DRLib：A concise deep reinforcement learning library, integrating HER and PER for almost off policy RL algos

A concise deep reinforcement learning library, integrating HER and PER for almost off policy RL algos. With tensorflow1.14 and pytorch, add HER and PER, core codes based on https://github.com/openai/spinningup

Compared with spinning up, I delete multi-process and experimental grid wrapper, and our advantage is that it is convenient to debug with pycharm~

项目特点：

tf1和pytorch两个版本的算法，前者快，后者新，任君选择；
在spinup的基础上，封装了DDPG, TD3, SAC等主流强化算法，相比原来的函数形式的封装，调用更方便，且加了pytorch的GPU调用；
添加了HER和PER功能，非常适合做机器人相关任务的同学们；
去除了自动调参（ExperimentGrid）和多进程（MPI_fork）部分，适合新手在pycharm中debug，前者直接跑经常会报错~ 等我熟练了这两个，我再加上去，并附上详细教程；
最后，全网最详细的环境配置教程！亲测两个小时内，从零配置完全套环境！
求三连，不行求个star！

1. Installation

Clone the repo and cd into it:

git clone https://github.com/kaixindelele/DRLib.git
cd DRLib

Create anaconda DRLib_env env:

conda create -n DRLib_env python=3.6.9
source activate DRLib_env

Install pip_requirement.txt:
```
pip install -r pip_requirement.txt
```
If installation of mpi4py fails, try the following command(Only this one can be installed successfully!):
```
conda install mpi4py
```

Install tensorflow-gpu=1.14.0

conda install tensorflow-gpu==1.14.0 # if you have a CUDA-compatible gpu and proper drivers

Install torch torchvision

# CUDA 9.2
conda install pytorch==1.6.0 torchvision==0.7.0 cudatoolkit=9.2 -c pytorch

# CUDA 10.1
conda install pytorch==1.6.0 torchvision==0.7.0 cudatoolkit=10.1 -c pytorch

# CUDA 10.2
conda install pytorch==1.6.0 torchvision==0.7.0 cudatoolkit=10.2 -c pytorch

# CPU Only
conda install pytorch==1.6.0 torchvision==0.7.0 cpuonly -c pytorch

# or pip install    
pip --default-timeout=100 install torch -i  http://pypi.douban.com/simple  --trusted-host pypi.douban.com
[pip install torch 在线安装!非离线!](https://blog.csdn.net/hehedadaq/article/details/111480313)

Install mujoco and mujoco-py

refer to: https://blog.csdn.net/hehedadaq/article/details/109012048

Install gym[all]

refer to https://blog.csdn.net/hehedadaq/article/details/110423154

2. Training models

Example 1. SAC-tf1-HER-PER with FetchPush-v1:

modify params in arguments.py, choose env, RL-algorithm, use PER and HER or not, gpu-id, and so on.
run with train_tf.py or train_torch.py
```
python train_tf.py
```
exp results to local:https://blog.csdn.net/hehedadaq/article/details/114045615
plot results:https://blog.csdn.net/hehedadaq/article/details/114044217

3. File tree and introduction:

.
├── algos
│   ├── pytorch
│   │   ├── ddpg_sp
│   │   │   ├── core.py-------------It's copied directly from spinup, and modified some details.
│   │   │   ├── ddpg_per_her.py-----inherits from offPolicy.baseOffPolicy, can choose whether or not HER and PER
│   │   │   ├── ddpg.py-------------It's copied directly from spinup
│   │   │   ├── __init__.py
│   │   ├── __init__.py
│   │   ├── offPolicy
│   │   │   ├── baseOffPolicy.py----baseOffPolicy, can be used to DDPG/TD3/SAC and so on.
│   │   │   ├── norm.py-------------state normalizer, update mean/std with training process.
│   │   ├── sac_auto
│   │   ├── sac_sp
│   │   │   ├── core.py-------------likely as before.
│   │   │   ├── __init__.py
│   │   │   ├── sac_per_her.py
│   │   │   └── sac.py
│   │   └── td3_sp
│   │       ├── core.py
│   │       ├── __init__.py
│   │       ├── td3_gpu_class.py----td3_class modified from spinup
│   │       └── td3_per_her.py
│   └── tf1
│       ├── ddpg_sp
│       │   ├── core.py
│       │   ├── DDPG_class.py------------It's copied directly from spinup, and wrap algorithm from function to class.
│       │   ├── DDPG_per_class.py--------Add PER.
│       │   ├── DDPG_per_her_class.py----DDPG with HER and PER without inheriting from offPolicy.
│       │   ├── DDPG_per_her.py----------Add HER and PER.
│       │   ├── DDPG_sp.py---------------It's copied directly from spinup, and modified some details.
│       │   ├── __init__.py
│       ├── __init__.py
│       ├── offPolicy
│       │   ├── baseOffPolicy.py
│       │   ├── core.py
│       │   ├── norm.py
│       ├── sac_auto--------------------SAC with auto adjust alpha parameter version.
│       │   ├── core.py
│       │   ├── __init__.py
│       │   ├── sac_auto_class.py
│       │   ├── sac_auto_per_class.py
│       │   └── sac_auto_per_her.py
│       ├── sac_sp--------------------SAC with alpha=0.2 version.
│       │   ├── core.py
│       │   ├── __init__.py
│       │   ├── SAC_class.py
│       │   ├── SAC_per_class.py
│       │   ├── SAC_per_her.py
│       │   ├── SAC_sp.py
│       └── td3_sp
│           ├── core.py
│           ├── __init__.py
│           ├── TD3_class.py
│           ├── TD3_per_class.py
│           ├── TD3_per_her_class.py
│           ├── TD3_per_her.py
│           ├── TD3_sp.py
├── arguments.py-----------------------hyperparams scripts
├── drlib_tree.txt
├── HER_DRLib_exps---------------------demo exp logs
│   ├── 2021-02-21_HER_TD3_FetchPush-v1
│   │   ├── 2021-02-21_18-26-08-HER_TD3_FetchPush-v1_s123
│   │   │   ├── checkpoint
│   │   │   ├── config.json
│   │   │   ├── params.data-00000-of-00001
│   │   │   ├── params.index
│   │   │   ├── progress.txt
│   │   │   └── Script_backup.py
├── memory
│   ├── __init__.py
│   ├── per_memory.py--------------mofan version
│   ├── simple_memory.py-----------mofan version
│   ├── sp_memory.py---------------spinningup tf1 version, simple uniform buffer memory class.
│   ├── sp_memory_torch.py---------spinningup torch-gpu version, simple uniform buffer memory class.
│   ├── sp_per_memory.py-----------spinningup tf1 version, PER buffer memory class.
│   └── sp_per_memory_torch.py
├── pip_requirement.txt------------pip install requirement, exclude mujoco-py,gym,tf,torch.
├── spinup_utils-------------------some utils from spinningup, about ploting results, logging, and so on.
│   ├── delete_no_checkpoint.py----delete the folder where the experiment did not complete.
│   ├── __init__.py
│   ├── logx.py
│   ├── mpi_tf.py
│   ├── mpi_tools.py
│   ├── plot.py
│   ├── print_logger.py------------save the information printed by the terminal to the local log file。
│   ├── run_utils.py---------------now I haven't used it. I have to learn how to multi-process.
│   ├── serialization_utils.py
│   └── user_config.py
├── train_tf1.py--------------main.py for tf1
└── train_torch.py------------main.py for torch

4. HER introduction:

Refer to these code bases:

It can be converged, but this code is too difficult. https://github.com/openai/baselines
It can also converged, but only for DDPG-torch-cpu. https://github.com/sush1996/DDPG_Fetch
It can not be converged, but this code is simpler. https://github.com/Stable-Baselines-Team/stable-baselines

paper: https://arxiv.org/pdf/1709.10089.pdf

4.1. My understanding and video:

种瓜得豆来解释her: 第一步在春天（state），种瓜（origin-goal）得豆，通过HER，把目标换成种豆，按照之前的操作，可以学会在春天种豆得豆；第二步种米得瓜，学会种瓜得瓜；即只要是智能体中间经历过的状态，都可以当做它的目标，进行学会。即如果智能体能遍历所有的状态空间，那么它就可以学会达到整个状态空间。

https://www.bilibili.com/video/BV1BA411x7Wm

4.2. Key tricks for HER:

state-normalize: success rate from 0 to 1 for FetchPush-v1 task.
Q-clip: success rate from 0.5 to 0.7 for FetchPickAndPlace-v1 task.
action_l2: little effect for Push task.

4.3. Performance about HER-DDPG with FetchPush-v1:

5. PER introduction:

refer to:off-policy全系列（DDPG-TD3-SAC-SAC-auto）+优先经验回放PER-代码-实验结果分析

6. Summary：

这个库我封装了好久，整个代码库简洁、方便、功能比较齐全，在环境配置这块几乎是手把手教程，希望能给大家节省一些时间~

从零开始配置，不到两小时，从下载代码库，到配置环境，到在自己的环境中跑通，全流程非常流畅。

6.1. 下一步添加的功能：

PPO的封装；
DQN的封装；
多进程的封装；
ExperimentGrid的封装；

7. Contact：

深度强化学习-DRL：799378128

欢迎关注知乎帐号：未入门的炼丹学徒

CSDN帐号：https://blog.csdn.net/hehedadaq

DRLib：A concise deep reinforcement learning library, integrating HER and PER for almost off policy RL algos.

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Overview

DRLib：A concise deep reinforcement learning library, integrating HER and PER for almost off policy RL algos

项目特点：

1. Installation

2. Training models

3. File tree and introduction:

4. HER introduction:

4.1. My understanding and video:

4.2. Key tricks for HER:

4.3. Performance about HER-DDPG with FetchPush-v1:

5. PER introduction:

6. Summary：

6.1. 下一步添加的功能：

7. Contact：

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