This code accompanies the paper Leveraging Skills from Unlabeled Prior Data for Efficient Online Exploration. For a brief summary of the paper, see the paper's website.

The code is built off of ExPLORe. Our diffusion policy code is adapted from IDQL. Our VAE pre-training code is adapted from Seohong's implementation of OPAL used in HILP.

Before setting up the environment, make sure that MuJoCo and the dependencies for mujoco-py are installed (https://github.com/openai/mujoco-py). Then, run the create_env.sh script, which will create the conda environment, clone necessary code for running the HILP baseline, and download the pretrained checkpoints.

Reproducing Experiments in the Paper

SUPE (Ours)

Pretraining

Pretrained checkpoints for all environments are downloaded in create_env.sh. Below are the commands used to generate the checkpoints.

AntMaze

python run_opal.py --env_name=antmaze-large-diverse-v2 --seed=1 --vision=False

Replace the env_name with antmaze-large-diverse-v2-2, antmaze-large-diverse-v2-3, antmaze-large-diverse-v2-4 to test different goals on AntMaze Large. For AntMaze Medium, use antmaze-medium-diverse-v2(-#), and for Ultra use antmaze-ultra-diverse-v0(-#).

Kitchen

python run_opal.py --env_name=kitchen-mixed-v0 --seed=1

Replace the env_name with kitchen-partial-v0 and kitchen-complete-v0 to test the other tasks.

Visual AntMaze

python run_opal.py --env_name=antmaze-large-diverse-v2 --seed=1 --vision=True

Replace env_name with antmaze-large-diverse-v2-2, antmaze-large-diverse-v2-3, antmaze-large-diverse-v2-4 to test other goals.

Cube Single

python run_opal.py --env_name=cube-single-play-singletask-v0 --seed=1 --config.kl_coef=0.2

Cube Double

python run_opal.py --env_name=cube-double-play-singletask-v0 --seed=1 --config.kl_coef=0.2

Scene

python run_opal.py --env_name=scene-play-singletask-v0 --seed=1 --config.kl_coef=0.2

AntSoccer

python run_opal.py --env_name=antsoccer-arena-navigate-singletask-task1-v0 --seed=1 --config.kl_coef=0.1

HumanoidMaze

python run_opal.py --env_name=humanoidmaze-medium-navigate-singletask-v0 --seed=1 --config.kl_coef=0.1

Online Learning

AntMaze

python train_finetuning_supe.py --config.backup_entropy=False --env_name=antmaze-large-diverse-v2 --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=1

Kitchen

python train_finetuning_supe.py --config.backup_entropy=False --config.num_min_qs=2 --offline_relabel_type=pred --use_rnd_offline=True --use_rnd_online=True --env_name=kitchen-mixed-v0 --seed=1 --config.init_temperature=1.0

Visual AntMaze

python3 train_finetuning_supe_pixels.py --config.backup_entropy=False --config.num_min_qs=2 --config.num_qs=10 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True  --seed=1 --env_name=antmaze-large-diverse-v2 --use_icvf=True

Cube Single

python3 train_finetuning_supe.py --config.backup_entropy=False --env_name=cube-single-play-singletask-task1-v0 --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=1 --opal_config.kl_coef=0.2 --config.discount=0.995

Cube Double

python3 train_finetuning_supe.py --config.backup_entropy=False --env_name=cube-double-play-singletask-task1-v0 --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=1 --opal_config.kl_coef=0.2 --config.discount=0.995

Scene

python3 train_finetuning_supe.py --config.backup_entropy=False --env_name=scene-play-singletask-task1-v0 --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=1 --opal_config.kl_coef=0.2 --config.discount=0.995

AntSoccer

python3 train_finetuning_supe.py --config.backup_entropy=False --env_name=antsoccer-arena-navigate-singletask-task1-v0 --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=9 --config.discount=0.995

HumanoidMaze

python3 train_finetuning_supe.py --config.backup_entropy=False --env_name=humanoidmaze-medium-navigate-singletask-task1-v0 --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=1 --config.discount=0.995

Baseline: Online w/ Trajectory Skills

To run the baseline Online w/ Trajectory Skills, use the same commands as above but add offline_ratio=0 and set use_rnd_offline=False. For example, on AntMaze:

python train_finetuning_supe.py --config.backup_entropy=False --env_name=antmaze-large-diverse-v2 --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --seed=1 --offline_ratio=0 

Baselines: HILP w/ Offline Data and Online w/ HILP Skills

The HILP skills were pretrained using the official codebase: https://github.com/seohongpark/HILP, and the pretrained checkpoints can be downloaded using create_env.sh. To run the HILP baselines, use the train_finetuning_supe_hilp.py and train_finetuning_supe_pixels_hilp.py scripts with the same command parameters as Ours/Online w/ Trajectory Skills. For example, to benchmark on AntMaze, run the following command:

HILP w/ Offline Data

python train_finetuning_supe_hilp.py --config.backup_entropy=False --env_name=antmaze-large-diverse-v2 --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=1

Online w/ HILP Skills

python train_finetuning_supe_hilp.py --config.backup_entropy=False --env_name=antmaze-large-diverse-v2 --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --seed=1 --offline_ratio=0 

Baseline: ExPLORe

AntMaze

python train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=1 --project_name=explore --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --env_name=antmaze-large-diverse-v2 --seed=1 --rnd_config.coeff=2

Kitchen

python train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --project_name=explore --offline_relabel_type=pred --use_rnd_offline=True --use_rnd_online=True --env_name=kitchen-mixed-v0 --seed=1 --rnd_config.coeff=2 --config.init_temperature=1.0

Visual AntMaze

python train_finetuning_explore_pixels.py --config.backup_entropy=False --config.num_min_qs=1 --config.num_qs=10 --project_name=explore-pixels --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --seed=1 --env_name=antmaze-large-diverse-v2 --use_icvf=True --rnd_config.coeff=2

Cube Single

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --rnd_config.coeff=2 --config.discount=0.995 --env_name=cube-single-play-singletask-task1-v0 --seed=1 

Cube Double

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --rnd_config.coeff=2 --config.discount=0.995 --env_name=cube-double-play-singletask-task1-v0 --seed=1

Scene

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --rnd_config.coeff=2 --config.discount=0.995 --env_name=scene-play-singletask-task1-v0 --seed=1

AntSoccer

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --env_name=antsoccer-arena-navigate-singletask-task1-v0 --seed=1 --rnd_config.coeff=2 --config.discount=0.995

HumanoidMaze

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=True --use_rnd_online=True --env_name=humanoidmaze-medium-navigate-singletask-task1-v0 --seed=1 --rnd_config.coeff=2 --config.discount=0.995

Baseline: Online

To run the Online baseline, use the same commands as for ExPLORe except add offline_ratio=0 and change use_rnd_offline=False. For example, on AntMaze:

python train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=1 --project_name=explore --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --env_name=antmaze-large-diverse-v2 --seed=1 --rnd_config.coeff=2 --offline_ratio=0 

Baseline: Diffusion BC + JSRL

AntMaze

python train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=1 --project_name=diff_bc_jsrl --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --env_name=antmaze-large-diverse-v2 --seed=1 --rnd_config.coeff=2 --offline_ratio=0 --jsrl_ratio=0.9 --jsrl_discount=0.99 --config.init_temperature=1.0

Kitchen

python train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --project_name=diff_bc_jsrl --offline_relabel_type=pred --use_rnd_offline=False --use_rnd_online=True --env_name=kitchen-mixed-v0 --seed=1 --rnd_config.coeff=2.0 --config.init_temperature=1.0 --offline_ratio=0 --jsrl_ratio=0.75

Visual AntMaze

python train_finetuning_explore_pixels.py --config.backup_entropy=False --config.num_min_qs=1 --config.num_qs=10 --project_name=diff_bc_jsrl_pixels --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --seed=1 --env_name=antmaze-large-diverse-v2 --offline_ratio=0 --updates_per_step=2 --use_icvf=True --rnd_config.coeff=2 --jsrl_ratio=0.9

Cube Single

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --env_name=cube-single-play-singletask-task1-v0 --seed=1 --rnd_config.coeff=2 --offline_ratio=0 --jsrl_ratio=0.5 --jsrl_discount=0.995 --config.init_temperature=1.0 --config.discount=0.995

Cube Double

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --env_name=cube-double-play-singletask-task1-v0 --seed=1 --rnd_config.coeff=2 --offline_ratio=0 --jsrl_ratio=0.5 --jsrl_discount=0.995 --config.init_temperature=1.0 --config.discount=0.995

Scene

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=2 --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --env_name=scene-play-singletask-task1-v0 --seed=1 --rnd_config.coeff=2 --offline_ratio=0 --jsrl_ratio=0.5 --jsrl_discount=0.995 --config.init_temperature=1.0 --config.discount=0.995

AntSoccer

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --env_name=antsoccer-arena-navigate-singletask-task1-v0 --seed=1 --rnd_config.coeff=2 --offline_ratio=0 --jsrl_ratio=0.9 --jsrl_discount=0.995 --config.init_temperature=1.0 --config.discount=0.995

HumanoidMaze

python3 train_finetuning_explore.py --config.backup_entropy=False --config.num_min_qs=1 --offline_relabel_type=min --use_rnd_offline=False --use_rnd_online=True --env_name=humanoidmaze-medium-navigate-singletask-task1-v0 --seed=1 --rnd_config.coeff=2 --offline_ratio=0 --jsrl_ratio=0.75 --jsrl_discount=0.995 --config.init_temperature=1.0 --config.discount=0.995

Bibtex

@inproceedings{
wilcoxson2025leveraging,
title={Leveraging Skills from Unlabeled Prior Data for Efficient Online Exploration},
author={Max Wilcoxson and Qiyang Li and Kevin Frans and Sergey Levine},
booktitle={International Conference on Machine Learning (ICML)},
year={2025},
url={https://arxiv.org/abs/2410.18076}
}