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Brain Agent

Brain Agent is a distributed agent learning system for large-scale and multi-task reinforcement learning, developed by Kakao Brain. Brain Agent is based on the V-trace actor-critic framework IMPALA and modifies Sample Factory to utilize multiple GPUs and CPUs for a much higher throughput rate during training.

Features

  1. First publicly available implementations of reproducing SOTA results on DMLAB30.
  2. Scalable & massive throughput.
    BrainAgent can produce and train 20B frames/week, or 34K fps, with 16 V100 GPUs, by scaling up high throughput single node system Sample Factory.
  3. Based on following algorithms and architectures.
  4. For self-supervised representation learning, we include 2 additional features.
    • ResNet-based decoder to reconstruct the original input image (trxl_recon)
    • Additional autoregressive transformer to predict the images of future steps from the current state embedding and future action sequence (trxl_future_pred)
  5. Provide codes for both training and evaluation, along with SOTA model checkpoint with 28M params.

How to Install

  • Python 3.7
  • Pytorch 1.9.0
  • CUDA 11.1
  • Install DMLab envrionment - DMLab Github
  • pip install -r requirements.txt

Description of Codes

  • dist_launch.py -> distributed training launcher
  • eval.py -> entry point for evaluation
  • train.py -> entry point for training
  • brain_agent
    • core
      • agents
        • dmlab_multitask_agent.py
      • algos
        • aux_future_predict.py -> Computes auxiliary loss by predicting future state transitions with autoregressive transformer. Used only for (trxl_future_pred).
        • popart.py
        • vtrace.py
      • actor_worker.py
      • learner_worker.py
      • policy_worker.py
      • shared_buffer.py -> Defines SharedBuffer class for zero-copy communication between workers.
    • envs
      • dmlab
    • utils
      • ...
  • configs
    • ... -> Hyperparam configs for each of training/evaluation.

How to Run

Training

  • 1 node x 1 GPU

       python train.py cfg=configs/trxl_recon_train.yaml train_dir=$TRAIN_DIR experiment=$EXPERIMENT_DIR

  • 1 node x 4 GPUs = 4 GPUs

       python -m dist_launch --nnodes=1 --node_rank=0 --nproc_per_node=4 -m train \ 
     cfg=configs/trxl_recon_train.yaml train_dir=$TRAIN_DIR experiment=$EXPERIMENT_DIR

  • 4 nodes x 4 GPUs each = 16 GPUs

       sleep 120; python -m dist_launch --nnodes=4 --node_rank=0 --nproc_per_node=4 --master_addr=$MASTER_ADDR -m train \ 
     cfg=configs/trxl_recon_train.yaml train_dir=$TRAIN_DIR experiment=$EXPERIMENT_DIR 
   sleep 120; python -m dist_launch --nnodes=4 --node_rank=1 --nproc_per_node=4 --master_addr=$MASTER_ADDR -m train \ 
     cfg=configs/trxl_recon_train.yaml train_dir=$TRAIN_DIR experiment=$EXPERIMENT_DIR
   sleep 120; python -m dist_launch --nnodes=4 --node_rank=2 --nproc_per_node=4 --master_addr=$MASTER_ADDR -m train \ 
     cfg=configs/trxl_recon_train.yaml train_dir=$TRAIN_DIR experiment=$EXPERIMENT_DIR
   sleep 120; python -m dist_launch --nnodes=4 --node_rank=3 --nproc_per_node=4 --master_addr=$MASTER_ADDR -m train \ 
     cfg=configs/trxl_recon_train.yaml train_dir=$TRAIN_DIR experiment=$EXPERIMENT_DIR

Evaluation

python eval.py cfg=configs/trxl_recon_eval.yaml train_dir=$TRAIN_DIR experiment=$EXPERIMENT_DIR test.checkpoint=$CHECKPOINT_FILE_PATH

Setting Hyperparameters

  • All the default hyperparameters are defined at configs/default.yaml
  • Other config files override on configs/default.yaml.
  • You can use pre-defined hyperparameters for our experiments with configs/trxl_recon_train.yaml or configs/trxl_future_pred.yaml.

Results for DMLAB30

  • Settings

    • 3 runs with different seeds
    • 100 episodes per each run
    • HNS : Human Normalised Score

  • Results

    Model Mean HNS Median HNS Mean Capped HNS
    MERLIN 115.2 - 89.4
    GTrXL 117.6 - 89.1
    CoBERL 115.47 110.86 -
    R2D2+ - 99.5 85.7
    LASER - 97.2 81.7
    PBL 104.16 - 81.5
    PopArt-IMPALA - - 72.8
    IMPALA - - 58.4
    Ours (lstm_baseline, 20B ckpt) 103.03 ± 0.37 92.04 ± 0.73 81.35 ± 0.25
    Ours (trxl_baseline, 20B ckpt) 111.95 ± 1.00 105.43 ± 2.61 85.57 ± 0.20
    Ours (trxl_recon, 20B ckpt) 123.60 ± 0.84 108.63 ± 1.20 91.25 ± 0.41
    Ours (trxl_future_pred, 20B ckpt) 128.00 ± 0.43 108.80 0.99 90.53 ± 0.26
Results for all 30 tasks
Level lstm_baseline  trxl_baseline      trxl_recon     trxl_future_pred
rooms_collect_good_objects_(train / test) 94.22 ± 0.84 / 95.13 ± 0.61 97.85 ± 0.31 / 95.20 ± 1.26 97.58 ± 0.20 / 89.39 ± 1.42 98.19 ± 0.18 / 98.52 ± 0.95
rooms_exploit_deferred_effects_(train / test) 37.84 ± 2.23 / 4.36 ± 1.84 38.40 ± 3.82 / 1.73 ± 0.63 38.86 ± 3.48 / 4.04 ± 0.89 40.93 ± 3.12 / 2.26 ± 0.71
rooms_select_nonmatching_object 50.13 ± 2.95 98.78 ± 1.38 99.52 ± 0.97 113.20 ± 1.14
rooms_watermaze 45.09 ± 4.70 36.92 ± 6.90 111.20 ± 2.29 55.82 ± 0.74
rooms_keys_doors_puzzle 51.75 ± 8.90 55.86 ± 4.25 61.24 ± 9.09 64.95 ± 8.43
language_select_described_object 150.57 ± 0.58 154.90 ± 0.22 155.35 ± 0.17 158.23 ± 0.90
language_select_located_object 225.97 ± 1.93 244.46 ± 1.56 252.04 ± 0.31 261.20 ± 1.15
language_execute_random_task 126.49 ± 2.35 139.63 ± 1.23 145.21 ± 0.36 150.20 ± 1.35
language_answer_quantitative_question 153.92 ± 2.35 162.99 ± 2.42 163.72 ± 1.36 166.07 ± 1.72
lasertag_one_opponent_small 234.90 ± 6.19 243.52 ± 3.96 249.99 ± 6.64 279.54 ± 4.14
lasertag_three_opponents_small 235.61 ± 1.92 242.61 ± 3.75 246.68 ± 5.99 264.20 ± 3.76
lasertag_one_opponent_large 74.88 ± 5.06 83.51 ± 1.31 82.55 ± 2.15 94.86 ± 3.64
lasertag_three_opponents_large 84.78 ± 2.42 92.04 ± 2.17 96.54 ± 0.67 105.83 ± 0.47
natlab_fixed_large_map 98.10 ± 1.77 110.74 ± 1.34 120.53 ± 1.79 118.17 ± 1.79
natlab_varying_map_regrowth 108.54 ± 1.20 107.16 ± 2.68 108.14 ± 1.25 104.83 ± 1.26
natlab_varying_map_randomized 85.33 ± 6.52 86.33 ± 7.30 85.53 ± 6.69 77.74 ± 0.84
skymaze_irreversible_path_hard 55.29 ± 9.08 60.63 ± 4.73 61.63 ± 2.52 66.30 ± 5.69
skymaze_irreversible_path_varied 77.02 ± 3.57 77.41 ± 0.67 81.31 ± 2.34 79.36 ± 7.95
psychlab_arbitrary_visuomotor_mapping 52.17 ± 2.06 51.46 ± 0.45 101.82 ± 0.19 101.80 ± 0.00
psychlab_continuous_recognition 52.57 ± 0.46 52.41 ± 0.92 102.46 ± 0.32 102.30 ± 0.00
psychlab_sequential_comparison 76.82 ± 0.45 75.48 ± 1.16 75.74 ± 0.58 76.13 ± 0.77
psychlab_visual_search 101.54 ± 0.10 101.58 ± 0.04 101.91 ± 0.00 101.90 ± 0.00
explore_object_locations_small 118.89 ± 0.93 121.47 ± 0.26 123.54 ± 2.61 126.67 ± 2.08
explore_object_locations_large 111.46 ± 2.91 120.70 ± 2.12 115.43 ± 1.64 129.83 ± 2.41
explore_obstructed_goals_small 136.92 ± 6.02 148.05 ± 1.96 166.75 ± 3.63 174.30 ± 3.72
explore_obstructed_goals_large 92.36 ± 5.81 106.73 ± 7.86 153.44 ± 3.20 176.43 ± 1.50
explore_goal_locations_small 143.21 ± 8.21 154.87 ± 4.41 177.16 ± 0.37 193.00 ± 3.75
explore_goal_locations_large 98.50 ± 9.61 117.33 ± 6.75 160.39 ± 3.32 178.13 ± 7.15
explore_object_rewards_few 76.29 ± 1.52 108.64 ± 0.89 109.58 ± 3.53 110.07 ± 1.42
explore_object_rewards_many 72.33 ± 0.87 105.33 ± 1.52 105.15 ± 0.75 107.23 ± 1.59
  • Learning curves
    Learning Curve

Distributed RL System Overview

Learning Curve

Notes

Citation

@misc{kakaobrain2022brain_agent, title = {Brain Agent}, 
author = {Donghoon Lee, Taehwan Kwon, Seungeun Rho, Daniel Wontae Nam, Jongmin Kim, Daejin Jo, and Sungwoong Kim}, 
year = {2022}, howpublished = {\url{https://github.com/kakaobrain/brain_agent}} }