add ARS to train/eval Minitaur

examples/pybullet/gym/pybullet_envs/ARS/train_ars_test.py

@@ -0,0 +1,29 @@
+"""Tests for google3.experimental.users.jietan.ARS.train_ars.
+blaze build -c opt //experimental/users/jietan/ARS:train_ars_test
+blaze-bin/experimental/users/jietan/ARS/train_ars_test
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from absl import flags
+from google3.testing.pybase import googletest
+from google3.experimental.users.jietan.ARS import train_ars
+from google3.experimental.users.jietan.ARS import config_ars
+
+FLAGS = flags.FLAGS
+MAX_RETURN_AFTER_TWO_ITEATIONS = 0.0890905394617
+
+class TrainArsTest(googletest.TestCase):
+
+  def testArsTwoStepResult(self):
+    config = getattr(config_ars, "MINITAUR_REACTIVE_CONFIG")
+    config['num_iterations'] = 2
+    info = train_ars.run_ars(config=config, logdir=FLAGS.test_tmpdir)
+    print (info)
+    self.assertAlmostEqual(info["max_reward"], MAX_RETURN_AFTER_TWO_ITEATIONS)
+
+
+if __name__ == '__main__':
+  googletest.main()