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< section id = "handling-time-limits" >
< h1 > Handling Time Limits< a class = "headerlink" href = "#handling-time-limits" title = "Permalink to this heading" > #< / a > < / h1 >
< p > In using Gymnasium environments with reinforcement learning code, a common problem observed is how time limits are incorrectly handled. The < code class = "docutils literal notranslate" > < span class = "pre" > done< / span > < / code > signal received (in previous versions of OpenAI Gym < 0.26) from < code class = "docutils literal notranslate" > < span class = "pre" > env.step< / span > < / code > indicated whether an episode has ended. However, this signal did not distinguish whether the episode ended due to < code class = "docutils literal notranslate" > < span class = "pre" > termination< / span > < / code > or < code class = "docutils literal notranslate" > < span class = "pre" > truncation< / span > < / code > .< / p >
< section id = "termination" >
< h2 > Termination< a class = "headerlink" href = "#termination" title = "Permalink to this heading" > #< / a > < / h2 >
< p > Termination refers to the episode ending after reaching a terminal state that is defined as part of the environment
definition. Examples are - task success, task failure, robot falling down etc. Notably, this also includes episodes
ending in finite-horizon environments due to a time-limit inherent to the environment. Note that to preserve Markov
property, a representation of the remaining time must be present in the agent’
< a class = "reference external" href = "https://arxiv.org/abs/1712.00378" > (Reference)< / a > < / p >
< / section >
< section id = "truncation" >
< h2 > Truncation< a class = "headerlink" href = "#truncation" title = "Permalink to this heading" > #< / a > < / h2 >
< p > Truncation refers to the episode ending after an externally defined condition (that is outside the scope of the Markov
Decision Process). This could be a time-limit, a robot going out of bounds etc.< / p >
< p > An infinite-horizon environment is an obvious example of where this is needed. We cannot wait forever for the episode
to complete, so we set a practical time-limit after which we forcibly halt the episode. The last state in this case is
not a terminal state since it has a non-zero transition probability of moving to another state as per the Markov
Decision Process that defines the RL problem. This is also different from time-limits in finite horizon environments
as the agent in this case has no idea about this time-limit.< / p >
< / section >
< section id = "importance-in-learning-code" >
< h2 > Importance in learning code< a class = "headerlink" href = "#importance-in-learning-code" title = "Permalink to this heading" > #< / a > < / h2 >
< p > Bootstrapping (using one or more estimated values of a variable to update estimates of the same variable) is a key
aspect of Reinforcement Learning. A value function will tell you how much discounted reward you will get from a
particular state if you follow a given policy. When an episode stops at any given point, by looking at the value of
the final state, the agent is able to estimate how much discounted reward could have been obtained if the episode has
continued. This is an example of handling truncation.< / p >
< p > More formally, a common example of bootstrapping in RL is updating the estimate of the Q-value function,< / p >
< div class = "math-wrapper docutils container" >
< div class = "math notranslate nohighlight" >
\[Q_{target}(o_t, a_t) = r_t + \gamma . \max_a(Q(o_{t+1}, a_{t+1}))\]< / div >
< / div >
< p > In classical RL, the new < code class = "docutils literal notranslate" > < span class = "pre" > Q< / span > < / code > estimate is a weighted average of the previous < code class = "docutils literal notranslate" > < span class = "pre" > Q< / span > < / code > estimate and < code class = "docutils literal notranslate" > < span class = "pre" > Q_target< / span > < / code > while in Deep
Q-Learning, the error between < code class = "docutils literal notranslate" > < span class = "pre" > Q_target< / span > < / code > and the previous < code class = "docutils literal notranslate" > < span class = "pre" > Q< / span > < / code > estimate is minimized.< / p >
< p > However, at the terminal state, bootstrapping is not done,< / p >
< div class = "math-wrapper docutils container" >
< div class = "math notranslate nohighlight" >
\[Q_{target}(o_t, a_t) = r_t\]< / div >
< / div >
< p > This is where the distinction between termination and truncation becomes important. When an episode ends due to
termination we don’ < / p >
< p > While using gymnasium environments, the < code class = "docutils literal notranslate" > < span class = "pre" > done< / span > < / code > signal (default for < v0.26) is frequently used to determine whether to
bootstrap or not. However, this is incorrect since it does not differentiate between termination and truncation.< / p >
< p > A simple example of value functions is shown below. This is an illustrative example and not part of any specific algorithm.< / p >
< div class = "highlight-python notranslate" > < div class = "highlight" > < pre > < span > < / span > < span class = "c1" > # INCORRECT< / span >
< span class = "n" > vf_target< / span > < span class = "o" > =< / span > < span class = "n" > rew< / span > < span class = "o" > +< / span > < span class = "n" > gamma< / span > < span class = "o" > *< / span > < span class = "p" > (< / span > < span class = "mi" > 1< / span > < span class = "o" > -< / span > < span class = "n" > done< / span > < span class = "p" > )< / span > < span class = "o" > *< / span > < span class = "n" > vf_next_state< / span >
< / pre > < / div >
< / div >
< p > This is incorrect in the case of episode ending due to a truncation, where bootstrapping needs to happen but it doesn’ < / p >
< / section >
< section id = "solution" >
< h2 > Solution< a class = "headerlink" href = "#solution" title = "Permalink to this heading" > #< / a > < / h2 >
< p > From v0.26 onwards, Gymnasium’ < code class = "docutils literal notranslate" > < span class = "pre" > env.step< / span > < / code > API returns both termination and truncation information explicitly.
In the previous version truncation information was supplied through the info key < code class = "docutils literal notranslate" > < span class = "pre" > TimeLimit.truncated< / span > < / code > .
The correct way to handle terminations and truncations now is,< / p >
< div class = "highlight-python notranslate" > < div class = "highlight" > < pre > < span > < / span > < span class = "c1" > # terminated = done and ' TimeLimit.truncated' not in info< / span >
< span class = "c1" > # This was needed in previous versions.< / span >
< span class = "n" > vf_target< / span > < span class = "o" > =< / span > < span class = "n" > rew< / span > < span class = "o" > +< / span > < span class = "n" > gamma< / span > < span class = "o" > *< / span > < span class = "p" > (< / span > < span class = "mi" > 1< / span > < span class = "o" > -< / span > < span class = "n" > terminated< / span > < span class = "p" > )< / span > < span class = "o" > *< / span > < span class = "n" > vf_next_state< / span >
< / pre > < / div >
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