Daily Papers

Robotic simulators are crucial for academic research and education as well as the development of safety-critical applications. Reinforcement learning environments -- simple simulations coupled with a problem specification in the form of a reward function -- are also important to standardize the development (and benchmarking) of learning algorithms. Yet, full-scale simulators typically lack portability and parallelizability. Vice versa, many reinforcement learning environments trade-off realism for high sample throughputs in toy-like problems. While public data sets have greatly benefited deep learning and computer vision, we still lack the software tools to simultaneously develop -- and fairly compare -- control theory and reinforcement learning approaches. In this paper, we propose an open-source OpenAI Gym-like environment for multiple quadcopters based on the Bullet physics engine. Its multi-agent and vision based reinforcement learning interfaces, as well as the support of realistic collisions and aerodynamic effects, make it, to the best of our knowledge, a first of its kind. We demonstrate its use through several examples, either for control (trajectory tracking with PID control, multi-robot flight with downwash, etc.) or reinforcement learning (single and multi-agent stabilization tasks), hoping to inspire future research that combines control theory and machine learning.

The BrowserGym ecosystem addresses the growing need for efficient evaluation and benchmarking of web agents, particularly those leveraging automation and Large Language Models (LLMs) for web interaction tasks. Many existing benchmarks suffer from fragmentation and inconsistent evaluation methodologies, making it challenging to achieve reliable comparisons and reproducible results. BrowserGym aims to solve this by providing a unified, gym-like environment with well-defined observation and action spaces, facilitating standardized evaluation across diverse benchmarks. Combined with AgentLab, a complementary framework that aids in agent creation, testing, and analysis, BrowserGym offers flexibility for integrating new benchmarks while ensuring consistent evaluation and comprehensive experiment management. This standardized approach seeks to reduce the time and complexity of developing web agents, supporting more reliable comparisons and facilitating in-depth analysis of agent behaviors, and could result in more adaptable, capable agents, ultimately accelerating innovation in LLM-driven automation. As a supporting evidence, we conduct the first large-scale, multi-benchmark web agent experiment and compare the performance of 6 state-of-the-art LLMs across all benchmarks currently available in BrowserGym. Among other findings, our results highlight a large discrepancy between OpenAI and Anthropic's latests models, with Claude-3.5-Sonnet leading the way on almost all benchmarks, except on vision-related tasks where GPT-4o is superior. Despite these advancements, our results emphasize that building robust and efficient web agents remains a significant challenge, due to the inherent complexity of real-world web environments and the limitations of current models.

We introduce controlgym, a library of thirty-six safety-critical industrial control settings, and ten infinite-dimensional partial differential equation (PDE)-based control problems. Integrated within the OpenAI Gym/Gymnasium (Gym) framework, controlgym allows direct applications of standard reinforcement learning (RL) algorithms like stable-baselines3. Our control environments complement those in Gym with continuous, unbounded action and observation spaces, motivated by real-world control applications. Moreover, the PDE control environments uniquely allow the users to extend the state dimensionality of the system to infinity while preserving the intrinsic dynamics. This feature is crucial for evaluating the scalability of RL algorithms for control. This project serves the learning for dynamics & control (L4DC) community, aiming to explore key questions: the convergence of RL algorithms in learning control policies; the stability and robustness issues of learning-based controllers; and the scalability of RL algorithms to high- and potentially infinite-dimensional systems. We open-source the controlgym project at https://github.com/xiangyuan-zhang/controlgym.

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are implemented through the Gymnasium Robotics API, which inherits from the core of Gymnasium. Both the sparse binary and dense rewards are supported, and the observation space contains the keys of desired and achieved goals to follow the Multi-Goal Reinforcement Learning framework. Three different off-policy algorithms are used to validate the simulation attributes to ensure the fidelity of all tasks, and benchmark results are also given. Each environment and task are defined in a clean way, and the main parameters for modifying the environment are preserved to reflect the main difference. The repository, including all environments, is available at https://github.com/zichunxx/panda_mujoco_gym.

We introduce Meta MLGym and MLGym-Bench, a new framework and benchmark for evaluating and developing LLM agents on AI research tasks. This is the first Gym environment for machine learning (ML) tasks, enabling research on reinforcement learning (RL) algorithms for training such agents. MLGym-bench consists of 13 diverse and open-ended AI research tasks from diverse domains such as computer vision, natural language processing, reinforcement learning, and game theory. Solving these tasks requires real-world AI research skills such as generating new ideas and hypotheses, creating and processing data, implementing ML methods, training models, running experiments, analyzing the results, and iterating through this process to improve on a given task. We evaluate a number of frontier large language models (LLMs) on our benchmarks such as Claude-3.5-Sonnet, Llama-3.1 405B, GPT-4o, o1-preview, and Gemini-1.5 Pro. Our MLGym framework makes it easy to add new tasks, integrate and evaluate models or agents, generate synthetic data at scale, as well as develop new learning algorithms for training agents on AI research tasks. We find that current frontier models can improve on the given baselines, usually by finding better hyperparameters, but do not generate novel hypotheses, algorithms, architectures, or substantial improvements. We open-source our framework and benchmark to facilitate future research in advancing the AI research capabilities of LLM agents.

We introduce POPGym Arcade, a benchmark consisting of 7 pixel-based environments each with three difficulties, utilizing a single observation and action space. Each environment offers both fully observable and partially observable variants, enabling counterfactual studies on partial observability. POPGym Arcade utilizes JIT compilation on hardware accelerators to achieve substantial speedups over CPU-bound environments. Moreover, this enables Podracer-style architectures to further increase hardware utilization and training speed. We evaluate memory models on our environments using a Podracer variant of Q learning, and examine the results. Finally, we generate memory saliency maps, uncovering how memories propagate through policies. Our library is available at https://github.com/bolt-research/popgym_arcade.

In recent years, the machine learning research community has benefited tremendously from the availability of openly accessible benchmark datasets. Clinical data are usually not openly available due to their highly confidential nature. This has hampered the development of reproducible and generalisable machine learning applications in health care. Here we introduce the Health Gym - a growing collection of highly realistic synthetic medical datasets that can be freely accessed to prototype, evaluate, and compare machine learning algorithms, with a specific focus on reinforcement learning. The three synthetic datasets described in this paper present patient cohorts with acute hypotension and sepsis in the intensive care unit, and people with human immunodeficiency virus (HIV) receiving antiretroviral therapy in ambulatory care. The datasets were created using a novel generative adversarial network (GAN). The distributions of variables, and correlations between variables and trends over time in the synthetic datasets mirror those in the real datasets. Furthermore, the risk of sensitive information disclosure associated with the public distribution of the synthetic datasets is estimated to be very low.

We introduce a real-time strategy game environment based on Generals.io, a game with thousands of weekly active players. Our environment is fully compatible with Gymnasium and PettingZoo and is capable of running thousands of frames per second on commodity hardware. We also present a reference agent, trained with supervised pre-training and self-play, which reached the top 0.003% of the 1v1 human leaderboard after only 36 hours on a single H100 GPU. To accelerate learning, we incorporate potential-based reward shaping and memory features. Our contributions of a modular RTS benchmark and a competitive baseline agent provide an accessible yet challenging platform for advancing multi-agent reinforcement learning research. The documented code, together with examples and tutorials, is available at https://github.com/strakam/generals-bots.

Radio Frequency Reinforcement Learning (RFRL) is anticipated to be a widely applicable technology in the next generation of wireless communication systems, particularly 6G and next-gen military communications. Given this, our research is focused on developing a tool to promote the development of RFRL techniques that leverage spectrum sensing. In particular, the tool was designed to address two cognitive radio applications, specifically dynamic spectrum access and jamming. In order to train and test reinforcement learning (RL) algorithms for these applications, a simulation environment is necessary to simulate the conditions that an agent will encounter within the Radio Frequency (RF) spectrum. In this paper, such an environment has been developed, herein referred to as the RFRL Gym. Through the RFRL Gym, users can design their own scenarios to model what an RL agent may encounter within the RF spectrum as well as experiment with different spectrum sensing techniques. Additionally, the RFRL Gym is a subclass of OpenAI gym, enabling the use of third-party ML/RL Libraries. We plan to open-source this codebase to enable other researchers to utilize the RFRL Gym to test their own scenarios and RL algorithms, ultimately leading to the advancement of RL research in the wireless communications domain. This paper describes in further detail the components of the Gym, results from example scenarios, and plans for future additions. Index Terms-machine learning, reinforcement learning, wireless communications, dynamic spectrum access, OpenAI gym

This paper presents panda-gym, a set of Reinforcement Learning (RL) environments for the Franka Emika Panda robot integrated with OpenAI Gym. Five tasks are included: reach, push, slide, pick & place and stack. They all follow a Multi-Goal RL framework, allowing to use goal-oriented RL algorithms. To foster open-research, we chose to use the open-source physics engine PyBullet. The implementation chosen for this package allows to define very easily new tasks or new robots. This paper also presents a baseline of results obtained with state-of-the-art model-free off-policy algorithms. panda-gym is open-source and freely available at https://github.com/qgallouedec/panda-gym.