MAMBA

These codes accompany the paper "Policy Improvement from Multiple Experts" by Ching-An Cheng, Andrey Kolobov, and Alekh Agarwal.

Run experiments

Update PYTHONPATH to include the repo, if not already.

source start.sh

Run a single script.

python scripts/mamba.py

The configs of the experiments and the hyperparameters can be set by the dict named CONFIG in scripts/mamba.py. The default setting runs MAMBA with ADAM and two weak experts (policy_15). Increasing the index number of CONFIG['expert_info']['name'] uses better experts.

Batch run scripts/mamba.py with a set of different configurations given as a dict named range_common in scripts/mamba_ranges.py

python batch_run.py mamba -r common

The experimental results are saved in folders starting with log_ in the top folder of the repo.

Installation

Tested in buntu 18.04 with python 3.7.

Install mamba and most of the requirements

Install this repo and requirements:

git clone https://github.com/chinganc/mamba.git
pip install --upgrade -r requirements.txt

You may need to run

export PYTHONPATH="{PYTHONPATH}:[the parent folder of mamba repo]"

The current version requires also tensorflow2.

pip install --upgrade tensorflow

Below we install DartENV that was used in producing the experiments in the paper. Other gym environments can also be used.

Install DART

The Ubuntu package is too new for PyDart2, so we install it manually.

First install the requirements following the instructions of Install DART from source at https://dartsim.github.io/install_dart_on_ubuntu.html. Next we compile and install DART manually, because PyDart2 only supports DART before 6.8.

git clone git://github.com/dartsim/dart.git
cd dart
git checkout tags/v6.7.2
mkdir build
cd build
cmake ..
make -j4
sudo make install

Someitmes the library may need to be linked manually.

echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/lib:/usr/lib:/usr/local/lib" >> ~/.bashrc

Install PyDart2

Installing PyDart2 through pip does not work, so we install it manually.

git clone https://github.com/sehoonha/pydart2.git
cd pydart2
python setup.py build build_ext
python setup.py develop

Install DartEnv

This is a slightly modified version of DartEnv. The changes include:

• Make nodisplay as default.
• Add a state property for convenience.

To install it,

git clone https://github.com/gtrll/dartenv.git
cd dartenv
git checkout nodisplay
pip install -e .[dart]

Contributing

This project welcomes contributions and suggestions. Most contributions require you to agree to a Contributor License Agreement (CLA) declaring that you have the right to, and actually do, grant us the rights to use your contribution. For details, visit https://cla.opensource.microsoft.com.

When you submit a pull request, a CLA bot will automatically determine whether you need to provide a CLA and decorate the PR appropriately (e.g., status check, comment). Simply follow the instructions provided by the bot. You will only need to do this once across all repos using our CLA.

This project has adopted the Microsoft Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact opencode@microsoft.com with any additional questions or comments.