rohanpankaj/apex

trying to write a walking backwards policy for cassie

---

Apex is a small, modular library that contains some implementations of continuous reinforcement learning algorithms. Fully compatible with OpenAI gym.

Running experiments

Basics

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.

Logging details

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.

Monitoring live training progress

With Vizdom

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

Unit tests

You can run the unit tests using pytest.

To Do

• 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

Notes

Troubleshooting: X module not found? Make sure PYTHONPATH is configured. Make sure you run examples from root directory.

Features:

• 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

To be implemented soon:

• Move to "gitflow" workflow

• TD3

• Some form of massively parallel Evolutionary Algorithm as a baseline (CMAES, ARS)

• TRPO

• A2C

• Parallelism

• Beta distribution policy

• Parameter noise exploration (maybe)

To be implemented long term:

• 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)

Maybe implemented in future:

• DXNN
• ACER and other off-policy methods
• Model-based methods

Acknowledgements

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.