google-research

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# coding=utf-8
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# Copyright 2024 The Google Research Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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#     http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Tests for ES-ENAS objects."""
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from absl.testing import absltest
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from absl.testing import parameterized
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import pyglove as pg
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from es_enas import config as config_util
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from es_enas import objects
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class ObjectsTest(parameterized.TestCase):
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  def setUp(self):
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    self.base_config = config_util.get_config()
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    super().setUp()
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  @parameterized.named_parameters(
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      ('Random', 'random'), ('PolicyGradient', 'policy_gradient'),
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      ('RegularizedEvolution', 'regularized_evolution'))
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  def test_GeneralTopologyBlackboxObject(self, controller_str):
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    self.base_config.controller_type_str = controller_str
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    self.base_config.horizon = 2
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    self.base_config.environment_name = 'Pendulum'
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    self.config = config_util.generate_config(
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        self.base_config, current_time_string='TEST')
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    self.config.setup_controller_fn()
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    self.object = objects.GeneralTopologyBlackboxObject(self.config)
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    optimizer = self.config.es_blackbox_optimizer_fn(
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        self.object.get_metaparams())
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    params = self.object.get_initial()
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    topology_str = pg.to_json(self.config.controller.propose_dna())
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    core_hyperparams = optimizer.get_hyperparameters()
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    hyperparams = [0] + list(core_hyperparams)
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    self.object.execute_with_topology(params, topology_str, hyperparams)
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if __name__ == '__main__':
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  absltest.main()
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