NOTE: this version of the library is no longer actively developed. New development has been moved to @osudrl/apex
This is a small, modular library that contains some implementations of continuous reinforcement learning algorithms. Fully compatible with OpenAI gym.
An example of running an experiment using vanilla policy gradient is shown in examples/vpg.py
.
env = gym.make("Hopper-v1")
obs_dim = env.observation_space.shape[0]
action_dim = env.action_space.shape[0]
policy = GaussianMLP(obs_dim, action_dim)
algo = PPO(
env=env,
policy=policy,
lr=args.lr,
)
This script shows the basics of defining a model and setting up an algorithm. The recommended way to train the model, log diagnostics, and visualize the current policy all at once is to use the rl.utils.run_experiment()
function.
run_experiment(algo, args, log=True, render=True, monitor=True)
This sets up the logging, launches a progress monitor in your browser, renders the policy continuously in a seperate thread, and executes algo.train()
according to your hyperparameters in args
.
For the logger to work properly, you want to supply all of your hyperparameters via command line arguments through argparser, and pass the resulting object to an instance of rl.utils.Logger
. Algorithms take care of their own diagnostic logging; if you don't wont to log anything, simply don't pass a logger object to algo.train()
.
Beyond your algorithm hyperparameters, the Logger expects that you supply an argument named logdir
, containing the root directory you want to store your logfiles in, and an argument named seed
, which is used to seed the pseudorandom number generators.
An basic command line script illustrating this is:
python examples/vpg.py --logdir experiments/ --seed l337
The resulting directory tree would look something like this:
experiments/
└── e2374a18f0
├── experiment.info
└── seed1337.log
With e2374a18f0
being a hash uniquely generated from the hyperparameter values used, experiment.info
being a plaintext file listing those hyperparameters, and seed1337.log
being a tab-seperated-value file containing the logged diagnostics (e.g. reward, kl divergence, etc) for each iteration.
This file structure makes it easy to compare models generated using the same hyperparameters but different seeds, and neatly seperates experiments by hyperparameter settings.
I've deprecated the bokeh monitor. Info on monitoring with vizdom coming soon. TODO: make a plotting config file format (e.g. use timesteps vs iterations on the x axis, use a fixed vs variable x axis, choose what kind of filtering to do).
Run $ python -m visdom.server
then navigate to http://localhost:8097/
in your browser
Requires matplotlib >= 2.0
You can run the unit tests using pytest.
- Sphinx documentation and github wiki
- Make logger as robust and pythonic as possible
- Fix some hacks having to do with support for parallelism (namely Vectorize, Normalize and Monitor)
- ADD PARALLELISM/DISTRIBUTED IMPLEMENTATIONS
Troubleshooting: X module not found? Make sure PYTHONPATH is configured. Make sure you run examples from root directory.
- GAE/TD(lambda) estimators
- Variable step size for VPG (~roughly analagous to natural gradient, see PPO paper)
- Entropy based exploration bonus
- advantage centering (observation normalization WIP)
- PPO, VPG with ratio objective and with log likelihood objective
- TD3
- Some form of massively parallel Evolutionary Algorithm as a baseline (CMAES, ARS)
- TRPO
- A2C
ParallelismBeta distribution policy- Parameter noise exploration (maybe)
- GPO
- DDPG
- NAF
- SVG
- I2A
- PGPE
- Value Distribution
- Oracle methods (e.g. GPS)
- CUDA support (should be trivial but I don't have a GPU to test on currently)
Thanks to @ikostrikov's whose great implementations I used to debug my own, and inspired a lot of changes to my original code. Also thanks to @rll for rllab, which inspired a lot of the high level interface and logging for this library, and to @OpenAI for the original PPO tensorflow implementation.