName);
Assert.AreEqual(2, remotePolicyEvent.ObservationSpecs.Count);
Assert.AreEqual(3, remotePolicyEvent.ObservationSpecs[0].DimensionInfos.Length);
Assert.AreEqual(20, remotePolicyEvent.ObservationSpecs[0].DimensionInfos[0].Size);
Assert.AreEqual(0, remotePolicyEvent.ObservationSpecs[0].ObservationType);
Assert.AreEqual("None", remotePolicyEvent.ObservationSpecs[0].CompressionType);
Assert.AreEqual(Test3DSensor.k_BuiltInSensorType, remotePolicyEvent.ObservationSpecs[0].BuiltInSensorType);
Assert.AreEqual(2, remotePolicyEvent.ActionSpec.NumContinuousActions);
Assert.AreEqual(0, remotePolicyEvent.ActionSpec.NumDiscreteActions);
Assert.AreEqual(2, remotePolicyEvent.ActuatorInfos[0].NumContinuousActions);
Assert.AreEqual(0, remotePolicyEvent.ActuatorInfos[0].NumDiscreteActions);
}
public void TestResetData()
{
var ar = new TestActionReceiver();
var va = new VectorActuator(ar, ActionSpec.MakeDiscrete(1, 2, 3), "name");
var discreteActions = new[] { 0, 1, 1 };
var ab = new ActionBuffers(ActionSegment <float> .Empty,
new ActionSegment <int>(discreteActions, 0, 3));
va.OnActionReceived(ab);
}
public void TestConstruct()
{
var ar = new TestActionReceiver();
var va = new VectorActuator(ar, ActionSpec.MakeDiscrete(1, 2, 3), "name");
Assert.IsTrue(va.ActionSpec.NumDiscreteActions == 3);
Assert.IsTrue(va.ActionSpec.SumOfDiscreteBranchSizes == 6);
Assert.IsTrue(va.ActionSpec.NumContinuousActions == 0);
var va1 = new VectorActuator(ar, ActionSpec.MakeContinuous(4), "name");
Assert.IsTrue(va1.ActionSpec.NumContinuousActions == 4);
Assert.IsTrue(va1.ActionSpec.SumOfDiscreteBranchSizes == 0);
Assert.AreEqual(va1.Name, "name-Continuous");
}
public void TestConstruct()
{
var ar = new TestActionReceiver();
var va = new VectorActuator(ar, new[] { 1, 2, 3 }, SpaceType.Discrete, "name");
Assert.IsTrue(va.ActionSpec.NumDiscreteActions == 3);
Assert.IsTrue(va.ActionSpec.SumOfDiscreteBranchSizes == 6);
Assert.IsTrue(va.ActionSpec.NumContinuousActions == 0);
var va1 = new VectorActuator(ar, new[] { 4 }, SpaceType.Continuous, "name");
Assert.IsTrue(va1.ActionSpec.NumContinuousActions == 4);
Assert.IsTrue(va1.ActionSpec.SumOfDiscreteBranchSizes == 0);
Assert.AreEqual(va1.Name, "name-Continuous");
}
public void TestOnActionReceived()
{
var ar = new TestActionReceiver();
var va = new VectorActuator(ar, ActionSpec.MakeDiscrete(1, 2, 3), "name");
var discreteActions = new[] { 0, 1, 1 };
var ab = new ActionBuffers(ActionSegment <float> .Empty,
new ActionSegment <int>(discreteActions, 0, 3));
va.OnActionReceived(ab);
Assert.AreEqual(ar.LastActionBuffers, ab);
va.ResetData();
Assert.AreEqual(va.ActionBuffers.ContinuousActions, ActionSegment <float> .Empty);
Assert.AreEqual(va.ActionBuffers.DiscreteActions, ActionSegment <int> .Empty);
}
public void TestWriteDiscreteActionMask()
{
var ar = new TestActionReceiver();
var va = new VectorActuator(ar, ActionSpec.MakeDiscrete(1, 2, 3), "name");
var bdam = new ActuatorDiscreteActionMask(new[] { va }, 6, 3);
var groundTruthMask = new[] { false, true, false, false, true, true };
ar.Branch = 1;
ar.Mask = new[] { 0 };
va.WriteDiscreteActionMask(bdam);
ar.Branch = 2;
ar.Mask = new[] { 1, 2 };
va.WriteDiscreteActionMask(bdam);
Assert.IsTrue(groundTruthMask.SequenceEqual(bdam.GetMask()));
}
public void TestModelEvent()
{
var sensors = new List <ISensor> {
sensor_21_20_3.Sensor, sensor_20_22_3.Sensor
};
var behaviorName = "continuousModel";
var actionSpec = GetContinuous2vis8vec2actionActionSpec();
var vectorActuator = new VectorActuator(null, actionSpec, "test'");
var actuators = new IActuator[] { vectorActuator };
var continuousEvent = InferenceAnalytics.GetEventForModel(
continuousONNXModel, behaviorName,
InferenceDevice.CPU, sensors, actionSpec,
actuators
);
// The behavior name should be hashed, not pass-through.
Assert.AreNotEqual(behaviorName, continuousEvent.BehaviorName);
Assert.AreEqual(2, continuousEvent.ActionSpec.NumContinuousActions);
Assert.AreEqual(0, continuousEvent.ActionSpec.NumDiscreteActions);
Assert.AreEqual(2, continuousEvent.ObservationSpecs.Count);
Assert.AreEqual(3, continuousEvent.ObservationSpecs[0].DimensionInfos.Length);
Assert.AreEqual(20, continuousEvent.ObservationSpecs[0].DimensionInfos[0].Size);
Assert.AreEqual(0, continuousEvent.ObservationSpecs[0].ObservationType);
Assert.AreEqual((int)DimensionProperty.TranslationalEquivariance, continuousEvent.ObservationSpecs[0].DimensionInfos[0].Flags);
Assert.AreEqual((int)DimensionProperty.None, continuousEvent.ObservationSpecs[0].DimensionInfos[2].Flags);
Assert.AreEqual("None", continuousEvent.ObservationSpecs[0].CompressionType);
Assert.AreEqual(Test3DSensor.k_BuiltInSensorType, continuousEvent.ObservationSpecs[0].BuiltInSensorType);
Assert.AreEqual((int)BuiltInActuatorType.VectorActuator, continuousEvent.ActuatorInfos[0].BuiltInActuatorType);
Assert.AreNotEqual(null, continuousEvent.ModelHash);
// Make sure nested fields get serialized
var jsonString = JsonUtility.ToJson(continuousEvent, true);
Assert.IsTrue(jsonString.Contains("ObservationSpecs"));
Assert.IsTrue(jsonString.Contains("ActionSpec"));
Assert.IsTrue(jsonString.Contains("NumDiscreteActions"));
Assert.IsTrue(jsonString.Contains("SensorName"));
Assert.IsTrue(jsonString.Contains("Flags"));
Assert.IsTrue(jsonString.Contains("ActuatorInfos"));
}
