Tune hyperparameters in tutorials for GAIL and AIRL #772
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Thanks for the contribution! I meant to do this for quite some time!
The changes itsel LGTM.
I think the pipeline fails because we get the newest seals version (0.2) which is made for gymnasium. If we change our seals version specifier in setup.py to seals~=0.1.5, this should be fixed.
| @@ -84,7 +88,7 @@ Detailed example notebook: :doc:`../tutorials/4_train_airl` | |||
| learner_rewards_before_training, _ = evaluate_policy( | |||
| learner, env, 100, return_episode_rewards=True, | |||
| ) | |||
| airl_trainer.train(20000) | |||
| airl_trainer.train(20000) # Train for 2_000_000 steps to match expert. | |||
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2 million timesteps is a lot of timesteps for something as simple as CartPole, I expect we can do better but this seems fine for the purpose of this PR, at least the environment runs quickly.
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I'd keep it for now (it's already an improvement) and possibly revisit in another PR.
| "print(\"mean reward after training:\", np.mean(learner_rewards_after_training))\n", | ||
| "print(\"mean reward before training:\", np.mean(learner_rewards_before_training))\n", | ||
| "\n", | ||
| "plt.hist(\n", |
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Why are you removing histogram (here and in AIRL)? Fine to remove if it's not informative. But perhaps we should report the SD as well as the means?
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Yeah, the reason was I thought it was not super informative (especially in case we reach expert perf). Good suggestion with SD though, will add!
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Shameless plug: this would be a nice application for my newly release data-samples-printer:
import data_samples_printer as dsp
dsp.pprint(
before_training=learner_rewards_before_training,
after_training=learner_rewards_after_training
)prints something like:
▁ ▁ ▁▄ ▄▄▄█▇▄▄▇▄▇█▄█▃▃▇▄▇ ▇▁▃▄▁▃ ▄▃▁ ▁▁ ▁ -0.00 ±1.08 before_training
▂▃▇█▄▄▂▁ -0.01 ±0.20 after_training
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@ernestum , thanks for this, the lib looks quite cool! I'll remember about it in the future. For this PR I decided to not introduce additional dependency though.
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…I#772) * Pin huggingface_sb3 version. * Properly specify the compatible seals version so it does not auto-upgrade to 0.2. * Make random_mdp test deterministic by seeding the environment. * Tune hyperparameters in tutorials for GAIL and AIRL * Modify .rst docs for GAIL and AIRL to match tutorials * GAIL and AIRL tutorials: report also std in results --------- Co-authored-by: Maximilian Ernestus <[email protected]> Co-authored-by: Adam Gleave <[email protected]>
Description
This PR tunes hyperparameters for the GAIL and AIRL tutorials.
For GAIL, the expert performance is reached (~500 on CartPole) with 800K PPO steps (~2 min run time on MacBook Air M1). For AIRL, the default is the "fast" version which improves over random but does not reach the expert performance (800K steps, ~2 min run time); if we switch off "fast" then the expert performance is reached (2M steps, ~5 min run time).
The hyperparameters were inspired by configs for half-cheetah from the
benchmarkingdirectory + a bit of manual tuning. Also, for GAIL I needed to change fromBasicShapedRewardNettoBasicRewardNetto make it work (not exactly sure why but it affected performance a lot!).Testing
Just ran the notebooks, and also tested with a few different seeds to make sure results are stable.