77 lines
1.4 KiB
YAML
77 lines
1.4 KiB
YAML
# @package _global_
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policy:
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name: tdmpc
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reward_scale: 1.0
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episode_length: ${env.episode_length}
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discount: 0.9
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modality: 'all'
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# pixels
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frame_stack: 1
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num_channels: 32
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img_size: ${env.image_size}
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state_dim: ???
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action_dim: ???
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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: 50
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mixture_coef: 0.1
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min_std: 0.05
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max_std: 2.0
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temperature: 0.5
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momentum: 0.1
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uncertainty_cost: 1
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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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# learning
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batch_size: 256
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max_buffer_size: 10000
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horizon: 5
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reward_coef: 0.5
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value_coef: 0.1
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consistency_coef: 20
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rho: 0.5
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kappa: 0.1
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lr: 3e-4
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std_schedule: ${policy.min_std}
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horizon_schedule: ${policy.horizon}
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per: true
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per_alpha: 0.6
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per_beta: 0.4
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grad_clip_norm: 10
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seed_steps: 0
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update_freq: 2
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tau: 0.01
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utd: 1
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# offline rl
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# dataset_dir: ???
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data_first_percent: 1.0
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is_data_clip: true
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data_clip_eps: 1e-5
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expectile: 0.9
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A_scaling: 3.0
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# offline->online
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offline_steps: ${offline_steps}
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pretrained_model_path: ""
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# pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/offline.pt"
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# pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt"
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balanced_sampling: true
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demo_schedule: 0.5
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# architecture
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enc_dim: 256
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num_q: 5
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mlp_dim: 512
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latent_dim: 50
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