CrossQ

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[🌏 Webpage] [📕 Paper ] [💬 ICLR 2024 OpenReview (top 5% spotlight)]

Official code release for the ICLR 2024 paper 👇

CrossQ: Batch Normalization in Deep Reinforcement Learning for Greater Sample Efficiency and Simplicity

Bhatt A.*, Palenicek D.*, Belousov B., Argus M., Amiranashvili A., Brox T., Peters J.

<p align="center"> <img src="http://adityab.github.io/CrossQ/static/images/efficiency_sample_compute.png" align="center" width="80%"/> </p>

Setup

Execute the following commands to set up a conda environment to run experiments

bashCopy
conda create -n crossq python=3.11.5
conda activate crossq
conda install -c nvidia cuda-nvcc=12.3.52

pip install -e .
pip install "jax[cuda12_pip]==0.4.19" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html

Running Experiments

The main entry point for running experiments is train.py. You can configure experiments with the appropriate environment and agent flags. For more info run python train.py --help.

To train with WandB logging, run the following command to train a CrossQ agent on the Humanoid-v4 environment with seed 9, which will log the results to your WandB entity and project:

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python train.py -algo crossq -env Humanoid-v4 -seed 9 -wandb_mode 'online' -wandb_entity my_team -wandb_project crossq

To train without WandB logging, run the following command, and in a different terminal run tensorboard --logdir logs to visualize training progress:

bashCopy
python train.py -algo crossq -env Humanoid-v4 -seed 9 -wandb_mode 'disabled'

To train on a cluster, we provide examples of slurm scripts in /slurm to run various experiments, baselines and ablations performed in the paper on a slurm cluster.
These configurations are very cluster specific and probably need to be adjusted for your specific cluster. However, they should surve as a starting point.

<p align="center"> <img src="http://adityab.github.io/CrossQ/static/images/crossq_efficiency_brief.png" align="center" width="80%"/> </p>

Citing this Project and the Paper

To cite our paper and/or this repository in publications:

bibtexCopy
@inproceedings{
  bhatt2024crossq,
  title={CrossQ: Batch Normalization in Deep Reinforcement Learning for Greater Sample Efficiency and Simplicity},
  author={Aditya Bhatt and Daniel Palenicek and Boris Belousov and Max Argus and Artemij Amiranashvili and Thomas Brox and Jan Peters},
  booktitle={The Twelfth International Conference on Learning Representations},
  year={2024},
  url={https://openreview.net/forum?id=PczQtTsTIX}
}

Acknowledgements

The implementation is built upon code from Stable Baselines JAX.