test

Test

Idea of test is taken from: https://github.com/nrontsis/PILCO/edit/master/tests/

This directory contains test cases for the majority of the PILCO codebase:

• Controller, sin squash and parameter changes
• Multivariate (sparse) GP predictions
• Saturating cost function
• Trajectory rollout computation
• Gradients

Running all test is possible by executing:

pytest pilco/test/test_runner.py

The tests must be run in the RL-project directory. It is likely that some gradient test will fail. PILCO can easily run into numerical issues throughout simple matrix multiplications which results in the gradient difference being below the HIPS/autograd default precision of 1-e6 compared to the numerical computation.