92 lines
1.2 KiB
YAML
Executable File
92 lines
1.2 KiB
YAML
Executable File
defaults:
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- override hydra/launcher: submitit_local
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# environment
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task: dog-run
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obs: state
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episodic: false
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# evaluation
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checkpoint: ???
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eval_episodes: 10
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eval_freq: 50000
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# training
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steps: 10_000_000
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batch_size: 256
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reward_coef: 0.1
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value_coef: 0.1
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termination_coef: 1
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consistency_coef: 20
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rho: 0.5
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lr: 3e-4
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enc_lr_scale: 0.3
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grad_clip_norm: 20
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tau: 0.01
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discount_denom: 5
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discount_min: 0.95
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discount_max: 0.995
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buffer_size: 1_000_000
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exp_name: default
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data_dir: ???
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# planning
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mpc: true
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iterations: 6
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num_samples: 512
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num_elites: 64
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num_pi_trajs: 24
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horizon: 3
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min_std: 0.05
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max_std: 2
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temperature: 0.5
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# actor
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log_std_min: -10
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log_std_max: 2
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entropy_coef: 1e-4
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# critic
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num_bins: 101
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vmin: -10
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vmax: +10
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# architecture
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model_size: ???
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num_enc_layers: 2
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enc_dim: 256
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num_channels: 32
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mlp_dim: 512
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latent_dim: 512
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task_dim: 96
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num_q: 5
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dropout: 0.01
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simnorm_dim: 8
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# logging
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wandb_project: ???
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wandb_entity: ???
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wandb_silent: false
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enable_wandb: true
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save_csv: true
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# misc
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compile: true
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save_video: true
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save_agent: true
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seed: 1
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# convenience
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work_dir: ???
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task_title: ???
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multitask: ???
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tasks: ???
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obs_shape: ???
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action_dim: ???
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episode_length: ???
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obs_shapes: ???
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action_dims: ???
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episode_lengths: ???
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seed_steps: ???
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bin_size: ???
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