RL Assignments

Template code for reinforcement learning assignments.

Getting Started

Install requirements:

conda create -n rl_assignments python=3.8
conda activate rl_assignments
pip install -r requirements.txt

and it should be good to go.

Training

To train a policy, run the following command:

python run.py --env_config data/envs/dm_cheetah.yaml --agent_config a2/dm_cheetah_cem_agent.yaml --mode train --log_file output/log.txt --out_model_file output/model.pt --visualize --num_workers 1

• --env_config specifies the configuration file for the environment.
• --agent_config specifies configuration file for the agent.
• --visualize enables visualization. Rendering should be disabled for faster training.
• --log_file specifies the output log file, which will keep track of statistics during training.
• --out_model_file specifies the output model file, which contains the model parameters.
• --num_workers specifies the number of worker processes used to parallelize training.

Testing

To load a trained model, run the following command:

python run.py --env_config data/envs/dm_cheetah_env.yaml --agent_config a2/dm_cheetah_cem_agent.yaml --mode test --model_file [path to model.pt] --visualize --num_workers 1

• --model_file specifies the .pt file that contains parameters for the trained model. Pretrained models are available in data/models/.

Visualizing Training Logs

During training, a tensorboard events file will be saved the same output directory as the log file. The log can be viewed with:

tensorboard --logdir=output/ --port=6006 --bind_all

The output log .txt file can also be plotted using the plotting script in tools/plot_log/plot_log.py.