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Proximal Policy Gradient Arborescence

[Paper]

The official repo of PPGA! Implemented in PyTorch and run with Brax, a GPU-Accelerated high-throughput simulator for rigid bodies. This project also contains a modified version of pyribs, a QD library, and implements a modified multi-objective, vectorized version of Proximal Policy Optimization (PPO) based off of cleanrl.

Requirements

We use Anaconda to manage dependencies.

conda env create -f environment.yml
conda activate ppga

Then install this project's custom version of pyribs.

cd pyribs && pip install -e. && cd ..

CUDA

This project has been tested on Ubuntu 20.04 with an NVIDIA RTX 3090 GPU. In order to enable GPU-Acceleration, your machine must support CUDA 11.X with minimum driver version 450.80.02 (Linux x86_64). See here for more details on cuda compatibility.

The environment.yml file intentionally contains no CUDA dependencies since this is a machine dependent property, and so jax-cuda and related CUDA packages must be installed by the user. We recommend installing one of the following jaxlib-cuda packages:

# for CUDA 11 and cuDNN 8.2 or newer
wget https://storage.googleapis.com/jax-releases/cuda11/jaxlib-0.3.25+cuda11.cudnn82-cp39-cp39-manylinux2014_x86_64.whl
pip install jaxlib-0.3.25+cuda11.cudnn82-cp39-cp39-manylinux2014_x86_64.whl

# OR 

# for CUDA 11 and cuDNN 8.0.5 or newer 
wget https://storage.googleapis.com/jax-releases/cuda11/jaxlib-0.3.25+cuda11.cudnn805-cp39-cp39-manylinux2014_x86_64.whl
pip install jaxlib-0.3.25+cuda11.cudnn805-cp39-cp39-manylinux2014_x86_64.whl

If you run into issues getting cuda-accelerated jax to work, please see the jax github for more details.

We recommend using conda to install cuDNN and cudatoolkit

conda install -c anaconda cudnn
conda install -c anaconda cudatoolkit

Common gotchas

Most issues arise from having the wrong version of Jax, Flax, Brax etc. installed. If you followed the steps above and are still running into issues, please make sure the following packages are of the right version:

jax==0.3.25
jaxlib==0.3.25+cuda11.cudnn82 # or whatever your cuDNN version is 
jaxopt==0.5.5
flax==0.6.1
brax==0.1.0
chex==0.1.5
gym==0.23.1

Preflight Checklist

Depending on your machine specs, you may encounter out of memory errors due to how Jax VRAM preallocation works. If this is you, you will need to disable memory preallocation.

export XLA_PYTHON_CLIENT_PREALLOCATE=false

With CUDA enabled, you will also need to add the cublas library to your LD_LIBRARY_PATH like so:

export LD_LIBRARY_PATH=<PATH_TO_ANACONDA>/envs/ppga/lib/python3.9/site-packages/nvidia/cublas/lib/:$LD_LIBRARY_PATH

For example, if you use miniconda, this would be /home/{username}/miniconda3/...

Running Experiments

We provide run scripts to reproduce the paper results for both local machines and slurm.

local

# from PPGA root. Ex. to run humanoid
./runners/local/train_ppga_humanoid.sh

slurm

# from PPGA root. Ex to run humanoid 
sbatch runners/slurm/train_ppga_humanoid.sh

For a full list of configurable hyperparameters with descriptions:

python3 -m algorithm.train_ppga --help

Evaluating an Archive

See the jupyter notebook algorithm/enjoy_ppga.ipynb for instructions and examples on how to visualize results!

Pretrained Archives

Trained archives reported in the paper and scheduler checkpoints are hosted on Google Drive and can be downloaded from here.

Results

Environment QD-Score Coverage Best Reward Experiment Command
Humanoid $7.01 \times 10^6$ 70.0% 9755 ./runners/local/train_ppga_humanoid.sh
Walker2D $5.82 \times 10^6$ 67.8% 4796 ./runners/local/train_ppga_walker2d.sh
HalfCheetah $2.94 \times 10^7$ 98.4% 9335 ./runners/local/train_ppga_halfcheetah.sh
Ant $2.26 \times 10^7$ 53.1% 7854 ./runners/local/train_ppga_ant.sh