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Official implementation of Topological Experience Replay

Paper link

Abstract: State-of-the-art deep Q-learning methods update Q-values using state transition tuples sampled from the experience replay buffer. This strategy often randomly samples or prioritizes data sampling based on measures such as the temporal difference (TD) error. Such sampling strategies can be inefficient at learning Q-function since a state's correct Q-value preconditions on the accurate successor states' Q-value. Disregarding such a successor's value dependency leads to useless updates and even learning wrong values. To expedite Q-learning, we maintain states' dependency by organizing the agent's experience into a graph. Each edge in the graph represents a transition between two connected states. We perform value backups via a breadth-first search that expands vertices in the graph starting from the set of terminal states successively moving backward. We empirically show that our method is substantially more data-efficient than several baselines on a diverse range of goal-reaching tasks. Notably, the proposed method also outperforms baselines that consume more batches of training experience.

Installation

  1. git clone https://github.com/williamd4112/topological_experience_replay.git
  2. cd topological_experience_replay
  3. conda env create -f environment.yml
  4. pip install -e .

Outline

- backtracking: (algorithms' implementation)
  | - agent_config: (network architecture definitions)
  | - agents: (agents' implementations)
  | - common: (utility functions)
  | - envs: (environment wrappers)
  | - experiments: (helper functions for experiments)
  | - replay_buffers: (TER implementations)
- plotting: (plotting scripts)
- scripts: (shell scripts for reproducing experiments)
- rs_configs: (TER configuration files, usually feed them as arguments in the scripts, see `scripts`)
- dqn_configs: (hyperparameters configuration files)
- examples: (toy examples for the graph structure)

Reproduce experiments

Overall performance in MiniGrid/Sokoban (Section 5.3)

  • cd topological_experience_replay
  • Run the following scripts with seed and gpu_id in the arguments. The results will be stored at results/overall_perf.
  • MiniGrid
scripts/overall_perf/minigrid/simplecrossing_easy/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_easy/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_easy/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_easy/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_easy/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/simplecrossing_hard/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_hard/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_hard/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_hard/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/simplecrossing_hard/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/lavacrossing_easy/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_easy/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_easy/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_easy/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_easy/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/lavacrossing_hard/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/doorkey/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/doorkey/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/doorkey/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/doorkey/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/doorkey/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/unlock/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/redbluedoor/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/redbluedoor/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/redbluedoor/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/redbluedoor/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/redbluedoor/train_er_mixin_ter.sh {seed} {gpu_id}
  • Sokoban
scripts/overall_perf/sokoban/5x5_1/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_1/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_1/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_1/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_1/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/5x5_2/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_2/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_2/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_2/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/5x5_2/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/6x6_1/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_1/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_1/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_1/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_1/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/6x6_2/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/6x6_3/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/7x7_1/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_1/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_1/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_1/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_1/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/7x7_2/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_2/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_2/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_2/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/7x7_2/train_er_mixin_ter.sh {seed} {gpu_id}

Replay ratio experiments (Section 5.4)

  • cd topological_experience_replay
  • Run the following scripts with seed and gpu_id in the arguments. 1.0 and 2.0 in the directory names denote replay ratios. The results will be stored at results/replay_ratio.
  • MiniGrid
scripts/overall_perf/minigrid/lavacrossing_hard_1.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_1.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_1.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_1.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_1.0/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/unlock_1.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_1.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_1.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_1.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_1.0/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/lavacrossing_hard_2.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_2.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_2.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_2.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/lavacrossing_hard_2.0/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/minigrid/unlock_2.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_2.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_2.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_2.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/minigrid/unlock_2.0/train_er_mixin_ter.sh {seed} {gpu_id}
  • Sokoban
scripts/overall_perf/sokoban/6x6_2_1.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_1.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_1.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_1.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_1.0/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/6x6_3_1.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_1.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_1.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_1.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_1.0/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/6x6_2_2.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_2.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_2.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_2.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_2_2.0/train_er_mixin_ter.sh {seed} {gpu_id}

scripts/overall_perf/sokoban/6x6_3_2.0/train_uer.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_2.0/train_per.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_2.0/train_ebu.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_2.0/train_discor.sh {seed} {gpu_id}
scripts/overall_perf/sokoban/6x6_3_2.0/train_er_mixin_ter.sh {seed} {gpu_id}

Run in docker

  • docker build -t ter .
  • ./dockerun ${COMMAND}

Develop with graph memory

See examples/graph/hash_graph.py

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