alpc91 / sgrl

[ICML 2023 Oral] Official environments and implementations for "Subequivariant Graph Reinforcement Learning in 3D Environments"

Subequivariant Graph Reinforcement Learning in 3D Environment

ICML 2023 Oral

[Project Page] [Paper]

Runfa Chen¹, Jiaqi Han¹, Fuchun Sun^{1 2}, Wenbing Huang^{3 4}

¹Department of Computer Science and Technology, Institute for AI, BNRist Center, Tsinghua University, ²THU-Bosch JCML Center, ³Gaoling School of Artificial Intelligence, Renmin University of China, ⁴Beijing Key Laboratory of Big Data Management and Analysis Methods

This is a PyTorch-based implementation of our Subequivariant Graph Reinforcement Learning. In this work, we introduce a new morphology-agnostic RL benchmark that extends the widely adopted 2D-Planar setting to 3D-SGRL, permitting significantly larger exploring space of the agents with arbitrary initial location and target direction. To learn a policy in this massive search space, we design SET, a novel model that preserves geometric symmetry by construction. Experimental results strongly support the necessity of encoding symmetry into the policy network and its wide applicability towards learning to navigate in various 3D environments.

If you find this work useful in your research, please cite using the following BibTeX:

@inproceedings{chen2023sgrl,
    title = {Subequivariant Graph Reinforcement Learning in 3D Environment},
    author = {Chen, Runfa and Han, Jiaqi and Sun, Fuchun and Huang, Wenbing},
    booktitle={International Conference on Machine Learning},
    year={2023},
    organization={PMLR}
    }

Setup

Requirements

• Python-3.8
• PyTorch-1.12
• CUDA-11.3
• MuJoCo-210

Installing Dependencies

pip install --upgrade pip
pip install -r requirements.txt

Running Code

Flags and Parameters	Description
--env_name <STRING>	The name of the experiment project folder and the project name in wandb
--morphologies <STRING>	Find existing environments matching each keyword for training (e.g. walker, hopper, humanoid, cheetah, whh, cwhh, etc)
--expID <STRING>	Experiment Name for creating saving directory
--exp_path <STRING>	The directory path where the experimental results are saved
--config_path <STRING>	The path to the configuration file
--gpu <INT>	The GPU device ID (e.g., 0, 1, 2, 3, etc)
--custom_xml <PATH>	Path to custom xml file for training the morphology-agnostic policy. When <PATH> is a file, train with that xml morphology only. When <PATH> is a directory, train on all xml morphologies found in the directory
--actor_type <STRING>	Type of the actor to use (e.g., smp, swat, set, mlp, etc)
--critic_type <STRING>	Type of the critic to use (e.g., smp, swat, set, mlp, etc)
--seed <INT>	(Optional) Seed for Gym, PyTorch and Numpy

Train with existing environment

• Train SET on 3D_Hopper++ (3 variants of hopper):

cd src/
bash start.sh

3D-SGRL Environments

3D Hopper
3d_hopper_3_shin	3d_hopper_4_lower_shin	3d_hopper_5_full

3D Walker
3d_walker_2_right_leg_left_knee	3d_walker_3_left_leg_right_foot	3d_walker_4_right_knee_left_foot	3d_walker_5_foot
3d_walker_5_left_knee	3d_walker_7_full	3d_walker_3_left_knee_right_knee	3d_walker_6_right_foot

3D Humanoid
3d_humanoid_7_left_arm	3d_humanoid_7_lower_arms	3d_humanoid_7_right_arm	3d_humanoid_7_right_leg
3d_humanoid_8_left_knee	3d_humanoid_9_full	3d_humanoid_7_left_leg	3d_humanoid_8_right_knee

3D Cheetah
3d_cheetah_10_tail_leftbleg	3d_cheetah_11_leftfleg	3d_cheetah_11_tail_rightfknee	3d_cheetah_12_rightbknee	3d_cheetah_12_tail_leftbfoot
3d_cheetah_13_rightffoot	3d_cheetah_13_tail	3d_cheetah_14_full	3d_cheetah_11_leftbkneen_rightffoot	3d_cheetah_12_tail_leftffoot

For the results reported in the paper, the following agents are in the held-out set for the corresponding experiments:

• 3D_Walker++: 3d_walker_3_left_knee_right_knee, 3d_walker_6_right_foot
• 3D_Humanoid++: 3d_humanoid_7_left_leg, 3d_humanoid_8_right_knee
• 3D_Cheetah++: 3d_cheetah_11_leftbkneen_rightffoot, 3d_cheetah_12_tail_leftffoot

All other agents in the corresponding experiments are used for training.

Acknowledgement

The RL code is based on this open-source implementation and the morphology-agnostic implementation is built on top of SMP (Huang et al., ICML 2020), Amorpheus (Kurin et al., ICLR 2021) and SWAT (Hong et al., ICLR 2022) repository.

sgrl's Issues

mujoco_py.builder.MujocoException: Unknown warning type Time = 0.0000.Check for NaN in simulation.

Hello:
There are some bugs when I running "bash start.sh" or "bash start_humanoid.sh".
File "cymj.pyx", line 156, in mujoco_py.cymj.wrap_mujoco_warning.__exit__ File "cymj.pyx", line 77, in mujoco_py.cymj.c_warning_callback File "/home/amax/anaconda3/envs/sgrl/lib/python3.8/site-packages/mujoco_py/builder.py", line 368, in user_warning_raise_exception raise MujocoException(warn + 'Check for NaN in simulation.') File "/home/amax/anaconda3/envs/sgrl/lib/python3.8/site-packages/gym/envs/mujoco/mujoco_env.py", line 125, in do_simulation self.sim.step() File "/home/amax/anaconda3/envs/sgrl/lib/python3.8/site-packages/gym/envs/mujoco/mujoco_env.py", line 125, in do_simulation self.sim.step() mujoco_py.builder.MujocoException: Unknown warning type Time = 0.0000.Check for NaN in simulation. File "cymj.pyx", line 77, in mujoco_py.cymj.c_warning_callback File "/home/amax/anaconda3/envs/sgrl/lib/python3.8/site-packages/mujoco_py/builder.py", line 368, in user_warning_raise_exception raise MujocoException(warn + 'Check for NaN in simulation.') File "mjsim.pyx", line 126, in mujoco_py.cymj.MjSim.step File "mjsim.pyx", line 126, in mujoco_py.cymj.MjSim.step File "cymj.pyx", line 156, in mujoco_py.cymj.wrap_mujoco_warning.__exit__ mujoco_py.builder.MujocoException: Unknown warning type Time = 0.0000.Check for NaN in simulation. File "/home/amax/anaconda3/envs/sgrl/lib/python3.8/site-packages/mujoco_py/builder.py", line 368, in user_warning_raise_exception raise MujocoException(warn + 'Check for NaN in simulation.') mujoco_py.builder.MujocoException: Unknown warning type Time = 0.0000.Check for NaN in simulation. File "cymj.pyx", line 156, in mujoco_py.cymj.wrap_mujoco_warning.__exit__ File "cymj.pyx", line 77, in mujoco_py.cymj.c_warning_callback File "cymj.pyx", line 77, in mujoco_py.cymj.c_warning_callback File "/home/amax/anaconda3/envs/sgrl/lib/python3.8/site-packages/mujoco_py/builder.py", line 368, in user_warning_raise_exception raise MujocoException(warn + 'Check for NaN in simulation.') mujoco_py.builder.MujocoException: Unknown warning type Time = 0.0000.Check for NaN in simulation. File "/home/amax/anaconda3/envs/sgrl/lib/python3.8/site-packages/mujoco_py/builder.py", line 368, in user_warning_raise_exception raise MujocoException(warn + 'Check for NaN in simulation.') mujoco_py.builder.MujocoException: Unknown warning type Time = 0.0000.Check for NaN in simulation. mujoco_py.builder.MujocoException: Unknown warning type Time = 0.0000.Check for NaN in simulation. __