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IntRL

A repository tackling all aspects interactive RL algorithms from data collection to algorithm training and evaluation. This repository is built on top of Stable Baselines3, Imitation, and Gymnasium.

Installation

Conda Environment

The provided conda environment can be built using the following command:

conda env create -f docker/full-env.yaml

If you do not wish to build the conda environment, view the docker/full-env.yaml for dependencies.

Once created, the intrl module needs to be installed by running the following command.

pip install -e .

Quickstart

To run the code, Hydra is used to orchestrate the building of configs. Once a config is built, it is passed to particular pipeline where its contents are used by the pipeline to run the code. Each pipeline has one or more corresponding Hydra templates located in the root of the config/ directory. The current pipelines are listed below.

  • collect
    • Collects demonstrations from either a human or agent. These demonstrations are then saved, by default, to the demos/ directory.
  • replay
    • Replays collected demonstrations for viewing purposes.
  • feedback
    • Replays collected demonstrations but allows for feedback to be captured and mapped to demonstration states.
  • imitation
    • Trains Imitation algorithms or algorithms which inherent from the imitation.algorithms.base.DemonstrationAlgorithm class.
  • evaluation
    • Evaluates imitation and RL algorithms using the provided evaluation function.

CLI (Manual Commands)

Manual commands can be done by running the main.py file using Hydra CLI interface. See the following template as an example:

python main.py -cn=<Hydra-template> +experiment=<config/experiment/>

For complex commands that require many overrides, it is recommended to use a bash scrip instead (see the following section).

Bash Scripts (Predefined Commands)

To run predefined commands refer to the run/ directory which contains bash scripts doing so. These bash scripts define more complex Hydra commands that override multiple variables to such specific experiments. Feel free to refer to these scripts to create your own or edit the existing scripts to fit your needs.

Data Collection

Current data collection only allows for the capturing of demonstrations, the replaying of said demonstrations, and the capturing of feedback for previously captured demonstrations. The data collection interface replies on Gymnasium wrappers for controlling the game and PyGame for the interface. As such the wrappers and interface can fail depending on the type of game being used but tends to work for all officially implemented Gymnasium tasks, excluding continuous action tasks.

Running data collection test:

/bin/bash run/collect.sh

Running data replay test:

/bin/bash run/replay.sh

Running data feedback test:

/bin/bash run/feedback.sh

Algorithms

The following is a list of implemented algorithms. On top of these, one can run algorithms from SB3 or Imitation using Hydra although these configs will constructed from scratch.

Running intrl.algorithms.bc.bcensemble test:

/bin/bash run/bcensemble/test.sh

Running intrl.algorithms.bc.bcnoise test:

/bin/bash run/bcnoise/test.sh

Running intrl.algorithms.bc.bcshape test:

/bin/bash run/bcshape/test.sh