Learning Invariant Representations for Reinforcement Learning without Reconstruction

Requirements

We assume you have access to a gpu that can run CUDA 9.2. Then, the simplest way to install all required dependencies is to create an anaconda environment by running:

conda env create -f conda_env.yml

After the installation ends you can activate your environment with:

source activate dbc

Instructions

To train a DBC agent on the cheetah run task from image-based observations run:

python train.py \
    --domain_name cheetah \
    --task_name run \
    --encoder_type pixel \
    --decoder_type identity \
    --action_repeat 4 \
    --save_video \
    --save_tb \
    --work_dir ./log \
    --seed 1

This will produce 'log' folder, where all the outputs are going to be stored including train/eval logs, tensorboard blobs, and evaluation episode videos. One can attacha tensorboard to monitor training by running:

tensorboard --logdir log

and opening up tensorboad in your browser.

The console output is also available in a form:

| train | E: 1 | S: 1000 | D: 0.8 s | R: 0.0000 | BR: 0.0000 | ALOSS: 0.0000 | CLOSS: 0.0000 | RLOSS: 0.0000

a training entry decodes as:

train - training episode
E - total number of episodes 
S - total number of environment steps
D - duration in seconds to train 1 episode
R - episode reward
BR - average reward of sampled batch
ALOSS - average loss of actor
CLOSS - average loss of critic
RLOSS - average reconstruction loss (only if it is trained from pixels and decoder)

while an evaluation entry:

| eval | S: 0 | ER: 21.1676

which just tells the expected reward ER evaluating current policy after S steps. Note that ER is average evaluation performance over num_eval_episodes episodes (usually 10).

Running the natural video setting

You can download the Kinetics 400 dataset and grab the driving_car label from the train dataset to replicate our setup. Some instructions for downloading the dataset can be found here: https://github.com/Showmax/kinetics-downloader.

CARLA

Download CARLA from https://github.com/carla-simulator/carla/releases, e.g.:

Add to your python path:

export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.6/PythonAPI
export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.6/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:/home/rmcallister/code/bisim_metric/CARLA_0.9.6/PythonAPI/carla/dist/carla-0.9.8-py3.5-linux-x86_64.egg

and merge the directories.

Then pull altered carla branch files:

git fetch
git checkout carla

Install:

pip install pygame
pip install networkx

Terminal 1:

cd CARLA_0.9.6
bash CarlaUE4.sh -fps 20

Terminal 2:

cd CARLA_0.9.6
# can run expert autopilot (uses privileged game-state information):
python PythonAPI/carla/agents/navigation/carla_env.py
# or can run bisim:
./run_local_carla096.sh --agent bisim --transition_model_type probabilistic --domain_name carla

License

This project is CC-BY-NC 4.0 licensed, as found in the LICENSE file.

zhixuan-lin/deep_bisim4control