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corl's Introduction

CORL (Clean Offline Reinforcement Learning)

Code style: black Imports: isort

🧵 CORL is an Offline Reinforcement Learning library that provides high-quality and easy-to-follow single-file implementations of SOTA ORL algorithms. Each implementation is backed by a research-friendly codebase, allowing you to run or tune thousands of experiments. Heavily inspired by cleanrl for online RL, check them out too!

  • 📜 Single-file implementation
  • 📈 Benchmarked Implementation for N algorithms
  • 🖼 Weights and Biases integration

Getting started

git clone https://github.com/tinkoff-ai/CORL.git && cd CORL
pip install -r requirements/requirements_dev.txt

# alternatively, you could use docker
docker build -t <image_name> .
docker run gpus=all -it --rm --name <container_name> <image_name>

Algorithms Implemented

Algorithm Variants Implemented Wandb Report
✅ Behavioral Cloning
(BC)
any_percent_bc.py Gym-MuJoCo, Maze2D
✅ Behavioral Cloning-10%
(BC-10%)
any_percent_bc.py Gym-MuJoCo, Maze2D
Conservative Q-Learning for Offline Reinforcement Learning
(CQL)
cql.py Gym-MuJoCo, Maze2D
Accelerating Online Reinforcement Learning with Offline Datasets
(AWAC)
awac.py Gym-MuJoCo, Maze2D
Offline Reinforcement Learning with Implicit Q-Learning
(IQL)
iql.py Gym-MuJoCo, Maze2D
A Minimalist Approach to Offline Reinforcement Learning
(TD3+BC)
td3_bc.py Gym-MuJoCo, Maze2D
Decision Transformer: Reinforcement Learning via Sequence Modeling
(DT)
dt.py Gym-MuJoCo, Maze2D
Uncertainty-Based Offline Reinforcement Learning with Diversified Q-Ensemble
(SAC-N)
sac_n.py Gym-MuJoCo, Maze2D
Uncertainty-Based Offline Reinforcement Learning with Diversified Q-Ensemble
(EDAC)
edac.py Gym-MuJoCo, Maze2D

D4RL Benchmarks

For learning curves and all the details, you can check the links above. Here, we report reproduced final and best scores. Note that thay differ by a big margin, and some papers may use different approaches not making it always explicit which one reporting methodology they chose.

Last Scores

Gym-MuJoCo

Task-Name BC BC-10% TD3 + BC CQL IQL AWAC SAC-N EDAC DT
halfcheetah-medium-v2 42.40±0.21 42.46±0.81 48.10±0.21 47.08±0.19 48.31±0.11 50.01±0.30 68.20±1.48 67.70±1.20 42.20±0.30
halfcheetah-medium-expert-v2 55.95±8.49 90.10±2.83 90.78±6.98 95.98±0.83 94.55±0.21 95.29±0.91 98.96±10.74 104.76±0.74 91.55±1.10
halfcheetah-medium-replay-v2 35.66±2.68 23.59±8.02 44.84±0.68 45.19±0.58 43.53±0.43 44.91±1.30 60.70±1.17 62.06±1.27 38.91±0.57
hopper-medium-v2 53.51±2.03 55.48±8.43 60.37±4.03 64.98±6.12 62.75±6.02 63.69±4.29 40.82±11.44 101.70±0.32 65.10±1.86
hopper-medium-expert-v2 52.30±4.63 111.16±1.19 101.17±10.48 93.89±14.34 106.24±6.09 105.29±7.19 101.31±13.43 105.19±11.64 110.44±0.39
hopper-medium-replay-v2 29.81±2.39 70.42±9.99 64.42±24.84 87.67±14.42 84.57±13.49 98.15±2.85 100.33±0.90 99.66±0.94 81.77±7.93
walker2d-medium-v2 63.23±18.76 67.34±5.97 82.71±5.51 80.38±3.45 84.03±5.42 69.39±31.97 87.47±0.76 93.36±1.60 67.63±2.93
walker2d-medium-expert-v2 98.96±18.45 108.70±0.29 110.03±0.41 109.68±0.52 111.68±0.56 111.16±2.41 114.93±0.48 114.75±0.86 107.11±1.11
walker2d-medium-replay-v2 21.80±11.72 54.35±7.32 85.62±4.63 79.24±4.97 82.55±8.00 71.73±13.98 78.99±0.58 87.10±3.21 59.86±3.15
locomotion average 50.40 69.29 76.45 78.23 79.80 78.85 83.52 92.92 73.84

Maze2d

Task-Name BC BC-10% TD3 + BC CQL IQL AWAC SAC-N EDAC DT
maze2d-umaze-v1 0.36±10.03 12.18±4.95 29.41±14.22 -14.83±0.47 37.69±1.99 68.30±25.72 130.59±19.08 95.26±7.37 18.08±29.35
maze2d-medium-v1 0.79±3.76 14.25±2.69 59.45±41.86 86.62±11.11 35.45±0.98 82.66±46.71 88.61±21.62 57.04±3.98 31.71±30.40
maze2d-large-v1 2.26±5.07 11.32±5.88 97.10±29.34 33.22±43.66 49.64±22.02 218.87±3.96 204.76±1.37 95.60±26.46 35.66±32.56
maze2d average 1.13 12.58 61.99 35.00 40.92 123.28 141.32 82.64 28.48

Antmaze

Task-Name BC BC-10% TD3 + BC CQL IQL AWAC SAC-N EDAC DT
antmaze-umaze-v0 51.50±8.81 67.75±6.40 93.25±1.50 72.75±5.32 74.50±11.03 63.50±9.33 0.00±0.00 29.25±33.35 51.75±11.76
antmaze-medium-play-v0 0.00±0.00 2.50±1.91 0.00±0.00 0.00±0.00 71.50±12.56 0.00±0.00 0.00±0.00 0.00±0.00 0.00±0.00
antmaze-large-play-v0 0.00±0.00 0.00±0.00 0.00±0.00 0.00±0.00 40.75±12.69 0.00±0.00 0.00±0.00 0.00±0.00 0.00±0.00
antmaze average 17.17 23.42 31.08 24.25 62.25 21.17 0.00 9.75 17.25

Best Scores

Gym-MuJoCo

Task-Name BC BC-10% TD3 + BC CQL IQL AWAC SAC-N EDAC DT
halfcheetah-medium-v2 43.60±0.16 43.90±0.15 48.93±0.13 47.45±0.10 48.77±0.06 50.87±0.21 72.21±0.35 69.72±1.06 42.73±0.11
halfcheetah-medium-expert-v2 79.69±3.58 94.11±0.25 96.59±1.01 96.74±0.14 95.83±0.38 96.87±0.31 111.73±0.55 110.62±1.20 93.40±0.25
halfcheetah-medium-replay-v2 40.52±0.22 42.27±0.53 45.84±0.30 46.38±0.14 45.06±0.16 46.57±0.27 67.29±0.39 66.55±1.21 40.31±0.32
hopper-medium-v2 69.04±3.35 73.84±0.43 70.44±1.37 77.47±6.00 80.74±1.27 99.40±1.12 101.79±0.23 103.26±0.16 69.42±4.21
hopper-medium-expert-v2 90.63±12.68 113.13±0.19 113.22±0.50 112.74±0.07 111.79±0.47 113.37±0.63 111.24±0.17 111.80±0.13 111.18±0.24
hopper-medium-replay-v2 68.88±11.93 90.57±2.38 98.12±1.34 102.20±0.38 102.33±0.44 101.76±0.43 103.83±0.61 103.28±0.57 88.74±3.49
walker2d-medium-v2 80.64±1.06 82.05±1.08 86.91±0.32 84.57±0.15 87.99±0.83 86.22±4.58 90.17±0.63 95.78±1.23 74.70±0.64
walker2d-medium-expert-v2 109.95±0.72 109.90±0.10 112.21±0.07 111.63±0.20 113.19±0.33 113.40±2.57 116.93±0.49 116.52±0.86 108.71±0.39
walker2d-medium-replay-v2 48.41±8.78 76.09±0.47 91.17±0.83 89.34±0.59 91.85±2.26 87.06±0.93 85.18±1.89 89.69±1.60 68.22±1.39
locomotion average 70.15 80.65 84.83 85.39 86.40 88.39 95.60 96.36 77.49

Maze2d

Task-Name BC BC-10% TD3 + BC CQL IQL AWAC SAC-N EDAC DT
maze2d-umaze-v1 16.09±1.00 22.49±1.75 99.33±18.66 84.92±34.40 44.04±3.02 141.92±12.88 153.12±7.50 149.88±2.27 63.83±20.04
maze2d-medium-v1 19.16±1.44 27.64±2.16 150.93±4.50 137.52±9.83 92.25±40.74 160.95±11.64 93.80±16.93 154.41±1.82 68.14±14.15
maze2d-large-v1 20.75±7.69 41.83±4.20 197.64±6.07 153.29±12.86 138.70±44.70 228.00±2.06 207.51±1.11 182.52±3.10 50.25±22.33
maze2d average 18.67 30.65 149.30 125.25 91.66 176.96 151.48 162.27 60.74

Antmaze

Task-Name BC BC-10% TD3 + BC CQL IQL AWAC SAC-N EDAC DT
antmaze-umaze-v0 71.25±9.07 79.50±2.38 97.75±1.50 85.00±3.56 87.00±2.94 74.75±8.77 0.00±0.00 75.00±27.51 60.50±3.11
antmaze-medium-play-v0 4.75±2.22 8.50±3.51 6.00±2.00 3.00±0.82 86.00±2.16 14.00±11.80 0.00±0.00 0.00±0.00 0.25±0.50
antmaze-large-play-v0 0.75±0.50 11.75±2.22 0.50±0.58 0.50±0.58 53.00±6.83 0.00±0.00 0.00±0.00 0.00±0.00 0.00±0.00
antmaze average 25.58 33.25 34.75 29.50 75.33 29.58 0.00 25.00 20.25

Citing CORL

If you use CORL in your work, please use the following bibtex

@inproceedings{
tarasov2022corl,
  title={{CORL}: Research-oriented Deep Offline Reinforcement Learning Library},
  author={Denis Tarasov and Alexander Nikulin and Dmitry Akimov and Vladislav Kurenkov and Sergey Kolesnikov},
  booktitle={3rd Offline RL Workshop: Offline RL as a ''Launchpad''},
  year={2022},
  url={https://openreview.net/forum?id=SyAS49bBcv}
}

corl's People

Contributors

howuhh avatar dt6a avatar scitator avatar cherrypiesexy avatar levilovearch avatar

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