Learning Off-Policy with Online Planning, CoRL 2021

Related tags

Deep LearningLOOP
Overview

LOOP: Learning Off-Policy with Online Planning

Accepted in Conference of Robot Learning (CoRL) 2021.

Harshit Sikchi,   Wenxuan Zhou,   David Held


Paper

Install

File Structure

  • LOOP (Core method)
    • Training code (Online RL): train_loop_sac.py
    • Training code (Offline RL): train_loop_offline.py
    • Training code (safe RL): train_loop_safety.py
    • Policies (online/offline/safety): policies.py
    • ARC/H-step lookahead policy: controllers/
  • Environments: envs/
  • Configurations: configs/

Instructions

  • All the experiments are to be run under the root folder.
  • Config files in configs/ are used to specify hyperparameters for controllers and dynamics.
  • Please keep all the other values in yml files consistent with hyperparamters given in paper to reproduce the results in our paper.

Experiments

Sec 6.1 LOOP for Online RL

python train_loop_sac.py --env=<env_name> --policy=LOOP_SAC_ARC --start_timesteps=<initial exploration steps> --exp_name=<location_to_logs>

Environments wrappers with their termination condition can be found under envs/

Sec 6.2 LOOP for Offline RL

Download CRR trained models from Link into the root folder.

python train_loop_offline.py --env=<env_name> --policy=LOOP_OFFLINE_ARC --exp_name=<location_to_logs>  --offline_algo=CRR --prior_type=CRR

Currently supported for d4rl MuJoCo locomotions tasks only.

Sec 6.3 LOOP for Safe RL

python train_loop_safety.py --env=<env_name> --policy=safeLOOP_ARC --exp_name=<location_to_logs>

Safety environments can be found under envs/safety_envs.py

References

Parts of the codes are used from the references mentioned below:

@article{SpinningUp2018,
    author = {Achiam, Joshua},
    title = {{Spinning Up in Deep Reinforcement Learning}},
    year = {2018}
}

https://github.com/Xingyu-Lin/mbpo_pytorch
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Comments
  • Environment reproducibility

    Environment reproducibility

    Hi, I am trying to run your code. However, I am trying to get packages prepared on newest version and have been encountering errors such as with mpi4py which does not install correctly in my environment.

    Is it possible for you guys to provide a requirements.txt file for me to generate the python virtual environment that will set up the dependencies to run the code? Otherwise a container image such as docker will also be great!

    opened by pranjaldhole 0
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Harshit Sikchi
Reinforcement Learning, Roboticist
Harshit Sikchi
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