base on A modular, primitive-first, python-first PyTorch library for Reinforcement Learning. [](https://github.com/pytorch/rl/actions/workflows/test-linux.yml) [](https://pytorch.org/rl/) [](https://pytorch.github.io/rl/dev/bench/) [](https://codecov.io/gh/pytorch/rl) [](https://twitter.com/torchrl1) [](https://www.python.org/downloads/) [](https://github.com/pytorch/rl/blob/main/LICENSE) <a href="https://pypi.org/project/torchrl"><img src="https://img.shields.io/pypi/v/torchrl" alt="pypi version"></a> <a href="https://pypi.org/project/torchrl-nightly"><img src="https://img.shields.io/pypi/v/torchrl-nightly?label=nightly" alt="pypi nightly version"></a> [](https://pepy.tech/project/torchrl) [)](https://pepy.tech/project/torchrl-nightly) [](https://discord.gg/cZs26Qq3Dd) # TorchRL <p align="center"> <img src="docs/source/_static/img/icon.png" width="200" > </p> [**Documentation**](#documentation-and-knowledge-base) | [**TensorDict**](#writing-simplified-and-portable-rl-codebase-with-tensordict) | [**Features**](#features) | [**Examples, tutorials and demos**](#examples-tutorials-and-demos) | [**Citation**](#citation) | [**Installation**](#installation) | [**Asking a question**](#asking-a-question) | [**Contributing**](#contributing) **TorchRL** is an open-source Reinforcement Learning (RL) library for PyTorch. ## Key features - 🐍 **Python-first**: Designed with Python as the primary language for ease of use and flexibility - ⏱️ **Efficient**: Optimized for performance to support demanding RL research applications - 🧮 **Modular, customizable, extensible**: Highly modular architecture allows for easy swapping, transformation, or creation of new components - 📚 **Documented**: Thorough documentation ensures that users can quickly understand and utilize the library - ✅ **Tested**: Rigorously tested to ensure reliability and stability - ⚙️ **Reusable functionals**: Provides a set of highly reusable functions for cost functions, returns, and data processing ### Design Principles - 🔥 **Aligns with PyTorch ecosystem**: Follows the structure and conventions of popular PyTorch libraries (e.g., dataset pillar, transforms, models, data utilities) - ➖ Minimal dependencies: Only requires Python standard library, NumPy, and PyTorch; optional dependencies for common environment libraries (e.g., OpenAI Gym) and datasets (D4RL, OpenX...) Read the [full paper](https://arxiv.org/abs/2306.00577) for a more curated description of the library. ## Getting started Check our [Getting Started tutorials](https://pytorch.org/rl/stable/index.html#getting-started) for quickly ramp up with the basic features of the library! <p align="center"> <img src="docs/ppo.png" width="800" > </p> ## Documentation and knowledge base The TorchRL documentation can be found [here](https://pytorch.org/rl). It contains tutorials and the API reference. TorchRL also provides a RL knowledge base to help you debug your code, or simply learn the basics of RL. Check it out [here](https://pytorch.org/rl/stable/reference/knowledge_base.html). We have some introductory videos for you to get to know the library better, check them out: - [TalkRL podcast](https://www.talkrl.com/episodes/vincent-moens-on-torchrl) - [TorchRL intro at PyTorch day 2022](https://youtu.be/cIKMhZoykEE) - [PyTorch 2.0 Q&A: TorchRL](https://www.youtube.com/live/myEfUoYrbts?feature=share) ## Spotlight publications TorchRL being domain-agnostic, you can use it across many different fields. Here are a few examples: - [ACEGEN](https://pubs.acs.org/doi/10.1021/acs.jcim.4c00895): Reinforcement Learning of Generative Chemical Agents for Drug Discovery - [BenchMARL](https://www.jmlr.org/papers/v25/23-1612.html): Benchmarking Multi-Agent Reinforcement Learning - [BricksRL](https://arxiv.org/abs/2406.17490): A Platform for Democratizing Robotics and Reinforcement Learning Research and Education with LEGO - [OmniDrones](https://ieeexplore.ieee.org/abstract/document/10409589): An Efficient and Flexible Platform for Reinforcement Learning in Drone Control - [RL4CO](https://arxiv.org/abs/2306.17100): an Extensive Reinforcement Learning for Combinatorial Optimization Benchmark - [Robohive](https://proceedings.neurips.cc/paper_files/paper/2023/file/8a84a4341c375b8441b36836bb343d4e-Paper-Datasets_and_Benchmarks.pdf): A unified framework for robot learning ## Writing simplified and portable RL codebase with `TensorDict` RL algorithms are very heterogeneous, and it can be hard to recycle a codebase across settings (e.g. from online to offline, from state-based to pixel-based learning). TorchRL solves this problem through [`TensorDict`](https://github.com/pytorch/tensordict/), a convenient data structure⁽¹⁾ that can be used to streamline one's RL codebase. With this tool, one can write a *complete PPO training script in less than 100 lines of code*! <details> <summary>Code</summary> ```python import torch from tensordict.nn import TensorDictModule from tensordict.nn.distributions import NormalParamExtractor from torch import nn from torchrl.collectors import SyncDataCollector from torchrl.data.replay_buffers import TensorDictReplayBuffer, \ LazyTensorStorage, SamplerWithoutReplacement from torchrl.envs.libs.gym import GymEnv from torchrl.modules import ProbabilisticActor, ValueOperator, TanhNormal from torchrl.objectives import ClipPPOLoss from torchrl.objectives.value import GAE env = GymEnv("Pendulum-v1") model = TensorDictModule( nn.Sequential( nn.Linear(3, 128), nn.Tanh(), nn.Linear(128, 128), nn.Tanh(), nn.Linear(128, 128), nn.Tanh(), nn.Linear(128, 2), NormalParamExtractor() ), in_keys=["observation"], out_keys=["loc", "scale"] ) critic = ValueOperator( nn.Sequential( nn.Linear(3, 128), nn.Tanh(), nn.Linear(128, 128), nn.Tanh(), nn.Linear(128, 128), nn.Tanh(), nn.Linear(128, 1), ), in_keys=["observation"], ) actor = ProbabilisticActor( model, in_keys=["loc", "scale"], distribution_class=TanhNormal, distribution_kwargs={"low": -1.0, "high": 1.0}, return_log_prob=True ) buffer = TensorDictReplayBuffer( storage=LazyTensorStorage(1000), sampler=SamplerWithoutReplacement(), batch_size=50, ) collector = SyncDataCollector( env, actor, frames_per_batch=1000, total_frames=1_000_000, ) loss_fn = ClipPPOLoss(actor, critic) adv_fn = GAE(value_network=critic, average_gae=True, gamma=0.99, lmbda=0.95) optim = torch.optim.Adam(loss_fn.parameters(), lr=2e-4) for data in collector: # collect data for epoch in range(10): adv_fn(data) # compute advantage buffer.extend(data) for sample in buffer: # consume data loss_vals = loss_fn(sample) loss_val = sum( value for key, value in loss_vals.items() if key.startswith("loss") ) loss_val.backward() optim.step() optim.zero_grad() print(f"avg reward: {data['next', 'reward'].mean().item(): 4.4f}") ``` </details> Here is an example of how the [environment API](https://pytorch.org/rl/stable/reference/envs.html) relies on tensordict to carry data from one function to another during a rollout execution:  `TensorDict` makes it easy to re-use pieces of code across environments, models and algorithms. <details> <summary>Code</summary> For instance, here's how to code a rollout in TorchRL: ```diff - obs, done = env.reset() + tensordict = env.reset() policy = SafeModule( model, in_keys=["observation_pixels", "observation_vector"], out_keys=["action"], ) out = [] for i in range(n_steps): - action, log_prob = policy(obs) - next_obs, reward, done, info = env.step(action) - out.append((obs, next_obs, action, log_prob, reward, done)) - obs = next_obs + tensordict = policy(tensordict) + tensordict = env.step(tensordict) + out.append(tensordict) + tensordict = step_mdp(tensordict) # renames next_observation_* keys to observation_* - obs, next_obs, action, log_prob, reward, done = [torch.stack(vals, 0) for vals in zip(*out)] + out = torch.stack(out, 0) # TensorDict supports multiple tensor operations ``` </details> Using this, TorchRL abstracts away the input / output signatures of the modules, env, collectors, replay buffers and losses of the library, allowing all primitives to be easily recycled across settings. <details> <summary>Code</summary> Here's another example of an off-policy training loop in TorchRL (assuming that a data collector, a replay buffer, a loss and an optimizer have been instantiated): ```diff - for i, (obs, next_obs, action, hidden_state, reward, done) in enumerate(collector): + for i, tensordict in enumerate(collector): - replay_buffer.add((obs, next_obs, action, log_prob, reward, done)) + replay_buffer.add(tensordict) for j in range(num_optim_steps): - obs, next_obs, action, hidden_state, reward, done = replay_buffer.sample(batch_size) - loss = loss_fn(obs, next_obs, action, hidden_state, reward, done) + tensordict = replay_buffer.sample(batch_size) + loss = loss_fn(tensordict) loss.backward() optim.step() optim.zero_grad() ``` This training loop can be re-used across algorithms as it makes a minimal number of assumptions about the structure of the data. </details> TensorDict supports multiple tensor operations on its device and shape (the shape of TensorDict, or its batch size, is the common arbitrary N first dimensions of all its contained tensors): <details> <summary>Code</summary> ```python # stack and cat tensordict = torch.stack(list_of_tensordicts, 0) tensordict = torch.cat(list_of_tensordicts, 0) # reshape tensordict = tensordict.view(-1) tensordict = tensordict.permute(0, 2, 1) tensordict = tensordict.unsqueeze(-1) tensordict = tensordict.squeeze(-1) # indexing tensordict = tensordict[:2] tensordict[:, 2] = sub_tensordict # device and memory location tensordict.cuda() tensordict.to("cuda:1") tensordict.share_memory_() ``` </details> TensorDict comes with a dedicated [`tensordict.nn`](https://pytorch.github.io/tensordict/reference/nn.html) module that contains everything you might need to write your model with it. And it is `functorch` and `torch.compile` compatible! <details> <summary>Code</summary> ```diff transformer_model = nn.Transformer(nhead=16, num_encoder_layers=12) + td_module = SafeModule(transformer_model, in_keys=["src", "tgt"], out_keys=["out"]) src = torch.rand((10, 32, 512)) tgt = torch.rand((20, 32, 512)) + tensordict = TensorDict({"src": src, "tgt": tgt}, batch_size=[20, 32]) - out = transformer_model(src, tgt) + td_module(tensordict) + out = tensordict["out"] ``` The `TensorDictSequential` class allows to branch sequences of `nn.Module` instances in a highly modular way. For instance, here is an implementation of a transformer using the encoder and decoder blocks: ```python encoder_module = TransformerEncoder(...) encoder = TensorDictSequential(encoder_module, in_keys=["src", "src_mask"], out_keys=["memory"]) decoder_module = TransformerDecoder(...) decoder = TensorDictModule(decoder_module, in_keys=["tgt", "memory"], out_keys=["output"]) transformer = TensorDictSequential(encoder, decoder) assert transformer.in_keys == ["src", "src_mask", "tgt"] assert transformer.out_keys == ["memory", "output"] ``` `TensorDictSequential` allows to isolate subgraphs by querying a set of desired input / output keys: ```python transformer.select_subsequence(out_keys=["memory"]) # returns the encoder transformer.select_subsequence(in_keys=["tgt", "memory"]) # returns the decoder ``` </details> Check [TensorDict tutorials](https://pytorch.github.io/tensordict/) to learn more! ## Features - A common [interface for environments](https://github.com/pytorch/rl/blob/main/torchrl/envs) which supports common libraries (OpenAI gym, deepmind control lab, etc.)⁽¹⁾ and state-less execution (e.g. Model-based environments). The [batched environments](https://github.com/pytorch/rl/blob/main/torchrl/envs/batched_envs.py) containers allow parallel execution⁽²⁾. A common PyTorch-first class of [tensor-specification class](https://github.com/pytorch/rl/blob/main/torchrl/data/tensor_specs.py) is also provided. TorchRL's environments API is simple but stringent and specific. Check the [documentation](https://pytorch.org/rl/stable/reference/envs.html) and [tutorial](https://pytorch.org/rl/stable/tutorials/pendulum.html) to learn more! <details> <summary>Code</summary> ```python env_make = lambda: GymEnv("Pendulum-v1", from_pixels=True) env_parallel = ParallelEnv(4, env_make) # creates 4 envs in parallel tensordict = env_parallel.rollout(max_steps=20, policy=None) # random rollout (no policy given) assert tensordict.shape == [4, 20] # 4 envs, 20 steps rollout env_parallel.action_spec.is_in(tensordict["action"]) # spec check returns True ``` </details> - multiprocess and distributed [data collectors](https://github.com/pytorch/rl/blob/main/torchrl/collectors/collectors.py)⁽²⁾ that work synchronously or asynchronously. Through the use of TensorDict, TorchRL's training loops are made very similar to regular training loops in supervised learning (although the "dataloader" -- read data collector -- is modified on-the-fly): <details> <summary>Code</summary> ```python env_make = lambda: GymEnv("Pendulum-v1", from_pixels=True) collector = MultiaSyncDataCollector( [env_make, env_make], policy=policy, devices=["cuda:0", "cuda:0"], total_frames=10000, frames_per_batch=50, ... ) for i, tensordict_data in enumerate(collector): loss = loss_module(tensordict_data) loss.backward() optim.step() optim.zero_grad() collector.update_policy_weights_() ``` </details> Check our [distributed collector examples](https://github.com/pytorch/rl/blob/main/examples/distributed/collectors) to learn more about ultra-fast data collection with TorchRL. - efficient⁽²⁾ and generic⁽¹⁾ [replay buffers](https://github.com/pytorch/rl/blob/main/torchrl/data/replay_buffers/replay_buffers.py) with modularized storage: <details> <summary>Code</summary> ```python storage = LazyMemmapStorage( # memory-mapped (physical) storage cfg.buffer_size, scratch_dir="/tmp/" ) buffer = TensorDictPrioritizedReplayBuffer( alpha=0.7, beta=0.5, collate_fn=lambda x: x, pin_memory=device != torch.device("cpu"), prefetch=10, # multi-threaded sampling storage=storage ) ``` </details> Replay buffers are also offered as wrappers around common datasets for *offline RL*: <details> <summary>Code</summary> ```python from torchrl.data.replay_buffers import SamplerWithoutReplacement from torchrl.data.datasets.d4rl import D4RLExperienceReplay data = D4RLExperienceReplay( "maze2d-open-v0", split_trajs=True, batch_size=128, sampler=SamplerWithoutReplacement(drop_last=True), ) for sample in data: # or alternatively sample = data.sample() fun(sample) ``` </details> - cross-library [environment transforms](https://github.com/pytorch/rl/blob/main/torchrl/envs/transforms/transforms.py)⁽¹⁾, executed on device and in a vectorized fashion⁽²⁾, which process and prepare the data coming out of the environments to be used by the agent: <details> <summary>Code</summary> ```python env_make = lambda: GymEnv("Pendulum-v1", from_pixels=True) env_base = ParallelEnv(4, env_make, device="cuda:0") # creates 4 envs in parallel env = TransformedEnv( env_base, Compose( ToTensorImage(), ObservationNorm(loc=0.5, scale=1.0)), # executes the transforms once and on device ) tensordict = env.reset() assert tensordict.device == torch.device("cuda:0") ``` Other transforms include: reward scaling (`RewardScaling`), shape operations (concatenation of tensors, unsqueezing etc.), concatenation of successive operations (`CatFrames`), resizing (`Resize`) and many more. Unlike other libraries, the transforms are stacked as a list (and not wrapped in each other), which makes it easy to add and remove them at will: ```python env.insert_transform(0, NoopResetEnv()) # inserts the NoopResetEnv transform at the index 0 ``` Nevertheless, transforms can access and execute operations on the parent environment: ```python transform = env.transform[1] # gathers the second transform of the list parent_env = transform.parent # returns the base environment of the second transform, i.e. the base env + the first transform ``` </details> - various tools for distributed learning (e.g. [memory mapped tensors](https://github.com/pytorch/tensordict/blob/main/tensordict/memmap.py))⁽²⁾; - various [architectures](https://github.com/pytorch/rl/blob/main/torchrl/modules/models/) and models (e.g. [actor-critic](https://github.com/pytorch/rl/blob/main/torchrl/modules/tensordict_module/actors.py))⁽¹⁾: <details> <summary>Code</summary> ```python # create an nn.Module common_module = ConvNet( bias_last_layer=True, depth=None, num_cells=[32, 64, 64], kernel_sizes=[8, 4, 3], strides=[4, 2, 1], ) # Wrap it in a SafeModule, indicating what key to read in and where to # write out the output common_module = SafeModule( common_module, in_keys=["pixels"], out_keys=["hidden"], ) # Wrap the policy module in NormalParamsWrapper, such that the output # tensor is split in loc and scale, and scale is mapped onto a positive space policy_module = SafeModule( NormalParamsWrapper( MLP(num_cells=[64, 64], out_features=32, activation=nn.ELU) ), in_keys=["hidden"], out_keys=["loc", "scale"], ) # Use a SafeProbabilisticTensorDictSequential to combine the SafeModule with a # SafeProbabilisticModule, indicating how to build the # torch.distribution.Distribution object and what to do with it policy_module = SafeProbabilisticTensorDictSequential( # stochastic policy policy_module, SafeProbabilisticModule( in_keys=["loc", "scale"], out_keys="action", distribution_class=TanhNormal, ), ) value_module = MLP( num_cells=[64, 64], out_features=1, activation=nn.ELU, ) # Wrap the policy and value funciton in a common module actor_value = ActorValueOperator(common_module, policy_module, value_module) # standalone policy from this standalone_policy = actor_value.get_policy_operator() ``` </details> - exploration [wrappers](https://github.com/pytorch/rl/blob/main/torchrl/modules/tensordict_module/exploration.py) and [modules](https://github.com/pytorch/rl/blob/main/torchrl/modules/models/exploration.py) to easily swap between exploration and exploitation⁽¹⁾: <details> <summary>Code</summary> ```python policy_explore = EGreedyWrapper(policy) with set_exploration_type(ExplorationType.RANDOM): tensordict = policy_explore(tensordict) # will use eps-greedy with set_exploration_type(ExplorationType.DETERMINISTIC): tensordict = policy_explore(tensordict) # will not use eps-greedy ``` </details> - A series of efficient [loss modules](https://github.com/pytorch/rl/tree/main/torchrl/objectives) and highly vectorized [functional return and advantage](https://github.com/pytorch/rl/blob/main/torchrl/objectives/value/functional.py) computation. <details> <summary>Code</summary> ### Loss modules ```python from torchrl.objectives import DQNLoss loss_module = DQNLoss(value_network=value_network, gamma=0.99) tensordict = replay_buffer.sample(batch_size) loss = loss_module(tensordict) ``` ### Advantage computation ```python from torchrl.objectives.value.functional import vec_td_lambda_return_estimate advantage = vec_td_lambda_return_estimate(gamma, lmbda, next_state_value, reward, done, terminated) ``` </details> - a generic [trainer class](https://github.com/pytorch/rl/blob/main/torchrl/trainers/trainers.py)⁽¹⁾ that executes the aforementioned training loop. Through a hooking mechanism, it also supports any logging or data transformation operation at any given time. - various [recipes](https://github.com/pytorch/rl/blob/main/torchrl/trainers/helpers/models.py) to build models that correspond to the environment being deployed. If you feel a feature is missing from the library, please submit an issue! If you would like to contribute to new features, check our [call for contributions](https://github.com/pytorch/rl/issues/509) and our [contribution](https://github.com/pytorch/rl/blob/main/CONTRIBUTING.md) page. ## Examples, tutorials and demos A series of [State-of-the-Art implementations](https://github.com/pytorch/rl/blob/main/sota-implementations/) are provided with an illustrative purpose: <table> <tr> <td><strong>Algorithm</strong> </td> <td><strong>Compile Support**</strong> </td> <td><strong>Tensordict-free API</strong> </td> <td><strong>Modular Losses</strong> </td> <td><strong>Continuous and Discrete</strong> </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/dqn">DQN</a> </td> <td> 1.9x </td> <td> + </td> <td> NA </td> <td> + (through <a href="https://pytorch.org/rl/stable/reference/generated/torchrl.envs.transforms.ActionDiscretizer.html?highlight=actiondiscretizer">ActionDiscretizer</a> transform) </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/ddpg/ddpg.py">DDPG</a> </td> <td> 1.87x </td> <td> + </td> <td> + </td> <td> - (continuous only) </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/iql/">IQL</a> </td> <td> 3.22x </td> <td> + </td> <td> + </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/cql/cql_offline.py">CQL</a> </td> <td> 2.68x </td> <td> + </td> <td> + </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/td3/td3.py">TD3</a> </td> <td> 2.27x </td> <td> + </td> <td> + </td> <td> - (continuous only) </td> </tr> <tr> <td> <a href="https://github.com/pytorch/rl/blob/main/sota-implementations/td3_bc/td3_bc.py">TD3+BC</a> </td> <td> untested </td> <td> + </td> <td> + </td> <td> - (continuous only) </td> </tr> <tr> <td> <a href="https://github.com/pytorch/rl/blob/main/examples/a2c/">A2C</a> </td> <td> 2.67x </td> <td> + </td> <td> - </td> <td> + </td> </tr> <tr> <td> <a href="https://github.com/pytorch/rl/blob/main/sota-implementations/ppo/">PPO</a> </td> <td> 2.42x </td> <td> + </td> <td> - </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/sac/sac.py">SAC</a> </td> <td> 2.62x </td> <td> + </td> <td> - </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/redq/redq.py">REDQ</a> </td> <td> 2.28x </td> <td> + </td> <td> - </td> <td> - (continuous only) </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/dreamer/dreamer.py">Dreamer v1</a> </td> <td> untested </td> <td> + </td> <td> + (<a href="https://pytorch.org/rl/stable/reference/objectives.html#dreamer">different classes</a>) </td> <td> - (continuous only) </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/decision_transformer">Decision Transformers</a> </td> <td> untested </td> <td> + </td> <td> NA </td> <td> - (continuous only) </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/crossq">CrossQ</a> </td> <td> untested </td> <td> + </td> <td> + </td> <td> - (continuous only) </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/gail">Gail</a> </td> <td> untested </td> <td> + </td> <td> NA </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/impala">Impala</a> </td> <td> untested </td> <td> + </td> <td> - </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/multiagent/iql.py">IQL (MARL)</a> </td> <td> untested </td> <td> + </td> <td> + </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/multiagent/maddpg_iddpg.py">DDPG (MARL)</a> </td> <td> untested </td> <td> + </td> <td> + </td> <td> - (continuous only) </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/multiagent/mappo_ippo.py">PPO (MARL)</a> </td> <td> untested </td> <td> + </td> <td> - </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/multiagent/qmix_vdn.py">QMIX-VDN (MARL)</a> </td> <td> untested </td> <td> + </td> <td> NA </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/sota-implementations/multiagent/sac.py">SAC (MARL)</a> </td> <td> untested </td> <td> + </td> <td> - </td> <td> + </td> </tr> <tr> <td><a href="https://github.com/pytorch/rl/blob/main/examples/rlhf">RLHF</a> </td> <td> NA </td> <td> + </td> <td> NA </td> <td> NA </td> </tr> </table> ** The number indicates expected speed-up compared to eager mode when executed on CPU. Numbers may vary depending on architecture and device. and many more to come! [Code examples](examples/) displaying toy code snippets and training scripts are also available - [RLHF](examples/rlhf) - [Memory-mapped replay buffers](examples/torchrl_features) Check the [examples](https://github.com/pytorch/rl/blob/main/sota-implementations/) directory for more details about handling the various configuration settings. We also provide [tutorials and demos](https://pytorch.org/rl/stable#tutorials) that give a sense of what the library can do. ## Citation If you're using TorchRL, please refer to this BibTeX entry to cite this work: ``` @misc{bou2023torchrl, title={TorchRL: A data-driven decision-making library for PyTorch}, author={Albert Bou and Matteo Bettini and Sebastian Dittert and Vikash Kumar and Shagun Sodhani and Xiaomeng Yang and Gianni De Fabritiis and Vincent Moens}, year={2023}, eprint={2306.00577}, archivePrefix={arXiv}, primaryClass={cs.LG} } ``` ## Installation Create a conda environment where the packages will be installed. ``` conda create --name torch_rl python=3.9 conda activate torch_rl ``` **PyTorch** Depending on the use of functorch that you want to make, you may want to install the latest (nightly) PyTorch release or the latest stable version of PyTorch. See [here](https://pytorch.org/get-started/locally/) for a detailed list of commands, including `pip3` or other special installation instructions. **Torchrl** You can install the **latest stable release** by using ```bash pip3 install torchrl ``` This should work on linux, Windows 10 and OsX (Intel or Silicon chips). On certain Windows machines (Windows 11), one should install the library locally (see below). The **nightly build** can be installed via ```bash pip3 install torchrl-nightly ``` which we currently only ship for Linux and OsX (Intel) machines. Importantly, the nightly builds require the nightly builds of PyTorch too. To install extra dependencies, call ```bash pip3 install "torchrl[atari,dm_control,gym_continuous,rendering,tests,utils,marl,open_spiel,checkpointing]" ``` or a subset of these. One may also desire to install the library locally. Three main reasons can motivate this: - the nightly/stable release isn't available for one's platform (eg, Windows 11, nightlies for Apple Silicon etc.); - contributing to the code; - install torchrl with a previous version of PyTorch (any version >= 2.0) (note that this should also be doable via a regular install followed by a downgrade to a previous pytorch version -- but the C++ binaries will not be available so some feature will not work, such as prioritized replay buffers and the like.) To install the library locally, start by cloning the repo: ```bash git clone https://github.com/pytorch/rl ``` and don't forget to check out the branch or tag you want to use for the build: ```bash git checkout v0.4.0 ``` Go to the directory where you have cloned the torchrl repo and install it (after installing `ninja`) ```bash cd /path/to/torchrl/ pip3 install ninja -U python setup.py develop ``` One can also build the wheels to distribute to co-workers using ```bash python setup.py bdist_wheel ``` Your wheels will be stored there `./dist/torchrl<name>.whl` and installable via ```bash pip install torchrl<name>.whl ``` **Warning**: Unfortunately, `pip3 install -e .` does not currently work. Contributions to help fix this are welcome! On M1 machines, this should work out-of-the-box with the nightly build of PyTorch. If the generation of this artifact in MacOs M1 doesn't work correctly or in the execution the message `(mach-o file, but is an incompatible architecture (have 'x86_64', need 'arm64e'))` appears, then try ``` ARCHFLAGS="-arch arm64" python setup.py develop ``` To run a quick sanity check, leave that directory (e.g. by executing `cd ~/`) and try to import the library. ``` python -c "import torchrl" ``` This should not return any warning or error. **Optional dependencies** The following libraries can be installed depending on the usage one wants to make of torchrl: ``` # diverse pip3 install tqdm tensorboard "hydra-core>=1.1" hydra-submitit-launcher # rendering pip3 install "moviepy<2.0.0" # deepmind control suite pip3 install dm_control # gym, atari games pip3 install "gym[atari]" "gym[accept-rom-license]" pygame # tests pip3 install pytest pyyaml pytest-instafail # tensorboard pip3 install tensorboard # wandb pip3 install wandb ``` **Troubleshooting** If a `ModuleNotFoundError: No module named ‘torchrl._torchrl` errors occurs (or a warning indicating that the C++ binaries could not be loaded), it means that the C++ extensions were not installed or not found. - One common reason might be that you are trying to import torchrl from within the git repo location. The following code snippet should return an error if torchrl has not been installed in `develop` mode: ``` cd ~/path/to/rl/repo python -c 'from torchrl.envs.libs.gym import GymEnv' ``` If this is the case, consider executing torchrl from another location. - If you're not importing torchrl from within its repo location, it could be caused by a problem during the local installation. Check the log after the `python setup.py develop`. One common cause is a g++/C++ version discrepancy and/or a problem with the `ninja` library. - If the problem persists, feel free to open an issue on the topic in the repo, we'll make our best to help! - On **MacOs**, we recommend installing XCode first. With Apple Silicon M1 chips, make sure you are using the arm64-built python (e.g. [here](https://betterprogramming.pub/how-to-install-pytorch-on-apple-m1-series-512b3ad9bc6)). Running the following lines of code ``` wget https://raw.githubusercontent.com/pytorch/pytorch/master/torch/utils/collect_env.py python collect_env.py ``` should display ``` OS: macOS *** (arm64) ``` and not ``` OS: macOS **** (x86_64) ``` Versioning issues can cause error message of the type ```undefined symbol``` and such. For these, refer to the [versioning issues document](https://github.com/pytorch/rl/blob/main/knowledge_base/VERSIONING_ISSUES.md) for a complete explanation and proposed workarounds. ## Asking a question If you spot a bug in the library, please raise an issue in this repo. If you have a more generic question regarding RL in PyTorch, post it on the [PyTorch forum](https://discuss.pytorch.org/c/reinforcement-learning/6). ## Contributing Internal collaborations to torchrl are welcome! Feel free to fork, submit issues and PRs. You can checkout the detailed contribution guide [here](https://github.com/pytorch/rl/blob/main/CONTRIBUTING.md). As mentioned above, a list of open contributions can be found in [here](https://github.com/pytorch/rl/issues/509). Contributors are recommended to install [pre-commit hooks](https://pre-commit.com/) (using `pre-commit install`). pre-commit will check for linting related issues when the code is committed locally. You can disable th check by appending `-n` to your commit command: `git commit -m <commit message> -n` ## Disclaimer This library is released as a PyTorch beta feature. BC-breaking changes are likely to happen but they will be introduced with a deprecation warranty after a few release cycles. # License TorchRL is licensed under the MIT License. See [LICENSE](https://github.com/pytorch/rl/blob/main/LICENSE) for details. ", Assign "at most 3 tags" to the expected json: {"id":"11400","tags":[]} "only from the tags list I provide: [{"id":77,"name":"3d"},{"id":89,"name":"agent"},{"id":17,"name":"ai"},{"id":54,"name":"algorithm"},{"id":24,"name":"api"},{"id":44,"name":"authentication"},{"id":3,"name":"aws"},{"id":27,"name":"backend"},{"id":60,"name":"benchmark"},{"id":72,"name":"best-practices"},{"id":39,"name":"bitcoin"},{"id":37,"name":"blockchain"},{"id":1,"name":"blog"},{"id":45,"name":"bundler"},{"id":58,"name":"cache"},{"id":21,"name":"chat"},{"id":49,"name":"cicd"},{"id":4,"name":"cli"},{"id":64,"name":"cloud-native"},{"id":48,"name":"cms"},{"id":61,"name":"compiler"},{"id":68,"name":"containerization"},{"id":92,"name":"crm"},{"id":34,"name":"data"},{"id":47,"name":"database"},{"id":8,"name":"declarative-gui "},{"id":9,"name":"deploy-tool"},{"id":53,"name":"desktop-app"},{"id":6,"name":"dev-exp-lib"},{"id":59,"name":"dev-tool"},{"id":13,"name":"ecommerce"},{"id":26,"name":"editor"},{"id":66,"name":"emulator"},{"id":62,"name":"filesystem"},{"id":80,"name":"finance"},{"id":15,"name":"firmware"},{"id":73,"name":"for-fun"},{"id":2,"name":"framework"},{"id":11,"name":"frontend"},{"id":22,"name":"game"},{"id":81,"name":"game-engine "},{"id":23,"name":"graphql"},{"id":84,"name":"gui"},{"id":91,"name":"http"},{"id":5,"name":"http-client"},{"id":51,"name":"iac"},{"id":30,"name":"ide"},{"id":78,"name":"iot"},{"id":40,"name":"json"},{"id":83,"name":"julian"},{"id":38,"name":"k8s"},{"id":31,"name":"language"},{"id":10,"name":"learning-resource"},{"id":33,"name":"lib"},{"id":41,"name":"linter"},{"id":28,"name":"lms"},{"id":16,"name":"logging"},{"id":76,"name":"low-code"},{"id":90,"name":"message-queue"},{"id":42,"name":"mobile-app"},{"id":18,"name":"monitoring"},{"id":36,"name":"networking"},{"id":7,"name":"node-version"},{"id":55,"name":"nosql"},{"id":57,"name":"observability"},{"id":46,"name":"orm"},{"id":52,"name":"os"},{"id":14,"name":"parser"},{"id":74,"name":"react"},{"id":82,"name":"real-time"},{"id":56,"name":"robot"},{"id":65,"name":"runtime"},{"id":32,"name":"sdk"},{"id":71,"name":"search"},{"id":63,"name":"secrets"},{"id":25,"name":"security"},{"id":85,"name":"server"},{"id":86,"name":"serverless"},{"id":70,"name":"storage"},{"id":75,"name":"system-design"},{"id":79,"name":"terminal"},{"id":29,"name":"testing"},{"id":12,"name":"ui"},{"id":50,"name":"ux"},{"id":88,"name":"video"},{"id":20,"name":"web-app"},{"id":35,"name":"web-server"},{"id":43,"name":"webassembly"},{"id":69,"name":"workflow"},{"id":87,"name":"yaml"}]" returns me the "expected json"