public void TestStacking()
{
VectorSensor wrapped = new VectorSensor(2);
ISensor sensor = new StackingSensor(wrapped, 3);
wrapped.AddObservation(new[] { 1f, 2f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
sensor.Update();
wrapped.AddObservation(new[] { 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
sensor.Update();
wrapped.AddObservation(new[] { 5f, 6f });
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f, 5f, 6f });
sensor.Update();
wrapped.AddObservation(new[] { 7f, 8f });
SensorTestHelper.CompareObservation(sensor, new[] { 3f, 4f, 5f, 6f, 7f, 8f });
sensor.Update();
wrapped.AddObservation(new[] { 9f, 10f });
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
}
public void TestAddObservationFloat()
{
var sensor = new VectorSensor(1);
sensor.AddObservation(1.2f);
SensorTestHelper.CompareObservation(sensor, new[] { 1.2f });
}
public void TestAddObservationQuaternion()
{
var sensor = new VectorSensor(4);
sensor.AddObservation(Quaternion.identity);
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 1f });
}
public void TestAddObservationInt()
{
var sensor = new VectorSensor(1);
sensor.AddObservation(42);
SensorTestHelper.CompareObservation(sensor, new[] { 42f });
}
public void TestAddObservationOneHot()
{
var sensor = new VectorSensor(4);
sensor.AddOneHotObservation(2, 4);
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 0f });
}
public void TestAddObservationBool()
{
var sensor = new VectorSensor(1);
sensor.AddObservation(true);
SensorTestHelper.CompareObservation(sensor, new[] { 1f });
}
public void AssertStackingReset()
{
var agentGo1 = new GameObject("TestAgent");
var bp1 = agentGo1.AddComponent <BehaviorParameters>();
bp1.BrainParameters.NumStackedVectorObservations = 3;
bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
var aca = Academy.Instance;
var agent1 = agentGo1.AddComponent <TestAgent>();
var policy = new TestPolicy();
agent1.SetPolicy(policy);
StackingSensor sensor = null;
foreach (ISensor s in agent1.sensors)
{
if (s is StackingSensor)
{
sensor = s as StackingSensor;
}
}
Assert.NotNull(sensor);
for (int i = 0; i < 20; i++)
{
agent1.RequestDecision();
aca.EnvironmentStep();
}
policy.OnRequestDecision = () => SensorTestHelper.CompareObservation(sensor, new[] { 18f, 19f, 21f });
agent1.EndEpisode();
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f });
}
public void TestWriteEnumerable()
{
var sensor = new VectorSensor(4);
sensor.AddObservation(new[] { 1f, 2f, 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f });
}
public void TestWriteTooMany()
{
var sensor = new VectorSensor(2);
sensor.AddObservation(new[] { 1f, 2f, 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f });
}
public void TestWriteNotEnough()
{
var sensor = new VectorSensor(4);
sensor.AddObservation(new[] { 1f, 2f });
// Make sure extra zeros are added
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 0f, 0f });
}
public void TestAddObservationVec()
{
var sensor = new VectorSensor(3);
sensor.AddObservation(new Vector3(1, 2, 3));
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f });
sensor = new VectorSensor(2);
sensor.AddObservation(new Vector2(4, 5));
SensorTestHelper.CompareObservation(sensor, new[] { 4f, 5f });
}
public void TestStackingReset()
{
VectorSensor wrapped = new VectorSensor(2);
ISensor sensor = new StackingSensor(wrapped, 3);
wrapped.AddObservation(new[] { 1f, 2f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
sensor.Update();
wrapped.AddObservation(new[] { 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
sensor.Reset();
wrapped.AddObservation(new[] { 5f, 6f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 5f, 6f });
}
public void TestWrite()
{
var sensor = new VectorSensor(4);
sensor.AddObservation(1f);
sensor.AddObservation(2f);
sensor.AddObservation(3f);
sensor.AddObservation(4f);
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f });
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f });
// Check that Update() clears the data
sensor.Update();
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f });
}
public void Test3DStacking()
{
var wrapped = new Dummy3DSensor();
wrapped.ObservationSpec = ObservationSpec.Visual(2, 1, 2);
var sensor = new StackingSensor(wrapped, 2);
// Check the stacking is on the last dimension
wrapped.CurrentObservation = new[, , ] {
{ { 1f, 2f } }, { { 3f, 4f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 0f, 0f, 1f, 2f } }, { { 0f, 0f, 3f, 4f } }
});
sensor.Update();
wrapped.CurrentObservation = new[, , ] {
{ { 5f, 6f } }, { { 7f, 8f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 1f, 2f, 5f, 6f } }, { { 3f, 4f, 7f, 8f } }
});
sensor.Update();
wrapped.CurrentObservation = new[, , ] {
{ { 9f, 10f } }, { { 11f, 12f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 5f, 6f, 9f, 10f } }, { { 7f, 8f, 11f, 12f } }
});
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 5f, 6f, 9f, 10f } }, { { 7f, 8f, 11f, 12f } }
});
// Test reset
sensor.Reset();
wrapped.CurrentObservation = new[, , ] {
{ { 13f, 14f } }, { { 15f, 16f } }
};
SensorTestHelper.CompareObservation(sensor, new[, , ] {
{ { 0f, 0f, 13f, 14f } }, { { 0f, 0f, 15f, 16f } }
});
}
public void TestVectorStacking()
{
VectorSensor wrapped = new VectorSensor(2);
StackingSensor sensor = new StackingSensor(wrapped, 3);
wrapped.AddObservation(new[] { 1f, 2f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
var data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 0f, 0f, 0f, 0f, 1f, 2f }));
sensor.Update();
wrapped.AddObservation(new[] { 3f, 4f });
SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 0f, 0f, 1f, 2f, 3f, 4f }));
sensor.Update();
wrapped.AddObservation(new[] { 5f, 6f });
SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f, 5f, 6f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 1f, 2f, 3f, 4f, 5f, 6f }));
sensor.Update();
wrapped.AddObservation(new[] { 7f, 8f });
SensorTestHelper.CompareObservation(sensor, new[] { 3f, 4f, 5f, 6f, 7f, 8f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 3f, 4f, 5f, 6f, 7f, 8f }));
sensor.Update();
wrapped.AddObservation(new[] { 9f, 10f });
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 5f, 6f, 7f, 8f, 9f, 10f }));
// Check that if we don't call Update(), the same observations are produced
SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
data = sensor.GetStackedObservations();
Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 5f, 6f, 7f, 8f, 9f, 10f }));
}