URLB: Unsupervised Reinforcement Learning Benchmark

Michael Laskin, Denis Yarats, Hao Liu, Kimin Lee, Albert Zhan, Kevin Lu, Catherine Cang, Lerrel Pinto, Pieter Abbeel

• Keywords: unsupervised learning, reinforcement learning, benchmark, open-source code
• TL;DR: We present a benchmark for Unsupervised Reinforcement Learning, open-source code for eight leading unsupervised RL methods, standardize pre-training & evaluation, and benchmark across twelve downstream tasks.
• Abstract: Deep Reinforcement Learning (RL) has emerged as a powerful paradigm to solve a range of complex yet specific control tasks. Training generalist agents that can quickly adapt to new tasks remains an outstanding challenge. Recent advances in unsupervised RL have shown that pre-training RL agents with self-supervised intrinsic rewards can result in efficient adaptation. However, these algorithms have been hard to compare and develop due to the lack of a unified benchmark. To this end, we introduce the Unsupervised Reinforcement Learning Benchmark (URLB). URLB consists of two phases: reward-free pre-training and downstream task adaptation with extrinsic rewards. Building on the DeepMind Control Suite, we provide twelve continuous control tasks from three domains for evaluation and open-source code for eight leading unsupervised RL methods. We find that the implemented baselines make progress but are not able to solve URLB and propose directions for future research.
• Supplementary Material: zip
• URL: https://github.com/rll-research/url_benchmark