ray/rllib/agents/marwil/tests/test_marwil.py

import numpy as np
import os
from pathlib import Path
import unittest

import ray
import ray.rllib.agents.marwil as marwil
from ray.rllib.evaluation.postprocessing import compute_advantages
from ray.rllib.offline import JsonReader
from ray.rllib.utils.framework import try_import_tf, try_import_torch
from ray.rllib.utils.test_utils import check, check_compute_single_action, \
    framework_iterator

tf1, tf, tfv = try_import_tf()
torch, _ = try_import_torch()


class TestMARWIL(unittest.TestCase):
    @classmethod
    def setUpClass(cls):
        ray.init()

    @classmethod
    def tearDownClass(cls):
        ray.shutdown()

    def test_marwil_compilation_and_learning_from_offline_file(self):
        """Test whether a MARWILTrainer can be built with all frameworks.

        And learns from a historic-data file.
        To generate this data, first run:
        $ ./train.py --run=PPO --env=CartPole-v0 \
          --stop='{"timesteps_total": 50000}' \
          --config='{"output": "/tmp/out", "batch_mode": "complete_episodes"}'
        """
        rllib_dir = Path(__file__).parent.parent.parent.parent
        print("rllib dir={}".format(rllib_dir))
        data_file = os.path.join(rllib_dir, "tests/data/cartpole/large.json")
        print("data_file={} exists={}".format(data_file,
                                              os.path.isfile(data_file)))

        config = marwil.DEFAULT_CONFIG.copy()
        config["num_workers"] = 0  # Run locally.
        config["evaluation_num_workers"] = 1
        config["evaluation_interval"] = 1
        # Evaluate on actual environment.
        config["evaluation_config"] = {"input": "sampler"}
        # Learn from offline data.
        config["input"] = [data_file]
        num_iterations = 350
        min_reward = 70.0

        # Test for all frameworks.
        for _ in framework_iterator(config):
            trainer = marwil.MARWILTrainer(config=config, env="CartPole-v0")
            learnt = False
            for i in range(num_iterations):
                eval_results = trainer.train()["evaluation"]
                print("iter={} R={}".format(
                    i, eval_results["episode_reward_mean"]))
                # Learn until some reward is reached on an actual live env.
                if eval_results["episode_reward_mean"] > min_reward:
                    print("learnt!")
                    learnt = True
                    break

            if not learnt:
                raise ValueError(
                    "MARWILTrainer did not reach {} reward from expert "
                    "offline data!".format(min_reward))

            check_compute_single_action(
                trainer, include_prev_action_reward=True)

            trainer.stop()

    def test_marwil_loss_function(self):
        """
        To generate the historic data used in this test case, first run:
        $ ./train.py --run=PPO --env=CartPole-v0 \
          --stop='{"timesteps_total": 50000}' \
          --config='{"output": "/tmp/out", "batch_mode": "complete_episodes"}'
        """
        rllib_dir = Path(__file__).parent.parent.parent.parent
        print("rllib dir={}".format(rllib_dir))
        data_file = os.path.join(rllib_dir, "tests/data/cartpole/small.json")
        print("data_file={} exists={}".format(data_file,
                                              os.path.isfile(data_file)))
        config = marwil.DEFAULT_CONFIG.copy()
        config["num_workers"] = 0  # Run locally.
        # Learn from offline data.
        config["input"] = [data_file]

        for fw in framework_iterator(config, frameworks=["torch", "tf2"]):
            reader = JsonReader(inputs=[data_file])
            batch = reader.next()

            trainer = marwil.MARWILTrainer(config=config, env="CartPole-v0")
            policy = trainer.get_policy()
            model = policy.model

            # Calculate our own expected values (to then compare against the
            # agent's loss output).
            cummulative_rewards = compute_advantages(
                batch, 0.0, config["gamma"], 1.0, False, False)["advantages"]
            if fw == "torch":
                cummulative_rewards = torch.tensor(cummulative_rewards)
            tensor_batch = policy._lazy_tensor_dict(batch)
            model_out, _ = model.from_batch(tensor_batch)
            vf_estimates = model.value_function()
            adv = cummulative_rewards - vf_estimates
            if fw == "torch":
                adv = adv.detach().cpu().numpy()
            adv_squared = np.mean(np.square(adv))
            c_2 = 100.0 + 1e-8 * (adv_squared - 100.0)
            c = np.sqrt(c_2)
            exp_advs = np.exp(config["beta"] * (adv / c))
            logp = policy.dist_class(model_out,
                                     model).logp(tensor_batch["actions"])
            if fw == "torch":
                logp = logp.detach().cpu().numpy()
            # Calculate all expected loss components.
            expected_vf_loss = 0.5 * adv_squared
            expected_pol_loss = -1.0 * np.mean(exp_advs * logp)
            expected_loss = \
                expected_pol_loss + config["vf_coeff"] * expected_vf_loss

            # Calculate the algorithm's loss (to check against our own
            # calculation above).
            postprocessed_batch = policy.postprocess_trajectory(batch)
            loss_func = marwil.marwil_tf_policy.marwil_loss if fw != "torch" \
                else marwil.marwil_torch_policy.marwil_loss
            loss_out = loss_func(policy, model, policy.dist_class,
                                 policy._lazy_tensor_dict(postprocessed_batch))

            # Check all components.
            if fw == "torch":
                check(policy.v_loss, expected_vf_loss, decimals=4)
                check(policy.p_loss, expected_pol_loss, decimals=4)
            else:
                check(policy.loss.v_loss, expected_vf_loss, decimals=4)
                check(policy.loss.p_loss, expected_pol_loss, decimals=4)
            check(loss_out, expected_loss, decimals=3)


if __name__ == "__main__":
    import pytest
    import sys
    sys.exit(pytest.main(["-v", __file__]))