LLM-Personalize: Aligning LLM Planners with Human Preferences via Reinforced Self-Training for Housekeeping Robots

This repo contains the implementation of our paper (under submission to IROS 2024) LLM-Personalize: Aligning LLM Planners with Human Preferences via Reinforced Self-Training for Housekeeping Robots.

Installation

Conda Installation

Clone this repo, and follow the installation instruction from the Housekeep Benchmark. Note that the Housekeep code is within the root of this repo, so please follow the Housekeep installation instruction and install within this repo, no need to clone the original Housekeep repo again.

The above installation is sufficient to run a human demonstration agent. In addition, this work uses OpenAI GPT-3.5-Turbo. Therefore, to train and run an LLM-based agent using OpenAI GPT's, please setup an OpenAI account, and additionally install the python module:

pip install openai==0.27.9

Docker

Alternatively, you can pull and use the docker:

docker pull apple90gege/housekeepdocker:latest

And follow installation guide from this repo.

Troubleshooting

Installation

1. [habitat-lab setup] You may need to install additionally the following packages in the conda environment before habitat-lab setup if the setup code reports errors.

pip install cython
pip install pkgconfig

2. [libcublas and libcdnn] If you encounter the following errors:

OSError: libcublas.so.11: cannot open shared object file: No such file or directory
OSError: libcudnn.so.8: cannot open shared object file: No such file or directory

You may need to install cuda and cudnn by running the following commands.

conda install -c conda-forge cudatoolkit=11.0 -y
conda install -c conda-forge cudnn=8.0 -y

3. [protobuf] If you encounter the TypeError: Descriptors cannot not be created directly. Please downgrade protobuf by running the following command:

pip install protobuf==3.20.0

Headless rendering

1. This work runs the 3D habitat simulator on a headless GPU server. Here is an issue and its solution related to the installation. For more issues and troubleshoot guides please refer to the official Habitat Simulator Repo.

Running the code

Code Overview

• The model is mainly implemented in the folder cos_eor/policy, i.e., context.py for the context generator, llm_planner.py for the LLM planner module, and hie_policy.py handles the coordination, communication and interactions among the context generator, the llm-planner and the low-level controller.
• The agent and simulation are configured in the cos_eor/configs/local/ folder.
• The simulations are logged inside the logs/ folder.
• The fine-tuning code are in the experiments/ folder.

To create and run an agent, create the run configuration, then run a simulation as follows:

Step 1: Generating a configuration file

• Start by editing the configuration file cos_eor/configs/local/igib_v2_nav_sp.yaml.
  • To run the demonstrator agent, set the value of L212 to "manual" (RL → POLICY → plan → single → llm_model → platform: "manual").
  • To run a zero-shot LLM agent with the OpenAI gpt-3.5-turbo-0613 model
    • set the value of L212 to "openai". (RL → POLICY → plan → single → llm_model → platform: "openai"). You may switch to a different GPT model at L243.
    • create a file cos_eor/configs/local/api_key.yaml with lines:

      key: "<YOUR_OPENAI_API_KEY>"
      organization: "<ORGANIZATION_ID>"
      

• Next, generate run configs by running the following command under the repo root.

  ./generate_configs.sh test oracle Oracle llmzeroshot oracle
  

  This will create an experiment folder with name test under logs/test. The configs will be stored in logs/test/configs. After generating the configs, we're ready for step 2 to run a simulation.

Step 2: Running a simulation

• To run a simulation under the experiment test, run the command

  ./run_cli.sh test <ENV_ID> <NUM_EPISODES>
  

A list of environment ID <ENV_ID> are included in the file cos_eor/configs/local/envs.yaml. For example, to run the agent in the environment pomaria_1_int for 1 episode, you can run the command as ./run_cli.sh test pomaria_1_int 1.

The simulation logs are then written to logs/test/demo/<ENV_ID>/data_<datetime>.json. In addition, to record a video, you may change the config file L143 VIDEO_INTERVAL to 1 and find the video inside the log folder.

Fine-tuning guide

Demonstration Bootstrapping

• In this work, we first bootstrap the LLM with demonstrations by supervised fine-tuning via the OpenAI fine-tuning API. To annotate the demonstrations and upload the training data to fine-tune the LLM, run the notebook experiments/annotate_human_demo_pair.ipynb. Note that for each fine-tuning job, the training data and fine-tuning job info can be found in the experiments/<FINETUNE_JOB_ID> folder.
• After the fine-tuning job has finished, collect the fine-tuned model ID from the OpenAI API. To run a new simulation with the fine-tuned agent, follow Step 1, change the model ID to the fine-tuned GPT model ID in cos_eor/configs/local/api_key.yaml, generate the config and run a new simulation.

Iterative Self-training

• After running the bootstrapped agent to collect simulated interactions, we can annotate the collected logs and fine-tune the LLM model again. This is similar to the demonstration bootstrapping step, and can be run with the notebook experiments/annotate_gpt3_pair.ipynb.
• Finally, the notebook experiments/evaluate_gpt3_pair_in_domain.ipynb contains an example to evaluate the agents' rearrangement performance.

Citing

Our paper is available on Arxiv. If you find our code useful, please consider citing us!

@misc{han2024llmpersonalize,
      title={LLM-Personalize: Aligning LLM Planners with Human Preferences via Reinforced Self-Training for Housekeeping Robots}, 
      author={Dongge Han and Trevor McInroe and Adam Jelley and Stefano V. Albrecht and Peter Bell and Amos Storkey},
      year={2024},
      eprint={2404.14285},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Acknowledgement

The housekeep benchmark and the housekeep simulator code used in this work (included in this repo) is developed by Kant et. al. for their paper: Housekeep: Tidying Virtual Households using Commonsense Reasoning.. The simulator is based on the Habitat simulator introduced in the paper Habitat 2.0: Training Home Assistants to Rearrange their Habitat.