MBRL-Lib
mbrl-lib is a toolbox for facilitating development of Model-Based Reinforcement Learning algorithms. It provides easily interchangeable modeling and planning components, and a set of utility functions that allow writing model-based RL algorithms with only a few lines of code.
See also our companion paper.
Getting Started
Installation
mbrl-lib is a Python 3.7+ library. To install it, clone the repository,
git clone https://github.com/facebookresearch/mbrl-lib.git
then run
cd mbrl-lib
pip install -e .
If you are interested in contributing, please install the developer tools as well
pip install -e ".[dev]"
Finally, make sure your Python environment has PyTorch (>= 1.7) installed with the appropriate CUDA configuration for your system.
For testing your installation, run
python -m pytest tests/core
python -m pytest tests/algorithms
Mujoco
Mujoco is a popular library for testing RL methods. Installing Mujoco is not required to use most of the components and utilities in MBRL-Lib, but if you have a working Mujoco installation (and license) and want to test MBRL-Lib on it, please run
pip install -r requirements/mujoco.txt
and to test our mujoco-related utilities, run
python -m pytest tests/mujoco
Basic example
As a starting point, check out our tutorial notebook on how to write the PETS algorithm (Chua et al., NeurIPS 2018) using our toolbox, and running it on a continuous version of the cartpole environment.
Provided algorithm implementations
MBRL-Lib provides implementations of popular MBRL algorithms as examples of how to use this library. You can find them in the mbrl/algorithms folder. Currently, we have implemented PETS and MBPO, and we plan to keep increasing this list in the near future.
The implementations rely on Hydra to handle configuration. You can see the configuration files in this folder. The overrides subfolder contains environment specific configurations for each environment, overriding the default configurations with the best hyperparameter values we have found so far for each combination of algorithm and environment. You can run training by passing the desired override option via command line. For example, to run MBPO on the gym version of HalfCheetah, you should call
python main.py algorithm=mbpo overrides=mbpo_halfcheetah
By default, all algorithms will save results in a csv file called results.csv, inside a folder whose path looks like ./exp/mbpo/default/gym___HalfCheetah-v2/yyyy.mm.dd/hhmmss; you can change the root directory (./exp) by passing root_dir=path-to-your-dir, and the experiment sub-folder (default) by passing experiment=your-name. The logger will also save a file called model_train.csv with training information for the dynamics model.
Beyond the override defaults, You can also change other configuration options, such as the type of dynamics model (e.g., dynamics_model=basic_ensemble), or the number of models in the ensemble (e.g., dynamics_model.model.ensemble_size=some-number). To learn more about all the available options, take a look at the provided configuration files.
Note that running the provided examples and main.py requires Mujoco, but you can try out the library components (and algorithms) on other environments by creating your own entry script and Hydra configuration.
Visualization tools
Our library also contains a set of visualization tools, meant to facilitate diagnostics and development of models and controllers. These currently require Mujoco installation, but we are planning to add more support and extensions in the future. Currently, the following tools are provided:
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Visualizer: Creates a video to qualitatively assess model predictions over a rolling horizon. Specifically, it runs a user specified policy in a given environment, and at each time step, computes the model's predicted observation/rewards over a lookahead horizon for the same policy. The predictions are plotted as line plots, one for each observation dimension (blue lines) and reward (red line), along with the result of applying the same policy to the real environment (black lines). The model's uncertainty is visualized by plotting lines the maximum and minimum predictions at each time step. The model and policy are specified by passing directories containing configuration files for each; they can be trained independently. The following gif shows an example of 200 steps of pre-trained MBPO policy on Inverted Pendulum environment.
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DatasetEvaluator: Loads a pre-trained model and a dataset (can be loaded from separate directories), and computes predictions of the model for each output dimension. The evaluator then creates a scatter plot for each dimension comparing the ground truth output vs. the model's prediction. If the model is an ensemble, the plot shows the mean prediction as well as the individual predictions of each ensemble member.
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FineTuner: Can be used to train a model on a dataset produced by a given agent/controller. The model and agent can be loaded from separate directories, and the fine tuner will roll the environment for some number of steps using actions obtained from the controller. The final model and dataset will then be saved under directory "model_dir/diagnostics/subdir", wheresubdiris provided by the user. -
True Dynamics Multi-CPU Controller: This script can run a trajectory optimizer agent on the true environment using Python's multiprocessing. Each environment runs in its own CPU, which can significantly speed up costly sampling algorithm such as CEM. The controller will also save a video if therenderargument is passed. Below is an example on HalfCheetah-v2 using CEM for trajectory optimization.
Note that the tools above require Mujoco installation, and are specific to models of type OneDimTransitionRewardModel. We are planning to extend this in the future; if you have useful suggestions don't hesitate to raise an issue or submit a pull request!
Documentation
Please check out our documentation and don't hesitate to raise issues or contribute if anything is unclear!
License
mbrl-lib is released under the MIT license. See LICENSE for additional details about it. See also our Terms of Use and Privacy Policy.
Citing
If you use this project in your research, please cite:
@Article{Pineda2021MBRL,
author = {Luis Pineda and Brandon Amos and Amy Zhang and Nathan O. Lambert and Roberto Calandra},
journal = {Arxiv},
title = {MBRL-Lib: A Modular Library for Model-based Reinforcement Learning},
year = {2021},
url = {https://arxiv.org/abs/2104.10159},
}
![MBPO cannot work on HumanoidTruncatedObsEnv and original Humanoid Env[Bug]](https://avatars.githubusercontent.com/u/35065354?v=4)
![[Bug] PETS not working](https://avatars.githubusercontent.com/u/48340245?v=4)
![[Feature Request] Logging of custom training metrics](https://avatars.githubusercontent.com/u/33448112?v=4)
![[Bug] Centering, scaling and clamping the population in iCEM](https://avatars.githubusercontent.com/u/48764642?v=4)
![[Feature Request] Add option to use `functorch` for `BasicEnsemble`](https://avatars.githubusercontent.com/u/4759586?v=4)
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