Inspection and Maintenance Planning using Reinforcement Learning (IMPRL)

IMPRL is a Python library for deep reinforcement learning for inspection and maintenance (I&M) planning of engineering systems. It provides a collection of environments and single-agent and multi-agent algorithm implementations.

Algorithms 🧠

Reinforcement Learning (RL) Algorithms

The following reinforcement algorithms are implemented:

Single-agent algorithms

Algorithm	Formulation	entry point
DDQN	off-policy, value-based	train_and_log.py
JAC	off-policy, actor-critic	train_and_log.py
PPO	on-policy, actor-critic	imprl/agents/PPO.py

Multi-agent algorithms

Algorithm	Formulation	entry point
DDMAC / DCMAC	off-policy, actor-critic	train_and_log.py
IACC / IACC_PS	off-policy, actor-critic	train_and_log.py
MAPPO_PS	on-policy, actor-critic	imprl/agents/MAPPO_PS.py
QMIX_PS	off-policy, value-based	train_and_log.py
VDN_PS	off-policy, value-based	train_and_log.py
IAC / IAC_PS	off-policy, actor-critic	train_and_log.py
IPPO_PS	on-policy, actor-critic	imprl/agents/IPPO_PS.py

PS denotes parameter sharing between agents.
The base off-policy actor-critic algorithm: ACER from SAMPLE EFFICIENT ACTOR-CRITIC WITH EXPERIENCE REPLAY by Wang et al., an off-policy algorithm that uses weighted sampling for experience replay.

Heuristic baselines

We provide heuristic baselines such as inspect_repair which finds optimal maintenance policies by optimizing inspection intervals and prioritizing component repairs.
More simple polices such as do_nothing and failure_replace also provided. These require no optimization and are most suitable for sanity checks.

SARSOP

For k_out_of_n_infinite environments, it is possible to compute (near-)optimal policies using point-based value iteration algorithms for POMDPs (such as SARSOP). To enable visualization of SARSOP policies, we provide a wrapper for interfacing with SARSOP called SARSOPAgent.

Package Structure 🗂️

imprl/
├── agents/                    # RL algorithms, configs, and training entry points
│   ├── configs/                  # default hyperparameter configs
│   ├── primitives/               # reusable networks, replay buffers, and schedulers
│   ├── __init__.py               # agent registry and factory
│   └── *.py                      # algorithm implementations
├── baselines/                 # heuristic and reference policies
├── envs/                      # environment registry, wrappers, and environment cores
│   ├── game_envs/                # matrix-game environments, wrappers, and configs
│   ├── structural_envs/          # k-out-of-n environments, wrappers, and configs
│   └── __init__.py               # env registry and factory
├── post_process/              # policy visualisation and result post-processing
│   ├── policy_visualizer.py      # rollout and belief-space plots
│   └── stats.py                  # summary statistics helpers
└── runners/                   # serial and parallel rollout utilities
    ├── parallel.py               # multiprocessing rollout helpers
    └── serial.py                 # single-process rollout and training helpers

Installation 📦

1) Install uv ⚡

uv is a fast Python package and project manager. See more install options: uv docs

# macOS (Homebrew)
brew install uv

# Or via script (Linux/macOS)
curl -LsSf https://astral.sh/uv/install.sh | sh

2) Create a virtual environment

From the repository root:

uv venv --python 3.11
source .venv/bin/activate  # Windows: .venv\Scripts\activate

3) Install dependencies via uv groups 📦

From this directory, install the base runtime deps defined in pyproject.toml. This install includes the core dependencies for running the library:

uv sync

# optionally install dev tools: pytest, black, ruff
uv sync --group dev

3.1) PyTorch GPU support (optional)

GPU notes (PyTorch): If you need a CUDA-enabled wheel, install a build matching your system from the official PyTorch index: https://pytorch.org/get-started/locally/

Example (Linux, CUDA 12.1):

uv pip install --index-url https://download.pytorch.org/whl/cu121 torch

Check if PyTorch detects your GPU:

python -c "import torch; print(torch.cuda.is_available())"

3.2) Installing additional packages (optional)

Use uv add <pkg> to add packages to your project and lockfile. For example, to add Jupyter Notebook:

uv add "notebook>=7.1.2,<8.0.0"

If resolution fails, relax version ranges and retry.

4) Setup wandb

For logging, the library relies on wandb.You can log into wandb using your private API key,

wandb login
# <enter wandb API key>

Getting Started 🚀

Creating an environment

import imprl.envs

# create an environment
env = imprl.envs.make(name="k_out_of_n_infinite", setting="hard-1-of-4_infinite")

# env uses the standard Gymnasium API.
obs, info = env.reset()

# select an action for each agent
action = [0, 1, 0, 2]

# step the environment
next_obs, reward, termination, truncation, info = env.step(action)

Training a DRL agent

Train a DDQN agent on the 1-out-of-4 infinite-horizon environment.

Default configs specifying the hyperparameters and environment configs are located at imprl/config/agents/DDQN.yaml. We use Hydra for configuration management and you can override any of the default config values via the command line. For example, to disable logging to wandb, you can set WANDB.mode=disabled:

cd imprl
python train_and_log.py --config-name DDQN WANDB.mode=disabled

Visualizing policies

from omegaconf import OmegaConf
from imprl.post_process import PolicyVisualizer

# create an environment
env = imprl.envs.make(name="k_out_of_n_infinite", setting="hard-1-of-4_infinite")

# create an agent
cfg = OmegaConf.load("imprl/agents/configs/IPPO_PS.yaml")
agent = imprl.agents.make(
    "IPPO_PS", env, OmegaConf.to_container(cfg, resolve=False), device
)

# (optional) load checkpoint
# agent.load_weights(checkpoint_dir, int(checkpoint))

plotter = PolicyVisualizer(env, agent)
plotter.plot()

You can find a detailed introduction in getting_started.ipynb.

Acknowledgements 🙏

This project utilizes the abstractions in EPyMARL and the author would like to acknowledge the insights shared in Reinforcement Learning Implementation Tips and Tricks for developing this library.

Related Work 🔗

IMP-MARL: a Suite of Environments for Large-scale Infrastructure Management Planning via MARL
- Benchmarking scalability of cooperative MARL methods in real-world infrastructure management planning problems.
- Environments: (Correlated and uncorrelated) k-out-of-n systems and offshore wind structural systems.
- RL solvers: Provides wrappers for interfacing with several (MA)RL libraries such as EPyMARL, Rllib, MARLlib etc.
IMP-act: Benchmarking MARL for Infrastructure Management Planning at Scale with JAX
- Large-scale road networks with up to 178 agents implemented in JAX for scalability.
- IMP-act-JaxMARL interfaces IMP-act with multi-agent solvers in JaxMARL.
- We also provide NumPy-based environments for compatibility with PyTorch in IMP-act-epymarl.

Citation 📚

If you find this repository useful, please consider citing:

The price of decentralization in managing engineering systems through multi-agent reinforcement learning

@misc{bhustali_decentralization_2026,
      title={The price of decentralization in managing engineering systems through multi-agent reinforcement learning},
      author={Prateek Bhustali and Pablo G. Morato and Konstantinos G. Papakonstantinou and Charalampos P. Andriotis},
      year={2026},
      eprint={2603.11884},
      archivePrefix={arXiv},
      primaryClass={cs.MA},
      url={https://arxiv.org/abs/2603.11884},
}

Assessing the Optimality of Decentralized Inspection and Maintenance Policies for Stochastically Degrading Engineering Systems (open access)

@inproceedings{bhustali_decentralization_2025,
title = "Assessing the Optimality of Decentralized Inspection and Maintenance Policies for Stochastically Degrading Engineering Systems",
author = "Prateek Bhustali and Andriotis, {Charalampos P.}",
year = "2025",
doi = "10.1007/978-3-031-74650-5_13",
isbn = "978-3-031-74649-9",
series = "Communications in Computer and Information Science",
publisher = "Springer",
pages = "236--254",
editor = "Oliehoek, {Frans A.} and Manon Kok and Sicco Verwer",
booktitle = "Artificial Intelligence and Machine Learning",
url = "https://link.springer.com/chapter/10.1007/978-3-031-74650-5_13",
}

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Inspection and Maintenance Planning using Reinforcement Learning (IMPRL)

Algorithms 🧠

Reinforcement Learning (RL) Algorithms

Single-agent algorithms

Multi-agent algorithms

Heuristic baselines

SARSOP

Package Structure 🗂️

Installation 📦

1) Install uv ⚡

2) Create a virtual environment

3) Install dependencies via uv groups 📦

4) Setup wandb

Getting Started 🚀

Creating an environment

Training a DRL agent

Visualizing policies

Acknowledgements 🙏

Related Work 🔗

Citation 📚

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Inspection and Maintenance Planning using Reinforcement Learning (IMPRL)

Algorithms 🧠

Reinforcement Learning (RL) Algorithms

Single-agent algorithms

Multi-agent algorithms

Heuristic baselines

SARSOP

Package Structure 🗂️

Installation 📦

1) Install uv ⚡

2) Create a virtual environment

3) Install dependencies via uv groups 📦

4) Setup wandb

Getting Started 🚀

Creating an environment

Training a DRL agent

Visualizing policies

Acknowledgements 🙏

Related Work 🔗

Citation 📚