ExORL: Exploratory Data for Offline Reinforcement Learning

This is an original PyTorch implementation of the ExORL framework from

Don’t Change the Algorithm, Change the Data: Exploratory Data for Offline Reinforcement Learning by

Denis Yarats*, David Brandfonbrener*, Hao Liu, Misha Laskin, Pieter Abbeel, Alessandro Lazaric, and Lerrel Pinto.

*Equal contribution.


Install MuJoCo if it is not already the case:

  • Download MuJoCo binaries here.
  • Unzip the downloaded archive into ~/.mujoco/.
  • Append the MuJoCo subdirectory bin path into the env variable LD_LIBRARY_PATH.

Install the following libraries:

sudo apt update
sudo apt install libosmesa6-dev libgl1-mesa-glx libglfw3 unzip

Install dependencies:

conda env create -f conda_env.yml
conda activate exorl


We provide exploratory datasets for 6 DeepMind Control Stuite domains

Domain Dataset name Available task names
Cartpole cartpole cartpole_balance, cartpole_balance_sparse, cartpole_swingup, cartpole_swingup_sparse
Cheetah cheetah cheetah_run, cheetah_run_backward
Jaco Arm jaco jaco_reach_top_left, jaco_reach_top_right, jaco_reach_bottom_left, jaco_reach_bottom_right
Point Mass Maze point_mass_maze point_mass_maze_reach_top_left, point_mass_maze_reach_top_right, point_mass_maze_reach_bottom_left, point_mass_maze_reach_bottom_right
Quadruped quadruped quadruped_walk, quadruped_run
Walker walker walker_stand, walker_walk, walker_run

For each domain we collected datasets by running 9 unsupervised RL algorithms from URLB for total of 10M steps. Here is the list of algorithms

Unsupervised RL method Name Paper
APS aps paper
APT(ICM) icm_apt paper
DIAYN diayn paper
Disagreement disagreement paper
ICM icm paper
ProtoRL proto paper
Random random N/A
RND rnd paper
SMM smm paper

You can download a dataset by running ./download.sh <DOMAIN> <ALGO>, for example to download ProtoRL dataset for Walker, run

./download.sh walker proto

The script will download the dataset from S3 and store it under datasets/walker/proto/, where you can find episodes (under buffer) and episode videos (under video).

Offline RL training

We also provide implementation of 5 offline RL algorithms for evaluating the datasets

Offline RL method Name Paper
Behavior Cloning bc paper
CQL cql paper
CRR crr paper
TD3+BC td3_bc paper
TD3 td3 paper

After downloading required datasets, you can evaluate it using offline RL methon for a specific task. For example, to evaluate a dataset collected by ProtoRL on Walker for the waling task using TD3+BC you can run

python train_offline.py agent=td3_bc expl_agent=proto task=walker_walk

Logs are stored in the output folder. To launch tensorboard run:

tensorboard --logdir output


If you use this repo in your research, please consider citing the paper as follows:

  title={Don't Change the Algorithm, Change the Data: Exploratory Data for Offline Reinforcement Learning},
  author={Denis Yarats, David Brandfonbrener, Hao Liu, Michael Laskin, Pieter Abbeel, Alessandro Lazaric, Lerrel Pinto},
  journal={arXiv preprint arXiv:2201.13425},


The majority of ExORL is licensed under the MIT license, however portions of the project are available under separate license terms: DeepMind is licensed under the Apache 2.0 license.