Hierarchical-Actor-Critic-HAC-PyTorch

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Hierarchical-Actor-Critic-HAC-PyTorch

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PyTorch implementation of Hierarchical Actor Critic (HAC) for OpenAI gym environments

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# Hierarchical-Actor-Critic-HAC-PyTorch

This is an implementation of the Hierarchical Actor Critic (HAC) algorithm described in the paper, [Learning Multi-Level Hierarchies with Hindsight](https://arxiv.org/abs/1712.00948) (ICLR 2019), in PyTorch for OpenAI gym environments. The algorithm learns to reach a goal state by dividing the task into short horizon intermediate goals (subgoals).

## Usage
- All the hyperparameters are contained in the `train.py` file.
- To train a new network run `train.py`
- To test a preTrained network run `test.py`
- For a detailed explanation of offsets and bounds, refer to [issue #2](https://github.com/nikhilbarhate99/Hierarchical-Actor-Critic-HAC-PyTorch/issues/2)
- For hyperparameters used for preTraining the pendulum policy refer to [issue #3](https://github.com/nikhilbarhate99/Hierarchical-Actor-Critic-HAC-PyTorch/issues/3)

## Implementation Details

- The code is implemented as described in the appendix section of the paper and the Official repository, i.e. without target networks and with bounded Q-values.
- The Actor and Critic networks have 2 hidded layers of size 64.

## Citing

Please use this bibtex if you want to cite this repository in your publications :

@misc{pytorch_hac,
        author = {Barhate, Nikhil},
        title = {PyTorch Implementation of Hierarchical Actor-Critic},
        year = {2021},
        publisher = {GitHub},
        journal = {GitHub repository},
        howpublished = {\url{https://github.com/nikhilbarhate99/Hierarchical-Actor-Critic-HAC-PyTorch}},
    }

## Requirements

- Python 3.6
- [PyTorch](https://pytorch.org/)
- [OpenAI gym](https://gym.openai.com/)

## Results

### MountainCarContinuous-v0
 (2 levels, H = 20, 200 episodes)  |  (3 levels, H = 5, 200 episodes)  |
:-----------------------------------:|:-----------------------------------:|
![](https://github.com/nikhilbarhate99/Hierarchical-Actor-Critic-HAC-PyTorch/blob/master/gif/MountainCarContinuous-v0.gif)  | ![](https://github.com/nikhilbarhate99/Hierarchical-Actor-Critic-HAC-PyTorch/blob/master/gif/MountainCarContinuous-v0-3level.gif)  |

(2 levels, H = 20, 200 episodes)  |
:---------------------------------:|
![](https://github.com/nikhilbarhate99/Hierarchical-Actor-Critic-HAC-PyTorch/blob/master/gif/Pendulum-v0-2level.gif) |

## References

- Official [Paper](https://arxiv.org/abs/1712.00948) and [Code (TensorFlow)](https://github.com/andrew-j-levy/Hierarchical-Actor-Critc-HAC-)

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