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Internally Rewarded Reinforcement Learning

This is an implementation for our ICML 2023 paper on internally rewarded reinforcement learning (Project Website).

The digit recognition task

Installation

conda env create --file=environment.yml
conda activate irrl

Train a model

To train a model, run scripts in folder "./scripts/training/", e.g.,

./scripts/training/ram_linear_clipping.sh

to train a RAM model using the clipped linear reward.

Test a ckeckpoint

A checkpoint ("./exps/ckpt_linear_clipping/ckpt/ram_18_4x4_1_ckpt_1400.pth.tar") obtained at the 1400 epoch during the training of a RAM model using the clipped linear reward is included for the sake of demonstration. To test the performance of this checkpoint, run

./scripts/testing/ram_linear_clipping_testing.sh

The average accuracy will be printed in the terminal, and a folder containing meta data of 9 randomly generated cases will be created at "./exps/ckpt_linear_clipping/plots".

Visualize cases

During training, evalution, and testing, meta data of randomly sampled cases is saved in the corresponding experiment folder, e.g., "./exps/ckpt_linear_clipping/plots/ram_18_4x4_1" after running the previous testing example. To visulize the cases, run

./scripts/draw_cases/draw_cases.sh

Figures and videos will be generated and saved in "./exps/ckpt_linear_clipping/plots/ram_18_4x4_1".

Train a model with reward hacking

To train a RAM model using the logarithmic reward function with the reward hacking trick, run

./scripts/reward_hacking_training/ram_reward_log_noclipping_hacking_training.sh

In this example, the reward produced by the checkpoint "./exps/ckpt_linear_clipping/ckptram_18_4x4_1_ckpt_1400.pth.tar" replaces the reward produced by the online training discriminator.

Noise visualization

To demonstrate the visualization of the disctribution of reward noise, a ckeckpoint ("./exps/ckpt_log_clipping/ckpt/ram_18_4x4_1_ckpt_600.pth.tar") of a RAM model trained using the logarithmic reward function obtained at the 600 epoch is provided in the repository. Following previous examples, the checkpoint located at "./exps/ckpt_linear_clipping/ckpt/ram_18_4x4_1_ckpt_1400.pth.tar" is used as a pretrained converged model. To get the reward noise, run

./scripts/noise_visualization_testing/ram_log_clipping_noise_visualization_testing.sh

A file "./exps/ckpt_log_clipping/ckpt/noise_array_600.npy" containing reward noise of 1000 randomly selected cases of the testing dataset will be created. Then use the jupyter notebook "./plots/noise_visualization/noise_visualizatin.ipynb" to visualize the distribution.

Misc.

Generate the Cluttered MNIST dataset

The Cluttered MNIST dataset used in the paper is included in the repository in "./data/ClutteredMNIST". To generate datasets with different configurations, edit parameters of "data/create_mnist_sequence.py" and run

python data/create_mnist_sequence.py

The skill discovery task

Installation

Change the working directory to "skill_discovery":

cd skill_discovery

In the conda virtual environment "irrl", install some python necessary packages by running:

./installation.sh

Train a model

Run one of scripts in the "./scripts" folder to train the model using a specific reward function, e.g., using the clipped linear reward function:

./scripts/train_linear_clipping.sh

Plot state occupancies

When the "--plot_state_occupancies_freq" parameter is set to a non-zero number, meta data of state occupancies during training is saved. The jupyter notebook "./plots/plot_state_occupancies.ipynb" can be used to plot state occupancies at different training stages.

The robotic object counting task

Will be open-sourced soon.

TODOs

  • Share the simulation environment and code for the robotic object counting task.

Acknowledgement