Merge branch 'main' of github.com:sisl/InteractionImitation

scratch/etienne/intersimple/gail/test_discriminator.py

@@ -9,6 +9,37 @@ def test_image_concatenation():
     a = torch.tensor([[0.5]])
     sa = disc._concatenate(s, a)
 
+    assert s.shape == (1, 5, 200, 200)
+    assert a.shape == (1, 1)
     assert sa.shape == (1, 6, 200, 200)
     assert torch.allclose(sa[:, :5], 1.0 * s)
-    assert (sa[:, 5] == a).all()
+    assert (sa[:, 5] == a.unsqueeze(-1)).all()
+
+def test_image_concatenation3():
+    env = NRasterized()
+    disc = CnnDiscriminator(env)
+
+    s1 = env.reset()
+    a1 = 0.15
+    s2, _, _, _ = env.step(0.9)
+    a2 = 0.25
+    s3, _, _, _ = env.step(-0.9)
+    a3 = 0.35
+    
+    s = torch.stack([
+        torch.tensor(s1),
+        torch.tensor(s2),
+        torch.tensor(s3)
+    ], axis=0)
+    a = torch.tensor([
+        [a1],
+        [a2],
+        [a3],
+    ])
+    sa = disc._concatenate(s, a)
+
+    assert s.shape == (3, 5, 200, 200)
+    assert a.shape == (3, 1)
+    assert sa.shape == (3, 6, 200, 200)
+    assert torch.allclose(sa[:, :5], 1.0 * s)
+    assert (sa[:, 5] == a.unsqueeze(-1)).all()