---
language:
- en
license: apache-2.0
size_categories:
- 100K<n<1M
task_categories:
- reinforcement-learning
pretty_name: Procgen Benchmark Dataset
dataset_info:
- config_name: bossfight
  features:
  - name: observation
    dtype:
      array3_d:
        shape:
        - 64
        - 64
        - 3
        dtype: uint8
  - name: action
    dtype: uint8
  - name: reward
    dtype: float32
  - name: done
    dtype: bool
  - name: truncated
    dtype: bool
  splits:
  - name: train
    num_bytes: 26043525000
    num_examples: 900000
  - name: test
    num_bytes: 2893725000
    num_examples: 100000
  download_size: 4787252231
  dataset_size: 28937250000
- config_name: bigfish
  features:
  - name: observation
    dtype:
      array3_d:
        shape:
        - 64
        - 64
        - 3
        dtype: uint8
  - name: action
    dtype: uint8
  - name: reward
    dtype: float32
  - name: done
    dtype: bool
  - name: truncated
    dtype: bool
  splits:
  - name: train
    num_bytes: 26043525000
    num_examples: 900000
  - name: test
    num_bytes: 2893725000
    num_examples: 100000
  download_size: 3128341675
  dataset_size: 28937250000
configs:
- config_name: bossfight
  data_files:
  - split: train
    path: bossfight/train-*
  - split: test
    path: bossfight/test-*
- config_name: bigfish
  data_files:
  - split: train
    path: bigfish/train-*
  - split: test
    path: bigfish/test-*
tags:
- procgen
- bigfish
- benchmark
- openai
- bossfight
- caveflyer
- chaser
- climber
- dodgeball
- fruitbot
- heist
- jumper
- leaper
- maze
- miner
- ninja
- plunder
- starpilot
---
# Procgen Benchmark

<video controls autoplay loop src="https://cdn-uploads.huggingface.co/production/uploads/633c1daf31c06121a58f2df9/brMaX1xgew7ulqkMU0Ahi.mp4"></video>

This dataset contains expert trajectories generated by a [PPO](https://arxiv.org/abs/1707.06347) reinforcement learning agent trained on each of the 16 procedurally-generated gym environments from the [Procgen Benchmark](https://openai.com/index/procgen-benchmark/).

Disclaimer: This is not an official repository from OpenAI.

## Dataset Usage

Regular usage (for environment bigfish):
```python
from datasets import load_dataset
train_dataset = load_dataset("EpicPinkPenguin/procgen", name="bigfish", split="train")
test_dataset = load_dataset("EpicPinkPenguin/procgen", name="bigfish", split="test")
```

Usage with PyTorch (for environment bossfight):
```python
from datasets import load_dataset
train_dataset = load_dataset("EpicPinkPenguin/procgen", name="bossfight", split="train").with_format("torch")
test_dataset = load_dataset("EpicPinkPenguin/procgen", name="bossfight", split="test").with_format("torch")
```

## Agent Performance
The PPO RL agent was trained for 50M steps on each environment and obtained the following final performance metrics.

| Environment | Return |
|-------------|--------|
| bigfish     | 32.77  |
| bossfight   | 12.49  |
| caveflyer   | xx.xx  |
| chaser      | xx.xx  |
| climber     | xx.xx  |
| coinrun     | xx.xx  |
| dodgeball   | xx.xx  |
| fruitbot    | xx.xx  |
| heist       | xx.xx  |
| jumper      | xx.xx  |
| leaper      | xx.xx  |
| maze        | xx.xx  |
| miner       | xx.xx  |
| ninja       | xx.xx  |
| plunder     | xx.xx  |
| starpilot   | xx.xx  |


## Dataset Structure
### Data Instances
Each data instance represents a single step consisting of tuples of the form (observation, action, reward, done, truncated) = (o_t, a_t, r_{t+1}, done_{t+1}, trunc_{t+1}).

```json
{'action': 1,
 'done': False,
 'observation': [[[0, 166, 253],
                  [0, 174, 255],
                  [0, 170, 251],
                  [0, 191, 255],
                  [0, 191, 255],
                  [0, 221, 255],
                  [0, 243, 255],
                  [0, 248, 255],
                  [0, 243, 255],
                  [10, 239, 255],
                  [25, 255, 255],
                  [0, 241, 255],
                  [0, 235, 255],
                  [17, 240, 255],
                  [10, 243, 255],
                  [27, 253, 255],
                  [39, 255, 255],
                  [58, 255, 255],
                  [85, 255, 255],
                  [111, 255, 255],
                  [135, 255, 255],
                  [151, 255, 255],
                  [173, 255, 255],
...
                  [0, 0, 37],
                  [0, 0, 39]]],
 'reward': 0.0,
 'truncated': False}
```

### Data Fields
- `observation`: The current RGB observation from the environment.
- `action`: The action predicted by the agent for the current observation.
- `reward`: The received reward from stepping the environment with the current action.
- `done`: If the new observation is the start of a new episode. Obtained after stepping the environment with the current action.
- `truncated`: If the new observation is the start of a new episode due to truncation. Obtained after stepping the environment with the current action.

### Data Splits
The dataset is divided into a `train` (90%) and `test` (10%) split

## Dataset Creation
The dataset was created by training an RL agent with [PPO](https://arxiv.org/abs/1707.06347) for 50M steps in each environment. The trajectories where generated by taking the argmax action at each step, corresponding to taking the mode of the action distribution. Consequently the rollout policy is deterministic.

## Procgen Benchmark
The [Procgen Benchmark](https://openai.com/index/procgen-benchmark/), released by OpenAI, consists of 16 procedurally-generated environments designed to measure how quickly reinforcement learning (RL) agents learn generalizable skills. It emphasizes experimental convenience, high diversity within and across environments, and is ideal for evaluating both sample efficiency and generalization. The benchmark allows for distinct training and test sets in each environment, making it a standard research platform for the OpenAI RL team. It aims to address the need for more diverse RL benchmarks compared to complex environments like Dota and StarCraft.