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Planning to Go Out-of-Distribution

Official repository for the paper "Planning to Go Out-of-Distribution in Offline-to-Online Reinforcement learning".

Find the paper here.

Offline pretraining & online fine-tuning

To pretrain offline, set --offline_steps to some int greater than 0, do not set --model_file nor --rl_file, and set --online_steps to 0. To fine-tune online, set --offline_steps to 0, set --model_file, --rl_file, and --ceb_file to your pretrained checkpoints, and set --online_steps to some int greater than 0.

If you are using a D4RL environment, then do not set --custom_filepath. If you are using a dataset not included in D4RL, set --custom_filepath to its filepath.

python3 offline_to_online.py --wandb_key ../wandb.txt --env dmc2gym_walker --custom_filepath ${FILEPATH}/walker_walk_random.json --model_file ./models/dmc2gym_walker_random_31012.pt --rl_file ./policies/dmc2gym_walker_a1-k5_mcn_r0.5-21970-post_offline --rl_grad_clip 99999 --horizon 5 --r 0.5 --offline_steps 0 --online_steps 51000 --critic_norm --model_train_freq 1000 --imagination_freq 250 --rl_updates_per 20 --rollout_batch_size 100000 --ceb_planner --ceb_planner_noise 0.3 --ceb_width 10 --ceb_depth 5 --act_ceb_pct 1.1 --ceb_beta 0.01 --ceb_z_dim 8 --ceb_update_freq 10000000 --ceb_file ./ceb_weights/dmc2gym-walker-random-Bp01-bidir-8 --learned_marginal

Training encoder with the CEB

python3 pretrain_ceb.py --wandb_key ../wandb.txt --env dmc2gym_walker --z_dim 8 --beta 0.01 --bs 512 --n_steps 30000 --custom_filepath ${FILEPATH}/walker_walk_random.json --model_file ./models/dmc2gym_walker_random_31012.pt --rl_file ./policies/dmc2gym_walker_a1-k5_mcn_r0.5-21970-post_offline --critic_norm --horizon 2 --imagination_repeat 3 --ceb_file ./ceb_weights/dmc2gym-walker-random-Bp01-bidir-8

Cite

@inproceedings{mcinroe2024ptgood,
    title={Planning to Go Out-of-Distribution in Offline-to-Online Reinforcement Learning},
    author={Trevor McInroe, Adam Jelley, Stefano V. Albrecht, Amos Storkey},
    booktitle={Reinforcement Learning Conference (RLC)}
    year={2024}
}