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Status: Archive (code is provided as-is, no updates expected)

This is the code for implementing the MADDPG algorithm presented in the paper: Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments. It is configured to be run in conjunction with environments from the Multi-Agent Particle Environments (MPE). Note: this codebase has been restructured since the original paper, and the results may vary from those reported in the paper.

Update: the original implementation for policy ensemble and policy estimation can be found here. The code is provided as-is.

To install, cd into the root directory and type pip install -e .

Known dependencies: Python (3.5.4), OpenAI gym (0.10.5), tensorflow (1.8.0), numpy (1.14.5)

We demonstrate here how the code can be used in conjunction with the Multi-Agent Particle Environments (MPE).

Download and install the MPE code here by following the README.

Ensure that multiagent-particle-envs has been added to your PYTHONPATH (e.g. in ~/.bashrc or ~/.bash_profile).

To run the code, cd into the experiments directory and run train.py:

python train.py --scenario simple

--scenario: defines which environment in the MPE is to be used (default: "simple")

--max-episode-len maximum length of each episode for the environment (default: 25)

--num-episodes total number of training episodes (default: 60000)

--num-adversaries: number of adversaries in the environment (default: 0)

--good-policy: algorithm used for the 'good' (non adversary) policies in the environment (default: "maddpg"; options: {"maddpg", "ddpg"})

--adv-policy: algorithm used for the adversary policies in the environment (default: "maddpg"; options: {"maddpg", "ddpg"})

--lr: learning rate (default: 1e-2)

--gamma: discount factor (default: 0.95)

--batch-size: batch size (default: 1024)

--num-units: number of units in the MLP (default: 64)

--exp-name: name of the experiment, used as the file name to save all results (default: None)

--save-dir: directory where intermediate training results and model will be saved (default: "/tmp/policy/")

--save-rate: model is saved every time this number of episodes has been completed (default: 1000)

--load-dir: directory where training state and model are loaded from (default: "")

--restore: restores previous training state stored in load-dir (or in save-dir if no load-dir has been provided), and continues training (default: False)

--display: displays to the screen the trained policy stored in load-dir (or in save-dir if no load-dir has been provided), but does not continue training (default: False)

--benchmark: runs benchmarking evaluations on saved policy, saves results to benchmark-dir folder (default: False)

--benchmark-iters: number of iterations to run benchmarking for (default: 100000)

--benchmark-dir: directory where benchmarking data is saved (default: "./benchmark_files/")

--plots-dir: directory where training curves are saved (default: "./learning_curves/")

./experiments/train.py: contains code for training MADDPG on the MPE

./maddpg/trainer/maddpg.py: core code for the MADDPG algorithm

./maddpg/trainer/replay_buffer.py: replay buffer code for MADDPG

./maddpg/common/distributions.py: useful distributions used in maddpg.py

./maddpg/common/tf_util.py: useful tensorflow functions used in maddpg.py

If you used this code for your experiments or found it helpful, consider citing the following paper: