joekadi / Inverse-Reinforcement-Learning-Bayesian-Uncertainty

The PyTorch framework developed to enable my MSci thesis project titled: "Evaluating Uncertainty Estimation Methods For Deep Neural Network’s In Inverse Reinforcement Learning"

Evaluating Uncertainty Estimation Methods For Deep Neural Network’s In Inverse Reinforcement Learning

This is framework was to enable my Computing Science Level 5 MSci Project @ Glasgow University where I compare the quality of uncertainty estimates from multiple Deep Neural Network uncertainty calibration techniques on the Inverse Reinforcement Learning problem. Namely: Monte-Carlo Dropout, Stochastic Weight Averaging Gaussian and Ensembles. The final paper can be viewed here. The thesis received a grade A.

Setup Instructions

In every overwrite change sys.path[0] = "/Users/MSci-Project/pyTorch/" to path of cloned directory This will ensure all relative and absolute imports find correc paths

To create conda virtualenv from requirements:

$ conda create --name <env> --file requirements.txt

Running Instructions

All objectworld params customisable in objectworld.create_objectworld(). Default params:

mdp_params = {'n': 16, 'placement_prob': 0.05, 'c1': 2.0, 'c2': 2.0, 'continuous': False, 'determinism': 1.0, 'discount': 0.9, 'seed': 0, 'r_tree': None}

All gridworld params customisable in gridworld.create_gridworld(). Default params:

mdp_params = {'n': 8, 'b': 1, 'determinism': 1.0, 'discount': 0.99, 'seed': 0}

To initialise benchmark (objectworld or gridworld):

$ python initialise_problem.py <worldtype> <number_of_paths>

This saves all variables required to construct benchmark problem in "./param_list/"

Regular IRL

To train a model:

cd ./train_models/regular/

$ python <training_script_name>.py <dropout_p_value> <number_of_paths>

Trained model saved in $TRAINED_MODELS_PATH$

For ensembles, eval also carried out in this script and results saved to $RESULTS_PATH$

To evaluate a trained model:

$ cd "./eval_models/"

$ python <eval_script_name>.py <dropout_p_value> <number_of_paths>

Results saved in$ RESULTS_PATH$

Noisy IRL

cd ./train_models/$TYPE_OF_NOISE$/

index_of_noisy_states is 0 for states 1-32, 1 for states 1-64 and 2 for states 1-128

$ python <training_script_name>.py <index_of_noisy_states> <dropout_p_value> <number_of_paths>

Trained model saved in $TRAINED_MODELS_PATH$

For ensembles, eval also carried out in this script and results saved to $RESULTS_PATH$

To evaluate a trained model:

$ cd "./eval_models/$TYPE_OF_NOISE$"

$ python <eval_script_name>.py <index_of_noisy_states> <dropout_p_value> <number_of_paths>

Results saved in $RESULTS_PATH$

Hyperparameter tuning

ClearML (https://clear.ml) is used to tune each models hyper parameters. Methods supported: GridSearch, RandomSearch, OptimizerBOHB and OptimizerOptuna.

To hyper parameter tune:

pip install clearml

In each model training script change task log line to

task = Task.init(project_name='<your_project_name>', task_name='<task_name>')

After running training script, the task name will be logged as a task in your clearML dashboard. TASK_ID is then obtainable from your clearML dashboard.

Configure hyper parameter search in pyTorch/train_models/hyperparamsearch.py then run:

$ cd "pyTorch/train_models/" $ python hyperparamsearch.py <TASK_ID>

Analysing and visualising IRL performance:

$ cd "/pyTorch/results"

$ python irl_visualise.py

All result figures PNG's and CSVs can be seen in "pyTorch/results/regular/"

Analysing and visualising uncertainty calibrations:

$ cd "/pyTorch/results"

$ python uncertainty_visualise.py

All result figures PNG's and CSVs can be seen in "pyTorch/results/$TYPE_OF_NOISE$"

All figures used in the final report can be seen in "./final_figures/"