JRL PPO test with delayed identity env (#355)

* add a custom delay to identity_env

* min reward 0.8 in delayed identity test

* seed the tests, perfect score on delayed_identity_test

* delay=1 in delayed_identity_test

* flake8 complaints

* increased number of steps in fixed_seq_test

* seed identity tests to ensure reproducibility

* docstrings

baselines/common/tests/envs/identity_env.py

@@ -2,43 +2,45 @@ import numpy as np
 from abc import abstractmethod
 from gym import Env
 from gym.spaces import MultiDiscrete, Discrete, Box
-
+from collections import deque
 
 class IdentityEnv(Env):
     def __init__(
             self,
-            episode_len=None
+            episode_len=None,
+            delay=0,
+            zero_first_rewards=True
     ):
 
         self.observation_space = self.action_space
         self.episode_len = episode_len
         self.time = 0
-        self.reset()
+        self.delay = delay
+        self.zero_first_rewards = zero_first_rewards
+        self.q = deque(maxlen=delay+1)
 
     def reset(self):
-        self._choose_next_state()
+        self.q.clear()
+        for _ in range(self.delay + 1):
+            self.q.append(self.action_space.sample())
         self.time = 0
 
-        return self.state
+        return self.q[-1]
 
     def step(self, actions):
-        rew = self._get_reward(actions)
+        rew = self._get_reward(self.q.popleft(), actions)
-        self._choose_next_state()
+        if self.zero_first_rewards and self.time < self.delay:
-        done = False
+            rew = 0
-        if self.episode_len and self.time >= self.episode_len:
+        self.q.append(self.action_space.sample())
-            done = True
+        self.time += 1
-
+        done = self.episode_len is not None and self.time >= self.episode_len
-        return self.state, rew, done, {}
+        return self.q[-1], rew, done, {}
 
     def seed(self, seed=None):
         self.action_space.seed(seed)
 
-    def _choose_next_state(self):
-        self.state = self.action_space.sample()
-        self.time += 1
-
     @abstractmethod
-    def _get_reward(self, actions):
+    def _get_reward(self, state, actions):
         raise NotImplementedError
 
 
@@ -47,26 +49,29 @@ class DiscreteIdentityEnv(IdentityEnv):
             self,
             dim,
             episode_len=None,
+            delay=0,
+            zero_first_rewards=True
     ):
 
         self.action_space = Discrete(dim)
-        super().__init__(episode_len=episode_len)
+        super().__init__(episode_len=episode_len, delay=delay, zero_first_rewards=zero_first_rewards)
 
-    def _get_reward(self, actions):
+    def _get_reward(self, state, actions):
-        return 1 if self.state == actions else 0
+        return 1 if state == actions else 0
 
 class MultiDiscreteIdentityEnv(IdentityEnv):
     def __init__(
             self,
             dims,
             episode_len=None,
+            delay=0,
     ):
 
         self.action_space = MultiDiscrete(dims)
-        super().__init__(episode_len=episode_len)
+        super().__init__(episode_len=episode_len, delay=delay)
 
-    def _get_reward(self, actions):
+    def _get_reward(self, state, actions):
-        return 1 if all(self.state == actions) else 0
+        return 1 if all(state == actions) else 0
 
 
 class BoxIdentityEnv(IdentityEnv):
@@ -79,7 +84,7 @@ class BoxIdentityEnv(IdentityEnv):
         self.action_space = Box(low=-1.0, high=1.0, shape=shape, dtype=np.float32)
         super().__init__(episode_len=episode_len)
 
-    def _get_reward(self, actions):
+    def _get_reward(self, state, actions):
-        diff = actions - self.state
+        diff = actions - state
         diff = diff[:]
         return -0.5 * np.dot(diff, diff)

baselines/common/tests/envs/identity_env_test.py

@@ -0,0 +1,36 @@
+from baselines.common.tests.envs.identity_env import DiscreteIdentityEnv
+
+
+def test_discrete_nodelay():
+    nsteps = 100
+    eplen = 50
+    env = DiscreteIdentityEnv(10, episode_len=eplen)
+    ob = env.reset()
+    for t in range(nsteps):
+        action = env.action_space.sample()
+        next_ob, rew, done, info = env.step(action)
+        assert rew == (1 if action == ob else 0)
+        if (t + 1) % eplen == 0:
+            assert done
+            next_ob = env.reset()
+        else:
+            assert not done
+        ob = next_ob
+
+def test_discrete_delay1():
+    eplen = 50
+    env = DiscreteIdentityEnv(10, episode_len=eplen, delay=1)
+    ob = env.reset()
+    prev_ob = None
+    for t in range(eplen):
+        action = env.action_space.sample()
+        next_ob, rew, done, info = env.step(action)
+        if t > 0:
+            assert rew == (1 if action == prev_ob else 0)
+        else:
+            assert rew == 0
+        prev_ob = ob
+        ob = next_ob
+        if t < eplen - 1:
+            assert not done
+    assert done