This is the official repository for Conservative Distributional Offline Reinforcement Learning. We provide the commands to run the Risky PointMass, Risky Ant, and D4RL experiments included in the paper. This repository is made minimal for ease of experimentation.

This repository requires Python (>3.7), Pytorch (version 1.6.0 or above), and installation of the D4RL dataset. Mujoco license is also required in order to run the D4RL experiments. Packages gym, numpy, and wandb (optionally) are also needed (any version should work). To get started, run the following commands to create a conda environment (assuming CUDA10.1):

conda create -n codac python=3.7
source activate codac
pip install numpy==1.19.0 tqdm
pip install torch==1.6.0 torchvision==0.7.0
pip install gym==1.7.2
pip install d4rl

You can find example training curves for this project here.

D4RL experiments can be ran directly as the dataset is public. For example,

python train_offline.py --env hopper-medium-replay-v0 

The hyperparameters are automatically loaded from the config folder.

First, we need to generate the dataset used in the paper. For Ant, run:

python train_online.py --env AntObstacle-v0 --risk_prob 0.95 --risk_penalty 90 --algo codac --risk_type neutral --entropy true

For PointMass, run:

python train_online.py --env riskymass --risk_prob 0.9 --risk_penalty 50.0 --algo codac --risk_type neutral --entropy true

The above commands will run CODAC online (without penalty) to collect trajectories as the offline dataset.

Then, we can train CODAC offline using these datasets. For example,

python train_offline.py --env AntObstacle-v0 --risk_prob 0.95 --risk_penalty 90 --algo codac --risk_type cvar --entropy true --dist_penalty_type uniform --min_z_weight 0.1 --lag 10.0 --dataset_epoch 5000 --seed 0

If you find this repository useful for your research, please cite:

@article{ma2021conservative,
      title={Conservative Offline Distributional Reinforcement Learning}, 
      author={Yecheng Jason Ma and Dinesh Jayaraman and Osbert Bastani},
      year={2021},
      url={https://arxiv.org/abs/2107.06106}
}

If you have any questions regarding the code or paper, feel free to contact me at jasonyma@seas.upenn.edu or open an issue on this repository.

This repository contains code adapted from the following repositories: pytorch-soft-actor-critic, CQL, dsac, focops and replication-mbpo. We thank the authors and contributors for open-sourcing their code.