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garage benchmarking

This guide explains how to write garage benchmark scripts.

How to write a benchmark script?

0. Install garage_benchmarks

cd benchmarks && pip install -e .

1. Define an experiment function

Use @wrap_experiment to define your experiment. ctxt is used for @wrap_experiment. The second and third parameters of the function should be env_id and seed. You should give your function a good name because it is used as the label name when it comes to plotting. See more examples.

@wrap_experiment
def trpo_garage_pytorch(ctxt, env_id, seed):
    ...

2. Define an execution function using @benchmark and iterate_experiments()

@benchmark
def your_benchmarks():
    iterate_experiments(trpo_garage_pytorch, MuJoCo1M_ENV_SET)
    iterate_experiments(trpo_garage_tf, MuJoCo1M_ENV_SET)

For the above example, the results will be saved under /data/local/benchmarks/your_benchmarks. Plotting is enabled by default and figures will be stored in /plot. You can explicitly disable it by defining @benchmark(plot=False).

3. Trigger your benchmark

Under garage/benchmarks do:

garage_benchmark run your_benchmarks

Environment sets

Algorithm Observation Action Environment Set
On-policy Pixel Discrete *PIXEL_ENV_SET
Off-policy Pixel Discrete Atari1M
Meta-RL Non-Pixel Discrete *ML_ENV_SET
MultiTask-RL Non-Pixel Discrete *MT_ENV_SET
ALL Non-Pixel Discrete *NON_PIXEL_ENV_SET
ALL Non-Pixel Continuous MuJoCo1M 
PIXEL_ENV_SET: [
 'MemorizeDigits-v0', 'CubeCrash-v0', ^'Acrobot-v1', ^'MountainCar-v0', ^'CartPole-v1', ^'LunarLander-v2']

^ Using the wrappers PixelObservationWrapper and FrameStack (n=4)

ML_ENV_SET: [
 'ML1-push-v1', 'ML1-reach-v1', 'ML1-pick-place-v1', 'ML10', 'ML45']

MT_ENV_SET: [
 'ML1-push-v1', 'ML1-reach-v1', 'ML1-pick-place-v1', 'MT10', 'MT50']

See Meta-World for ML1/ML10/ML45/MT10/MT50.

STATE_ENV_SET: [
 'LunarLander-v2', 'CartPole-v1', 'Assault-ramDeterministic-v4', 'Breakout-ramDeterministic-v4', 'ChopperCommand-ramDeterministic-v4', 'Tutankham-ramDeterministic-v4']