modified based on author's implementation

configs.yaml

@@ -8,9 +8,9 @@ defaults:
   seed: 0
   steps: 1e6
   eval_every: 1e4
+  eval_episode_num: 10
   log_every: 1e4
   reset_every: 0
-  #gpu_growth: True
   device: 'cuda:0'
   precision: 16
   debug: False
@@ -25,9 +25,6 @@ defaults:
   grayscale: False
   prefill: 2500
   eval_noise: 0.0
-  reward_trans: 'symlog'
-  obs_trans: 'normalize'
-  critic_trans: 'symlog'
   reward_EMA: True
 
   # Model
@@ -36,8 +33,8 @@ defaults:
   dyn_deter: 512
   dyn_stoch: 32
   dyn_discrete: 32
-  dyn_input_layers: 2
-  dyn_output_layers: 2
+  dyn_input_layers: 1
+  dyn_output_layers: 1
   dyn_rec_depth: 1
   dyn_shared: False
   dyn_mean_act: 'none'
@@ -53,11 +50,10 @@ defaults:
   act: 'SiLU'
   norm: 'LayerNorm'
   cnn_depth: 32
-  encoder_kernels: [3, 3, 3, 3]
-  decoder_kernels: [3, 3, 3, 3]
-  # changed here
-  value_head: 'twohot'
-  reward_head: 'twohot'
+  encoder_kernels: [4, 4, 4, 4]
+  decoder_kernels: [4, 4, 4, 4]
+  value_head: 'twohot_symlog'
+  reward_head: 'twohot_symlog'
   kl_lscale: '0.1'
   kl_rscale: '0.5'
   kl_free: '1.0'
@@ -71,7 +67,7 @@ defaults:
   # Training
   batch_size: 16
   batch_length: 64
-  train_every: 5
+  train_ratio: 512
   train_steps: 1
   pretrain: 100
   model_lr: 1e-4
@@ -85,9 +81,8 @@ defaults:
   dataset_size: 0
   oversample_ends: False
   slow_value_target: True
-  slow_actor_target: True
-  slow_target_update: 100
-  slow_target_fraction: 0.01
+  slow_target_update: 1
+  slow_target_fraction: 0.02
   opt: 'adam'
 
   # Behavior.
@@ -95,16 +90,15 @@ defaults:
   discount_lambda: 0.95
   imag_horizon: 15
   imag_gradient: 'dynamics'
-  imag_gradient_mix: '0.1'
+  imag_gradient_mix: '0.0'
   imag_sample: True
-  actor_dist: 'trunc_normal'
+  actor_dist: 'normal'
   actor_entropy: '3e-4'
   actor_state_entropy: 0.0
   actor_init_std: 1.0
   actor_min_std: 0.1
-  actor_disc: 5
+  actor_max_std: 1.0
   actor_temp: 0.1
-  actor_outscale: 0.0
   expl_amount: 0.0
   eval_state_mean: False
   collect_dyn_sample: True
@@ -134,3 +128,14 @@ debug:
   batch_size: 10
   batch_length: 20
 
+cheetah:
+  task: 'dmc_cheetah_run'
+
+pendulum:
+  task: 'dmc_pendulum_swingup'
+
+cup:
+  task: 'dmc_cup_catch'
+
+acrobot:
+  task: 'dmc_acrobot_swingup'