Implementation of k-Step Latent (KSL) in PyTorch.
Representation Learning for Data-Efficient Reinforcement Learning
[Paper]
Code is built on top of the DrQ repo from Denis Yarats.
First, create and activate conda env:
conda env create -f conda_env.yml
conda activate ksl
This repo relies on environments from DMControl, and therefore assumes that you can run MuJoCo.
From within ./ksl, simply run:
python train.py
Altering training schemes can be done by feeding additional args, such as:
python train.py env=cheetah_run lr=2e-4
For a full list of customizable args, see ./ksl/configs.yaml.
Just as in the DrQ repo, train.py will produce the runs folder, where all the outputs are going to be stored including train/eval logs, tensorboard blobs, and evaluation episode videos. To launch tensorboard run
tensorboard --logdir runs
The console output is also available in a form:
| train | E: 5 | S: 5000 | R: 11.4359 | D: 66.8 s | BR: 0.0581 | ALOSS: -1.0640 | CLOSS: 0.0996 | TLOSS: -23.1683 | TVAL: 0.0945 | AENT: 3.8132
a training entry decodes as
train - training episode
E - total number of episodes
S - total number of environment steps
R - episode return
D - duration in seconds
BR - average reward of a sampled batch
ALOSS - average loss of the actor
CLOSS - average loss of the critic
TLOSS - average loss of the temperature parameter
TVAL - the value of temperature
AENT - the actor's entropy
while an evaluation entry
| eval | E: 20 | S: 20000 | R: 10.9356
contains
E - evaluation was performed after E episodes
S - evaluation was performed after S environment steps
R - average episode return computed over `num_eval_episodes` (usually 10)