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RL Baselines3 Zoo: a Collection of Pre-Trained Reinforcement Learning Agents

A collection of trained Reinforcement Learning (RL) agents, with tuned hyperparameters, using Stable Baselines3.

We are looking for contributors to complete the collection!

Goals of this repository:

  1. Provide a simple interface to train and enjoy RL agents
  2. Benchmark the different Reinforcement Learning algorithms
  3. Provide tuned hyperparameters for each environment and RL algorithm
  4. Have fun with the trained agents!

This is the SB3 version of the original SB2 rl-zoo.

Enjoy a Trained Agent

Note: to download the repo with the trained agents, you must use git clone --recursive https://github.com/DLR-RM/rl-baselines3-zoo in order to clone the submodule too.

If the trained agent exists, then you can see it in action using:

python enjoy.py --algo algo_name --env env_id

For example, enjoy A2C on Breakout during 5000 timesteps:

python enjoy.py --algo a2c --env BreakoutNoFrameskip-v4 --folder rl-trained-agents/ -n 5000

If you have trained an agent yourself, you need to do:

# exp-id 0 corresponds to the last experiment, otherwise, you can specify another ID
python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 0

To load the best model (when using evaluation environment):

python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 1 --load-best

To load a checkpoint (here the checkpoint name is rl_model_10000_steps.zip):

python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 1 --load-checkpoint 10000

Train an Agent

The hyperparameters for each environment are defined in hyperparameters/algo_name.yml.

If the environment exists in this file, then you can train an agent using:

python train.py --algo algo_name --env env_id

For example (with tensorboard support):

python train.py --algo ppo --env CartPole-v1 --tensorboard-log /tmp/stable-baselines/

Evaluate the agent every 10000 steps using 10 episodes for evaluation:

python train.py --algo sac --env HalfCheetahBulletEnv-v0 --eval-freq 10000 --eval-episodes 10

Save a checkpoint of the agent every 100000 steps:

python train.py --algo td3 --env HalfCheetahBulletEnv-v0 --save-freq 100000

Continue training (here, load pretrained agent for Breakout and continue training for 5000 steps):

python train.py --algo a2c --env BreakoutNoFrameskip-v4 -i rl-trained-agents/a2c/BreakoutNoFrameskip-v4_1/BreakoutNoFrameskip-v4.zip -n 5000

When using off-policy algorithms, you can also save the replay buffer after training:

python train.py --algo sac --env Pendulum-v0 --save-replay-buffer

It will be automatically loaded if present when continuing training.

Hyperparameter Tuning

We use Optuna for optimizing the hyperparameters.

Note: hyperparameters search is not implemented for DQN for now. when using SuccessiveHalvingPruner ("halving"), you must specify --n-jobs > 1

Budget of 1000 trials with a maximum of 50000 steps:

python train.py --algo ppo --env MountainCar-v0 -n 50000 -optimize --n-trials 1000 --n-jobs 2 \
  --sampler tpe --pruner median

Distributed optimization using a shared database is also possible (see the corresponding Optuna documentation):

python train.py --algo ppo --env MountainCar-v0 -optimize --study-name test --storage sqlite:///example.db

Env Wrappers

You can specify in the hyperparameter config one or more wrapper to use around the environment:

for one wrapper:

env_wrapper: gym_minigrid.wrappers.FlatObsWrapper

for multiple, specify a list:

env_wrapper:
    - utils.wrappers.DoneOnSuccessWrapper:
        reward_offset: 1.0
    - utils.wrappers.TimeFeatureWrapper

Note that you can easily specify parameters too.

Env keyword arguments

You can specify keyword arguments to pass to the env constructor in the command line, using --env-kwargs:

python enjoy.py --algo ppo --env MountainCar-v0 --env-kwargs goal_velocity:10

Overwrite hyperparameters

You can easily overwrite hyperparameters in the command line, using --hyperparams:

python train.py --algo a2c --env MountainCarContinuous-v0 --hyperparams learning_rate:0.001 policy_kwargs:"dict(net_arch=[64, 64])"

Record a Video of a Trained Agent

Record 1000 steps:

python -m utils.record_video --algo ppo --env BipedalWalkerHardcore-v2 -n 1000

Current Collection: to be added soon (after v1.0 release)

Final performance of the trained agents can be found in benchmark.md. To compute them, simply run python -m utils.benchmark.

NOTE: this is not a quantitative benchmark as it corresponds to only one run (cf issue #38). This benchmark is meant to check algorithm (maximal) performance, find potential bugs and also allow users to have access to pretrained agents.

Atari Games

7 atari games from OpenAI benchmark (NoFrameskip-v4 versions).

RL Algo BeamRider Breakout Enduro Pong Qbert Seaquest SpaceInvaders
A2C
PPO
DQN

Additional Atari Games (to be completed):

RL Algo MsPacman
A2C
PPO
DQN

Classic Control Environments

RL Algo CartPole-v1 MountainCar-v0 Acrobot-v1 Pendulum-v0 MountainCarContinuous-v0
A2C
PPO
DQN N/A N/A
DDPG N/A N/A N/A
SAC N/A N/A N/A
TD3 N/A N/A N/A

Box2D Environments

RL Algo BipedalWalker-v2 LunarLander-v2 LunarLanderContinuous-v2 BipedalWalkerHardcore-v2 CarRacing-v0
A2C
PPO
DQN N/A N/A N/A N/A
DDPG N/A
SAC N/A
TD3 N/A
TRPO

PyBullet Environments

See https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_envs. Similar to MuJoCo Envs but with a free simulator: pybullet. We are using BulletEnv-v0 version.

Note: those environments are derived from Roboschool and are much harder than the Mujoco version (see Pybullet issue)

RL Algo Walker2D HalfCheetah Ant Reacher Hopper Humanoid
A2C
PPO
DDPG
SAC
TD3
TRPO

PyBullet Envs (Continued)

RL Algo Minitaur MinitaurDuck InvertedDoublePendulum InvertedPendulumSwingup
A2C
PPO
DDPG
SAC
TD3
TRPO

MiniGrid Envs

See https://github.com/maximecb/gym-minigrid A simple, lightweight and fast Gym environments implementation of the famous gridworld.

RL Algo Empty FourRooms DoorKey MultiRoom Fetch
A2C
PPO
DDPG
SAC
TRPO

There are 19 environment groups (variations for each) in total.

Note that you need to specify --gym-packages gym_minigrid with enjoy.py and train.py as it is not a standard Gym environment, as well as installing the custom Gym package module or putting it in python path.

pip install gym-minigrid
python train.py --algo ppo --env MiniGrid-DoorKey-5x5-v0 --gym-packages gym_minigrid

This does the same thing as:

import gym_minigrid

Also, you may need to specify a Gym environment wrapper in hyperparameters, as MiniGrid environments have Dict observation space, which is not supported by StableBaselines for now.

MiniGrid-DoorKey-5x5-v0:
  env_wrapper: gym_minigrid.wrappers.FlatObsWrapper

Colab Notebook: Try it Online!

You can train agents online using colab notebook.

Installation

Stable-Baselines3 PyPi Package

Min version: stable-baselines3[extra] >= 0.6.0

apt-get install swig cmake ffmpeg
pip install -r requirements.txt

Please see Stable Baselines3 README for alternatives.

Docker Images

Build docker image (CPU):

make docker-cpu

GPU:

USE_GPU=True make docker-gpu

Pull built docker image (CPU):

docker pull stablebaselines/rl-baselines3-zoo-cpu

GPU image:

docker pull stablebaselines/rl-baselines3-zoo

Run script in the docker image:

./scripts/run_docker_cpu.sh python train.py --algo ppo --env CartPole-v1

Tests

To run tests, first install pytest, then:

make pytest

Same for type checking with pytype:

make type

Citing the Project

To cite this repository in publications:

@misc{rl-zoo3,
  author = {Raffin, Antonin},
  title = {RL Baselines3 Zoo},
  year = {2020},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/DLR-RM/rl-baselines3-zoo}},
}

Contributing

If you trained an agent that is not present in the rl zoo, please submit a Pull Request (containing the hyperparameters and the score too).

Contributors

We would like to thanks our contributors: @iandanforth, @tatsubori @Shade5