Soft-Actor-Critic-and-Extensions

PyTorch implementation of Soft-Actor-Critic with the Extensions PER + ERE + Munchausen RL and the option for Multi-Environments for parallel data collection and faster training.

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This repository includes the newest Soft-Actor-Critic version (Paper 2019) as well as extensions for SAC:

• Prioritized Experience Replay (PER)
• Emphasizing Recent Experience without Forgetting the Past(ERE)
• Munchausen Reinforcement Learning Paper
• D2RL: DEEP DENSE ARCHITECTURES IN REINFORCEMENT LEARNING Paper
• N-step Bootstrapping
• Parallel Environments

In the paper implementation of ERE the authors used and older version of SAC, whereas this repository contains the newest version of SAC as well as a Proportional Prioritization implementation of PER.

TODO:

• add IQN Critic [X] with IQN critic its 10x slower... need to fix that
• adding D2DRL IQN Critic [ ]
• create distributed SAC version with ray [ ]
• added N-step bootstrapping [X]
• Check performance with all add-ons [ ]
• added pybulletgym

Dependencies

Trained and tested on:

Python 3.6
PyTorch 1.7.0  
Numpy 1.15.2 
gym 0.10.11 
pybulletgym

How to use:

The new script combines all extensions and the add-ons can be simply added by setting the corresponding flags.

python run.py -info sac

Parameter: To see the options: python run.py -h

-env, Environment name, default = Pendulum-v0
-per, Adding Priorizied Experience Replay to the agent if set to 1, default = 0
-munchausen, Adding Munchausen RL to the agent if set to 1, default = 0
-dist, --distributional, Using a distributional IQN Critic network if set to 1, default = 0
-d2rl, Uses Deep Actor and Deep Critic Networks if set to 1, default = 0
-n_step, Using n-step bootstrapping, default = 1
-ere, Adding Emphasizing Recent Experience to the agent if set to 1, default = 0
-info, Information or name of the run
-frames, The amount of training interactions with the environment, default is 100000
-eval_every, Number of interactions after which the evaluation runs are performed, default = 5000
-eval_runs, Number of evaluation runs performed, default = 1
-seed, Seed for the env and torch network weights, default is 0
-lr_a, Actor learning rate of adapting the network weights, default is 3e-4
-lr_c, Critic learning rate of adapting the network weights, default is 3e-4
-a, --alpha, entropy alpha value, if not choosen the value is leaned by the agent
-layer_size, Number of nodes per neural network layer, default is 256
-repm, --replay_memory, Size of the Replay memory, default is 1e6
-bs, --batch_size, Batch size, default is 256
-t, --tau, Softupdate factor tau, default is 0.005
-g, --gamma, discount factor gamma, default is 0.99
--saved_model, Load a saved model to perform a test run!
-w, --worker, Number of parallel worker (attention, batch-size increases proportional to worker number!), default = 1

old scripts

with the old scripts you can still run three different SAC versions

Run regular SAC: python SAC.py -env Pendulum-v0 -ep 200 -info sac

Run SAC + PER: python SAC_PER.py -env Pendulum-v0 -ep 200 -info sac_per

Run SAC + ERE + PER: python SAC_ERE_PER.py -env Pendulum-v0 -frames 20000 -info sac_per_ere

For further input arguments and hyperparameter check the code.

Observe training results

tensorboard --logdir=runs

Results

It can be seen that the extensions not always bring improvements to the algorithm. This is depending on the environment and from environment to environment different - as the authors mention in their paper (ERE).

• All runs without hyperparameter-tuning

PyBullet Environments

Comparison SAC and D2RL-SAC

Comparison SAC and M-SAC

Help and issues:

Im open for feedback, found bugs, improvements or anything. Just leave me a message or contact me.

Author

• Sebastian Dittert

Feel free to use this code for your own projects or research.

@misc{SAC,
  author = {Dittert, Sebastian},
  title = {PyTorch Implementation of Soft-Actor-Critic-and-Extensions},
  year = {2020},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/BY571/Soft-Actor-Critic-and-Extensions}},
}