SAC+AE implementaiton in PyTorch

Requirements

Instructions

To train an SAC+AE 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 pixel \
    --action_repeat 4 \
    --save_video \
    --save_tb \
    --work_dir ./runs/cheetah_run/sac_ae \
    --seed 1

This will produce a folder (./save) by default, where all the output is going to be stored including train/eval logs, tensorboard blobs, evaluation videos, and model snapshots. It is possible to attach tensorboard to a particular run using the following command:

tensorboard --logdir save

Then open up tensorboad in your browser.

You will also see some console output, something like this:

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

This line means:

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 is trained from pixels and decoder)

These are just the most important number, more of all other metrics can be found in tensorboard. Also, besides training, once in a while there is evaluation output, like this:

| 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 on the cluster

You can find the run_cluster.sh script file that allows you run training on the cluster. It is a simple bash script, that is super easy to modify. We usually run 10 different seeds for each configuration to get reliable results. For example to schedule 10 runs of walker walk simple do this:

./run_cluster.sh walker walk

This script will schedule 10 jobs and all the output will be stored under ./runs/walker_walk/{configuration_name}/seed_i. The folder structure looks like this:

runs/
  walker_walk/
    sac_states/
      seed_1/
        id # slurm job id
        stdout # standard output of your job
        stderr # standard error of your jobs
        run.sh # starting script
        run.slrm # slurm script
        eval.log # log file for evaluation
        train.log # log file for training
        tb/ # folder that stores tensorboard output
        video/ # folder stores evaluation videos
          10000.mp4 # video of one episode after 10000 steps
      seed_2/
      ...

Again, you can attach tensorboard to a particular configuration, for example:

tensorboard --logdir runs/walker_walk/sac_states

For convinience, you can also use an iPython notebook to get aggregated over 10 seeds results. An example of such notebook is runs.ipynb

Run entire testbed

Another scirpt that allow to run all 10 dm_control task on the cluster is here:

./run_all.sh

It will call run_cluster.sh for each task, so you only need to modify run_cluster.sh to change the hyper parameters.