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Off-Policy RL with RNN and Transformers

This repository is the official implementation of the paper "Efficient Recurrent Off-Policy RL Requires a Context-Encoder-Specific Learning Rate." It includes implementations of SAC and TD3 based on RNN and Transformer architectures.

🌟We presented some reproduced results and logs in the result page.

Features

The algorithms implemented in this repository have the following features:

  1. We train the recurrent policy and values using full-length trajectories instead of sequence fragments;
  2. To enhance training stability with full-length trajectories, we utilize the Context-Encoder-Specific Learning Rate (RESeL) technique;
  3. We provide a set of training hyperparameters that can achieve state-of-the-art performance in different environments of POMDP and MDP.

Supported Layer Types

This repository supports the following neural network architectures. We have tested with training on gru, mamba, smamba, and cgpt layer types. The training speed from fastest to slowest is: smamba, mamba, cgpt, gru.

Layer Layer ID Parameters Notes
GRU gru PyTorch's built-in GRU, non-parallel, but still achieves good policy performance
Mamba smamba state_dim, conv1d_size, block_num, norm_type Official Mamba implementation, accelerated with selective_scan parallelization. Example: smamba_s32_c16_b2_nln means state_dim=32, conv1d_size=16, block_num=2, norm_type=layer_norm
Mamba mamba state_dim, conv1d_size Mamba implemented with Triton, serial computation, significantly faster than the PyTorch implementation. Example: mamba_s32_c16 means state_dim=32, conv1d_size=16
GILR gilr Linear RNN structure implemented with Triton
LRU lru Linear Recurrent Unit (LRU) implemented with Triton
Transformer cgpt head_num, block_num, dropout_prob, max_length, norm_type Custom GPT structure, accelerated with flash_attention for training and inference, using bf16 data type in multi-head-attention. Example: cgpt_h8_l6_p0.1_ml1024_rms means head_num=8, block_num=6, dropout_prob=0.1, max_length=1024, norm_type=RMSNorm
Transformer gpt head_num, block_num, dropout_prob, max_length GPT structure from the flash_attn library, accelerated with flash_attention, using bf16 data type. Example: gpt_h8_l6_p0.1_ml1024 means head_num=8, block_num=6, dropout_prob=0.1, max_length=1024

Dependencies

Hardware

In the aforementioned network structures, GRU can be trained directly on a CPU machine. Mamba, GIRL, and LRU are implemented based on Triton, requiring training on GPU machines, while cgpt and gpt utilize flash_attention for acceleration, requiring the use of Ampere, Ada, or Hopper GPUs (e.g., A100, RTX 3090, RTX 4090, H100).

Environment

Since we have modified the CUDA source code of Mamba, it needs to be recompiled. This library also depends on some earlier RL training environments, so we strongly recommend using the Docker image we have prepared to run our algorithms. To pull the Docker image, use the following command:

docker pull core.116.172.93.164.nip.io:30670/public/luofanming:20240607150538

Alternatively, download it from this link

wget -O 20240607_flash_attn_image.tar.gz https://box.nju.edu.cn/f/11384fd1c05641158dcd/?dl=1
docker load -i 20240607_flash_attn_image.tar.gz

To start the Docker container:

docker run --rm -it -v $PWD:/home/ubuntu/workspace --gpus all core.116.172.93.164.nip.io:30670/public/luofanming:20240607150538 /bin/bash

Starting Training

We use Python files starting with gen_tmuxp to record the training hyperparameters. For instance, to start an experiment with the smamba structure, you can run:

cd /path/to/Recurrent-Offpolicy-RL
pip install -e .
python gen_tmuxp_mamba_mujoco.py
tmuxp load run_all.json

We present the reproducing results of each script at here.

Visualizing Results

We use SmartLogger for log management. You can find the training logs in the directory named logfile. The most straightforward way to view the training process is to use TensorBoard:

tensorboard --logdir=./logfile

You can also use the rendering interface in SmartLogger to view experimental data:

python -m smart_logger.htmlpage -p 4008 -d /path/to/logfile -wks ~/Desktop/smartlogger_wks  -t local_plotting -u user -pw resel -cp 600

Visit http://localhost:4008 to view the training data, with the username user and password resel.

Results

We present the reproducing results at here.

Citation

@article{luo2024efficient,
  title={Efficient Recurrent Off-Policy RL Requires a Context-Encoder-Specific Learning Rate},
  author={Luo, Fan-Ming and Tu, Zuolin and Huang, Zefang and Yu, Yang},
  journal={arXiv preprint arXiv:2405.15384},
  year={2024}
}

Reference Repository