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Model-Advantage and Value-Aware Models for Model-Based Reinforcement Learning: Bridging the Gap in Theory and Practice

Code for the MBPO experiments in Model-Advantage and Value-Aware Models for Model-Based Reinforcement Learning: Bridging the Gap in Theory and Practice. This repository is a clone of MBRL-Lib.

Install

Please see the original README of MBRL-Lib for installing all the requirements of mbrl-lib. PyTorch>=1.7 is required by mbrl-lib and the experiments for this paper were ran with PyTorch==1.9.1. Additionally, this repository uses Weights and Biases for tracking experiments on top of mbrl-lib. After installing PyTorch and mbrl-lib, the run the following commands to install extra dependencies.

# Patchelf required for mujoco-py==2.1.2.14
conda install patchelf=0.12
pip install -r requirements/va_mbpo_requirements.txt

Alternatively, the file requirements/conda_va_mbpo.yaml is provided to reproduce the conda environment for this code.

Run

In order to run MBPO with a value-aware model learning objective, the following example command may be called (in this case, with the mbrl/examples/conf/overrides/mbpo_halfcheetah config file). Two new arguments are used for selecting amongst value-aware objectives and MLE. overrides.model_loss_type can either be va for value-aware or mle for the default maximum-likelihood model learning objective. dynamics_model.va_norm can be set to l1 for the MA-L1 objective or l2 for the VAML objective.

python -m mbrl/examples/main.py algorithm=mbpo action_optimizer=cem overrides=mbpo_halfcheetah dynamics_model=gaussian_mlp_ensemble +overrides.model_loss_type=va experiment=halfcheetah_va_l1

If tracking experiments with Weights and Biases (wandb), edit mbrl/examples/conf/main.yaml to set the wandb_project_name. For example, the following command activates wandb for tracking with the use_wandb=1 option.

python -m mbrl/examples/main.py algorithm=mbpo action_optimizer=cem overrides=mbpo_halfcheetah dynamics_model=gaussian_mlp_ensemble +overrides.model_loss_type=va experiment=halfcheetah_va_l1 use_wandb=1 wandb_group_name=mbpo_mle_true_l1_0.01

Additional hyper-parameters for value-aware losses

  1. dynamics_model.va_loss_coeff (default 0.01): Sets the scaling coefficient for value-aware model learning losses.
  2. overrides.value_update_interval (default 5): Sets the interval for number of model updates in between value function refitting in the model learning loop of training. Setting this to 0 deactivates value network refitting within model learning.
  3. overrides.num_v_updates_in_model (default 5): Hyper-parameter for value-refitting. Sets the number of value updates during refitting.
  4. overrides.v_update_batch_size (default 5): Hyper-parameter for value-refitting. Sets the batch size per update during value network refitting.