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Score Regularized Policy Optimization through Diffusion Behavior

Huayu Chen, Cheng Lu, Zhengyi Wang, Hang Su, Jun Zhu

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D4RL experiments

Requirements

Installations of PyTorch, MuJoCo, and D4RL are needed.

Running

Download the pretrained behavior and critic checkpoints from here and store them under ./SRPO_model_factory/.

You can also choose to pretrain the behavior and the critic model yourself. Respectively run

TASK="halfcheetah-medium-v2"; seed=0; python3 -u train_behavior.py --expid ${TASK}-baseline-seed${seed} --env $TASK --seed ${seed}
TASK="halfcheetah-medium-v2"; seed=0; python3 -u train_critic.py --expid ${TASK}-baseline-seed${seed} --env $TASK --seed ${seed}

Finally, run

TASK="halfcheetah-medium-v2"; seed=0; python3 -u train_policy.py --expid ${TASK}-baseline-seed${seed} --env $TASK --seed ${seed} --actor_load_path ./SRPO_model_factory/${TASK}-baseline-seed${seed}/behavior_ckpt200.pth --critic_load_path ./SRPO_model_factory/${TASK}-baseline-seed${seed}/critic_ckpt150.pth

License

MIT