Ray RLlib: Scalable Reinforcement Learning

Ray RLlib is an RL execution toolkit built on the Ray distributed execution framework. RLlib implements a collection of distributed policy optimizers that make it easy to use a variety of training strategies with existing RL algorithms written in frameworks such as PyTorch, TensorFlow, and Theano.

You can find the code for RLlib here on GitHub, and the paper here.

RLlib’s policy optimizers serve as the basis for RLlib’s reference algorithms, which include:

These algorithms can be run on any OpenAI Gym MDP, including custom ones written and registered by the user.

Note

To use RLlib’s policy optimizers outside of RLlib, see the policy optimizers documentation.

Installation

RLlib has extra dependencies on top of ray. You might also want to clone the Ray repo for convenient access to RLlib helper scripts:

pip install 'ray[rllib]'
git clone https://github.com/ray-project/ray

For usage of PyTorch models, visit the PyTorch website for instructions on installing PyTorch.

Getting Started

At a high level, RLlib provides an Agent class which holds a policy for environment interaction. Through the agent interface, the policy can be trained, checkpointed, or an action computed.

_images/rllib-api.svg

You can train a simple DQN agent with the following command

python ray/python/ray/rllib/train.py --run DQN --env CartPole-v0

By default, the results will be logged to a subdirectory of ~/ray_results. This subdirectory will contain a file params.json which contains the hyperparameters, a file result.json which contains a training summary for each episode and a TensorBoard file that can be used to visualize training process with TensorBoard by running

tensorboard --logdir=~/ray_results

The train.py script has a number of options you can show by running

python ray/python/ray/rllib/train.py --help

The most important options are for choosing the environment with --env (any OpenAI gym environment including ones registered by the user can be used) and for choosing the algorithm with --run (available options are PPO, A3C, ES, DQN and APEX).

Specifying Parameters

Each algorithm has specific hyperparameters that can be set with --config - see the DEFAULT_CONFIG variable in PPO, A3C, ES, DQN and APEX.

In an example below, we train A3C by specifying 8 workers through the config flag. function that creates the env to refer to it by name. The contents of the env_config agent config field will be passed to that function to allow the environment to be configured. The return type should be an OpenAI gym.Env. For example:

python ray/python/ray/rllib/train.py --env=PongDeterministic-v4 \
    --run=A3C --config '{"num_workers": 8}'

Evaluating Trained Agents

In order to save checkpoints from which to evaluate agents, set --checkpoint-freq (number of training iterations between checkpoints) when running train.py.

An example of evaluating a previously trained DQN agent is as follows:

python ray/python/ray/rllib/rollout.py \
      ~/ray_results/default/DQN_CartPole-v0_0upjmdgr0/checkpoint-1 \
      --run DQN --env CartPole-v0

The rollout.py helper script reconstructs a DQN agent from the checkpoint located at ~/ray_results/default/DQN_CartPole-v0_0upjmdgr0/checkpoint-1 and renders its behavior in the environment specified by --env.

Tuned Examples

Some good hyperparameters and settings are available in the repository (some of them are tuned to run on GPUs). If you find better settings or tune an algorithm on a different domain, consider submitting a Pull Request!

Python User API

The Python API provides the needed flexibility for applying RLlib to new problems. You will need to use this API if you wish to use custom environments, preprocesors, or models with RLlib.

Here is an example of the basic usage:

import ray
import ray.rllib.ppo as ppo

ray.init()
config = ppo.DEFAULT_CONFIG.copy()
agent = ppo.PPOAgent(config=config, env="CartPole-v0")

# Can optionally call agent.restore(path) to load a checkpoint.

for i in range(1000):
   # Perform one iteration of training the policy with PPO
   result = agent.train()
   print("result: {}".format(result))

   if i % 100 == 0:
       checkpoint = agent.save()
       print("checkpoint saved at", checkpoint)

Components: User-customizable and Internal

The following diagram provides a conceptual overview of data flow between different components in RLlib. We start with an Environment, which given an action produces an observation. The observation is preprocessed by a Preprocessor and Filter (e.g. for running mean normalization) before being sent to a neural network Model. The model output is in turn interpreted by an ActionDistribution to determine the next action.

_images/rllib-components.svg

The components highlighted in green above are User-customizable, which means RLlib provides APIs for swapping in user-defined implementations, as described in the next sections. The purple components are RLlib internal, which means they currently can only be modified by changing the RLlib source code.

For more information about these components, also see the RLlib Developer Guide.

Custom Environments

To train against a custom environment, i.e. one not in the gym catalog, you can register a function that creates the env to refer to it by name. The contents of the env_config agent config field will be passed to that function to allow the environment to be configured. The return type should be an OpenAI gym.Env. For example:

import ray
from ray.tune.registry import register_env
from ray.rllib import ppo

def env_creator(env_config):
    import gym
    return gym.make("CartPole-v0")  # or return your own custom env

env_creator_name = "custom_env"
register_env(env_creator_name, env_creator)

ray.init()
agent = ppo.PPOAgent(env=env_creator_name, config={
    "env_config": {},  # config to pass to env creator
})

For a code example of a custom env, see the SimpleCorridor example. For a more complex example, also see the Carla RLlib env.

Custom Preprocessors and Models

RLlib includes default preprocessors and models for common gym environments, but you can also specify your own as follows. At a high level, your neural network model needs to take an input tensor of the preprocessed observation shape and output a vector of the size specified in the constructor. The interfaces for these custom classes can be found in the RLlib Developer Guide.

import ray
from ray.rllib.models import ModelCatalog, Model
from ray.rllib.models.preprocessors import Preprocessor

class MyPreprocessorClass(Preprocessor):
    def _init(self):
        self.shape = ...

    def transform(self, observation):
        return ...

class MyModelClass(Model):
    def _init(self, inputs, num_outputs, options):
        layer1 = slim.fully_connected(inputs, 64, ...)
        layer2 = slim.fully_connected(inputs, 64, ...)
        ...
        return layerN, layerN_minus_1

ModelCatalog.register_custom_preprocessor("my_prep", MyPreprocessorClass)
ModelCatalog.register_custom_model("my_model", MyModelClass)

ray.init()
agent = ppo.PPOAgent(env="CartPole-v0", config={
    "model": {
        "custom_preprocessor": "my_prep",
        "custom_model": "my_model",
        "custom_options": {},  # extra options to pass to your classes
    },
})

For a full example of a custom model in code, see the Carla RLlib model and associated training scripts. The CarlaModel class defined there operates over a composite (Tuple) observation space including both images and scalar measurements.

Multi-Agent Models

RLlib supports multi-agent training with PPO. Currently it supports both shared, i.e. all agents have the same model, and non-shared multi-agent models. However, it only supports shared rewards and does not yet support individual rewards for each agent.

While Generalized Advantage Estimation is supported in multiagent scenarios, it is assumed that it possible for the estimator to access the observations of all of the agents.

Important config parameters are described below

config["model"].update({"fcnet_hiddens": [256, 256]}) # dimension of value function
options = {"multiagent_obs_shapes": [3, 3], # length of each observation space
           "multiagent_act_shapes": [1, 1], # length of each action space
           "multiagent_shared_model": True, # whether the model should be shared
           # list of dimensions of multiagent feedforward nets
           "multiagent_fcnet_hiddens": [[32, 32]] * 2}
config["model"].update({"custom_options": options})

For a full example of a multiagent model in code, see the MultiAgent Pendulum. The MultiAgentPendulumEnv defined there operates over a composite (Tuple) enclosing a list of Boxes; each Box represents the observation of an agent. The action space is a list of Discrete actions, each element corresponding to half of the total torque. The environment will return a list of actions that can be iterated over and applied to each agent.

External Data API

coming soon!

Using RLlib with Ray Tune

All Agents implemented in RLlib support the tune Trainable interface.

Here is an example of using the command-line interface with RLlib:

python ray/python/ray/rllib/train.py -f tuned_examples/cartpole-grid-search-example.yaml

Here is an example using the Python API. The same config passed to Agents may be placed in the config section of the experiments. RLlib agents automatically declare their resources requirements (e.g., based on num_workers) to Tune, so you don’t have to.

import ray
from ray.tune.tune import run_experiments
from ray.tune.variant_generator import grid_search


experiment = {
    'cartpole-ppo': {
        'run': 'PPO',
        'env': 'CartPole-v0',
        'stop': {
            'episode_reward_mean': 200,
            'time_total_s': 180
        },
        'config': {
            'num_sgd_iter': grid_search([1, 4]),
            'num_workers': 2,
            'sgd_batchsize': grid_search([128, 256, 512])
        }
    },
    # put additional experiments to run concurrently here
}

ray.init()
run_experiments(experiment)

For an advanced example of using Population Based Training (PBT) with RLlib, see the PPO + PBT Walker2D training example.

Using Policy Optimizers outside of RLlib

See the RLlib policy optimizers documentation.

Contributing to RLlib

See the RLlib Developer Guide.