This is a PyTorch implementation of Proto-RL from

Reinforcement Learning with Prototypical Representations by

Denis Yarats, Rob Fergus, Alessandro Lazaric, Lerrel Pinto.

[Paper]

If you use this repo in your research, please consider citing the paper as follows

@article{yarats2021proto,
    title={Reinforcement Learning with Prototypical Representations},
    author={Denis Yarats and Rob Fergus and Alessandro Lazaric and Lerrel Pinto},
    year={2021},
    eprint={2102.11271},
    archivePrefix={arXiv},
    primaryClass={cs.ML}
}

We assume you have access to a gpu that can run CUDA 11. Then, the simplest way to install all required dependencies is to create an anaconda environment by running

conda env create -f conda_env.yml

After the instalation ends you can activate your environment with

conda activate proto

In order to pretrain the agent you need to specify the number of task-agnostic environment steps by setting num_expl_steps, after that many steps, the agent will start receving the downstream task reward until it takes num_train_steps in total. For example, to pre-train the Proto-RL agent on Cheetah Run task unsupervisely for 500k environment steps and then train it further with the downstream reward for another 500k steps, you can run:

python train.py env=cheetah_run num_expl_steps=250000 num_train_steps=500000

Note that we divide the number of steps by action repeat, which is set to 2 for all the environments.

This will produce the exp_local folder, where all the outputs are going to be stored including train/eval logs, tensorboard blobs, and evaluation episode videos. To launch tensorboard run

tensorboard --logdir exp_local