Dewa commited on
Commit
fad1f87
·
1 Parent(s): ba2d6ee

Initial commit

Browse files
README.md CHANGED
@@ -16,7 +16,7 @@ model-index:
16
  type: PandaReachDense-v2
17
  metrics:
18
  - type: mean_reward
19
- value: -7.41 +/- 1.72
20
  name: mean_reward
21
  verified: false
22
  ---
 
16
  type: PandaReachDense-v2
17
  metrics:
18
  - type: mean_reward
19
+ value: -0.47 +/- 0.21
20
  name: mean_reward
21
  verified: false
22
  ---
config.json CHANGED
@@ -1 +1 @@
1
- {"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVRQAAAAAAAACMIXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5wb2xpY2llc5SMG011bHRpSW5wdXRBY3RvckNyaXRpY1BvbGljeZSTlC4=", "__module__": "stable_baselines3.common.policies", "__doc__": "\n MultiInputActorClass policy class for actor-critic algorithms (has both policy and value prediction).\n Used by A2C, PPO and the likes.\n\n :param observation_space: Observation space (Tuple)\n :param action_space: Action space\n :param lr_schedule: Learning rate schedule (could be constant)\n :param net_arch: The specification of the policy and value networks.\n :param activation_fn: Activation function\n :param ortho_init: Whether to use or not orthogonal initialization\n :param use_sde: Whether to use State Dependent Exploration or not\n :param log_std_init: Initial value for the log standard deviation\n :param full_std: Whether to use (n_features x n_actions) parameters\n for the std instead of only (n_features,) when using gSDE\n :param use_expln: Use ``expln()`` function instead of ``exp()`` to ensure\n a positive standard deviation (cf paper). It allows to keep variance\n above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n :param squash_output: Whether to squash the output using a tanh function,\n this allows to ensure boundaries when using gSDE.\n :param features_extractor_class: Uses the CombinedExtractor\n :param features_extractor_kwargs: Keyword arguments\n to pass to the features extractor.\n :param share_features_extractor: If True, the features extractor is shared between the policy and value networks.\n :param normalize_images: Whether to normalize images or not,\n dividing by 255.0 (True by default)\n :param optimizer_class: The optimizer to use,\n ``th.optim.Adam`` by default\n :param optimizer_kwargs: Additional keyword arguments,\n excluding the learning rate, to pass to the optimizer\n ", "__init__": "<function MultiInputActorCriticPolicy.__init__ at 0x7f0ea825c820>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7f0e46f12e80>"}, "verbose": 1, "policy_kwargs": {":type:": "<class 'dict'>", ":serialized:": "gAWVgQAAAAAAAAB9lCiMD29wdGltaXplcl9jbGFzc5SME3RvcmNoLm9wdGltLnJtc3Byb3CUjAdSTVNwcm9wlJOUjBBvcHRpbWl6ZXJfa3dhcmdzlH2UKIwFYWxwaGGURz/vrhR64UeujANlcHOURz7k+LWI42jxjAx3ZWlnaHRfZGVjYXmUSwB1dS4=", "optimizer_class": "<class 'torch.optim.rmsprop.RMSprop'>", "optimizer_kwargs": {"alpha": 0.99, "eps": 1e-05, "weight_decay": 0}}, "num_timesteps": 3000000, "_total_timesteps": 3000000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1682401449390470105, "learning_rate": 0.0007, "tensorboard_log": null, "lr_schedule": {":type:": "<class 'function'>", ":serialized:": "gAWVwwIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMBGZ1bmOUS4JDAgABlIwDdmFslIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZR1Tk5oAIwQX21ha2VfZW1wdHlfY2VsbJSTlClSlIWUdJRSlIwcY2xvdWRwaWNrbGUuY2xvdWRwaWNrbGVfZmFzdJSMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGgffZR9lChoFmgNjAxfX3F1YWxuYW1lX1+UjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlIwPX19hbm5vdGF0aW9uc19flH2UjA5fX2t3ZGVmYXVsdHNfX5ROjAxfX2RlZmF1bHRzX1+UTowKX19tb2R1bGVfX5RoF4wHX19kb2NfX5ROjAtfX2Nsb3N1cmVfX5RoAIwKX21ha2VfY2VsbJSTlEc/RvAGjbi6x4WUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwLg=="}, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAB62vPlHLFr2Ly6M9B62vPlHLFr2Ly6M9B62vPlHLFr2Ly6M9B62vPlHLFr2Ly6M9lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAACWTDPz9NrL9LqUS+9bPOPk4Bzj8eas2/WxjYP68BPb6hA1i/MPW5PgDcmb8g7aU/lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAAAHra8+UcsWvYvLoz1cQPA8INrVuktTDbwHra8+UcsWvYvLoz1cQPA8INrVuktTDbwHra8+UcsWvYvLoz1cQPA8INrVuktTDbwHra8+UcsWvYvLoz1cQPA8INrVuktTDbyUaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[ 0.34311697 -0.03681499 0.07997807]\n [ 0.34311697 -0.03681499 0.07997807]\n [ 0.34311697 -0.03681499 0.07997807]\n [ 0.34311697 -0.03681499 0.07997807]]", "desired_goal": "[[ 1.5264903 -1.3461074 -0.19205205]\n [ 0.4037167 1.6094148 -1.6048009 ]\n [ 1.6882433 -0.18457673 -0.8438054 ]\n [ 0.36319876 -1.2020264 1.296299 ]]", "observation": "[[ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]\n [ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]\n [ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]\n [ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVdwAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYEAAAAAAAAAAEBAQGUjAVudW1weZSMBWR0eXBllJOUjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlIwBQ5R0lFKULg=="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAANgsRvHFhLr0ofYk+RcKHPXWfjj1XYgE+pgkyvSLPpb30hLw9CEtbvTiPvT1PagM+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]]", "desired_goal": "[[-0.00885277 -0.0425734 0.268533 ]\n [ 0.06628851 0.06964008 0.1263517 ]\n [-0.04346623 -0.08096148 0.09205046]\n [-0.05353835 0.09255832 0.12833522]]", "observation": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]]"}, "_episode_num": 0, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": 0.0, "_stats_window_size": 100, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="}, "_n_updates": 150000, "n_steps": 5, "gamma": 0.99, "gae_lambda": 1.0, "ent_coef": 0.0, "vf_coef": 0.5, "max_grad_norm": 0.5, "normalize_advantage": false, "observation_space": {":type:": "<class 'gym.spaces.dict.Dict'>", ":serialized:": "gAWVUgMAAAAAAACMD2d5bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwOZ3ltLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUaBCTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowGX3NoYXBllEsDhZSMA2xvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZSMAUOUdJRSlIwEaGlnaJRoHSiWDAAAAAAAAAAAACBBAAAgQQAAIEGUaBVLA4WUaCB0lFKUjA1ib3VuZGVkX2JlbG93lGgdKJYDAAAAAAAAAAEBAZRoEowCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZRoIHSUUpSMDWJvdW5kZWRfYWJvdmWUaB0olgMAAAAAAAAAAQEBlGgsSwOFlGggdJRSlIwKX25wX3JhbmRvbZROdWKMDGRlc2lyZWRfZ29hbJRoDSmBlH2UKGgQaBVoGEsDhZRoGmgdKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZRoIHSUUpRoI2gdKJYMAAAAAAAAAAAAIEEAACBBAAAgQZRoFUsDhZRoIHSUUpRoKGgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoMmgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoN051YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgVaBhLBoWUaBpoHSiWGAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBVLBoWUaCB0lFKUaCNoHSiWGAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBVLBoWUaCB0lFKUaChoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDJoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDdOdWJ1aBhOaBBOaDdOdWIu", "spaces": "OrderedDict([('achieved_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('desired_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('observation', Box([-10. -10. -10. -10. -10. -10.], [10. 10. 10. 10. 10. 10.], (6,), float32))])", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gym.spaces.box.Box'>", ":serialized:": "gAWVbQEAAAAAAACMDmd5bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lGgFk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLA4WUjANsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWDAAAAAAAAAAAAIC/AACAvwAAgL+UaApLA4WUjAFDlHSUUpSMBGhpZ2iUaBIolgwAAAAAAAAAAACAPwAAgD8AAIA/lGgKSwOFlGgVdJRSlIwNYm91bmRlZF9iZWxvd5RoEiiWAwAAAAAAAAABAQGUaAeMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUaBV0lFKUjA1ib3VuZGVkX2Fib3ZllGgSKJYDAAAAAAAAAAEBAZRoIUsDhZRoFXSUUpSMCl9ucF9yYW5kb22UTnViLg==", "dtype": "float32", "_shape": [3], "low": "[-1. -1. -1.]", "high": "[1. 1. 1.]", "bounded_below": "[ True True True]", "bounded_above": "[ True True True]", "_np_random": null}, "n_envs": 4, "system_info": {"OS": "Linux-5.10.147+-x86_64-with-glibc2.31 # 1 SMP Sat Dec 10 16:00:40 UTC 2022", "Python": "3.9.16", "Stable-Baselines3": "1.8.0", "PyTorch": "2.0.0+cu118", "GPU Enabled": "True", "Numpy": "1.22.4", "Gym": "0.21.0"}}
 
1
+ {"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVRQAAAAAAAACMIXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5wb2xpY2llc5SMG011bHRpSW5wdXRBY3RvckNyaXRpY1BvbGljeZSTlC4=", "__module__": "stable_baselines3.common.policies", "__doc__": "\n MultiInputActorClass policy class for actor-critic algorithms (has both policy and value prediction).\n Used by A2C, PPO and the likes.\n\n :param observation_space: Observation space (Tuple)\n :param action_space: Action space\n :param lr_schedule: Learning rate schedule (could be constant)\n :param net_arch: The specification of the policy and value networks.\n :param activation_fn: Activation function\n :param ortho_init: Whether to use or not orthogonal initialization\n :param use_sde: Whether to use State Dependent Exploration or not\n :param log_std_init: Initial value for the log standard deviation\n :param full_std: Whether to use (n_features x n_actions) parameters\n for the std instead of only (n_features,) when using gSDE\n :param use_expln: Use ``expln()`` function instead of ``exp()`` to ensure\n a positive standard deviation (cf paper). It allows to keep variance\n above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n :param squash_output: Whether to squash the output using a tanh function,\n this allows to ensure boundaries when using gSDE.\n :param features_extractor_class: Uses the CombinedExtractor\n :param features_extractor_kwargs: Keyword arguments\n to pass to the features extractor.\n :param share_features_extractor: If True, the features extractor is shared between the policy and value networks.\n :param normalize_images: Whether to normalize images or not,\n dividing by 255.0 (True by default)\n :param optimizer_class: The optimizer to use,\n ``th.optim.Adam`` by default\n :param optimizer_kwargs: Additional keyword arguments,\n excluding the learning rate, to pass to the optimizer\n ", "__init__": "<function MultiInputActorCriticPolicy.__init__ at 0x7f0ea825c820>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x7f0e46f12e80>"}, "verbose": 1, "policy_kwargs": {":type:": "<class 'dict'>", ":serialized:": "gAWVowAAAAAAAAB9lCiMDGxvZ19zdGRfaW5pdJRK/v///4wKb3J0aG9faW5pdJSJjA9vcHRpbWl6ZXJfY2xhc3OUjBN0b3JjaC5vcHRpbS5ybXNwcm9wlIwHUk1TcHJvcJSTlIwQb3B0aW1pemVyX2t3YXJnc5R9lCiMBWFscGhhlEc/764UeuFHrowDZXBzlEc+5Pi1iONo8YwMd2VpZ2h0X2RlY2F5lEsAdXUu", "log_std_init": -2, "ortho_init": false, "optimizer_class": "<class 'torch.optim.rmsprop.RMSprop'>", "optimizer_kwargs": {"alpha": 0.99, "eps": 1e-05, "weight_decay": 0}}, "num_timesteps": 100000, "_total_timesteps": 100000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1682424777850113787, "learning_rate": 0.0006, "tensorboard_log": null, "lr_schedule": {":type:": "<class 'function'>", ":serialized:": "gAWVwwIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMBGZ1bmOUS4JDAgABlIwDdmFslIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZR1Tk5oAIwQX21ha2VfZW1wdHlfY2VsbJSTlClSlIWUdJRSlIwcY2xvdWRwaWNrbGUuY2xvdWRwaWNrbGVfZmFzdJSMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGgffZR9lChoFmgNjAxfX3F1YWxuYW1lX1+UjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlIwPX19hbm5vdGF0aW9uc19flH2UjA5fX2t3ZGVmYXVsdHNfX5ROjAxfX2RlZmF1bHRzX1+UTowKX19tb2R1bGVfX5RoF4wHX19kb2NfX5ROjAtfX2Nsb3N1cmVfX5RoAIwKX21ha2VfY2VsbJSTlEc/Q6kqMFUyYYWUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwLg=="}, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAJ9hPPlSJYj4qJQc/J9hPPlSJYj4qJQc/J9hPPlSJYj4qJQc/J9hPPlSJYj4qJQc/lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAAn6ujPxHxnz9Oa3W/bTkZP2dQSL//E4k/0HwmPa8gqj+lFxy/+7kLP6+Eu79jPo09lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAAAn2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj0n2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj0n2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj0n2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj2UaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[0.202973 0.22122699 0.5279108 ]\n [0.202973 0.22122699 0.5279108 ]\n [0.202973 0.22122699 0.5279108 ]\n [0.202973 0.22122699 0.5279108 ]]", "desired_goal": "[[ 1.278675 1.2495443 -0.9586686 ]\n [ 0.5985325 -0.78247684 1.0709227 ]\n [ 0.04064637 1.3291224 -0.6097358 ]\n [ 0.5458066 -1.4649867 0.06896665]]", "observation": "[[0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]\n [0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]\n [0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]\n [0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVdwAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYEAAAAAAAAAAEBAQGUjAVudW1weZSMBWR0eXBllJOUjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlIwBQ5R0lFKULg=="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAApzWSPfllhT1EWC49RrWQPSXbMz0lf8Y8IDmsPGpc771VAjw+JdhSvTrwY714YoU+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]]", "desired_goal": "[[ 0.0713914 0.0651359 0.04256465]\n [ 0.07065825 0.04391016 0.02423055]\n [ 0.02102333 -0.11687548 0.18360265]\n [-0.05147566 -0.05564902 0.26051688]]", "observation": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]]"}, "_episode_num": 0, "use_sde": true, "sde_sample_freq": -1, "_current_progress_remaining": 0.0, "_stats_window_size": 100, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="}, "_n_updates": 2500, "n_steps": 10, "gamma": 0.95, "gae_lambda": 0.85, "ent_coef": 0.0, "vf_coef": 0.4, "max_grad_norm": 0.5, "normalize_advantage": false, "observation_space": {":type:": "<class 'gym.spaces.dict.Dict'>", ":serialized:": "gAWVUgMAAAAAAACMD2d5bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwOZ3ltLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUaBCTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowGX3NoYXBllEsDhZSMA2xvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZSMAUOUdJRSlIwEaGlnaJRoHSiWDAAAAAAAAAAAACBBAAAgQQAAIEGUaBVLA4WUaCB0lFKUjA1ib3VuZGVkX2JlbG93lGgdKJYDAAAAAAAAAAEBAZRoEowCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZRoIHSUUpSMDWJvdW5kZWRfYWJvdmWUaB0olgMAAAAAAAAAAQEBlGgsSwOFlGggdJRSlIwKX25wX3JhbmRvbZROdWKMDGRlc2lyZWRfZ29hbJRoDSmBlH2UKGgQaBVoGEsDhZRoGmgdKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZRoIHSUUpRoI2gdKJYMAAAAAAAAAAAAIEEAACBBAAAgQZRoFUsDhZRoIHSUUpRoKGgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoMmgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoN051YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgVaBhLBoWUaBpoHSiWGAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBVLBoWUaCB0lFKUaCNoHSiWGAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBVLBoWUaCB0lFKUaChoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDJoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDdOdWJ1aBhOaBBOaDdOdWIu", "spaces": "OrderedDict([('achieved_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('desired_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('observation', Box([-10. -10. -10. -10. -10. -10.], [10. 10. 10. 10. 10. 10.], (6,), float32))])", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gym.spaces.box.Box'>", ":serialized:": "gAWVbQEAAAAAAACMDmd5bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lGgFk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLA4WUjANsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWDAAAAAAAAAAAAIC/AACAvwAAgL+UaApLA4WUjAFDlHSUUpSMBGhpZ2iUaBIolgwAAAAAAAAAAACAPwAAgD8AAIA/lGgKSwOFlGgVdJRSlIwNYm91bmRlZF9iZWxvd5RoEiiWAwAAAAAAAAABAQGUaAeMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUaBV0lFKUjA1ib3VuZGVkX2Fib3ZllGgSKJYDAAAAAAAAAAEBAZRoIUsDhZRoFXSUUpSMCl9ucF9yYW5kb22UTnViLg==", "dtype": "float32", "_shape": [3], "low": "[-1. -1. -1.]", "high": "[1. 1. 1.]", "bounded_below": "[ True True True]", "bounded_above": "[ True True True]", "_np_random": null}, "n_envs": 4, "system_info": {"OS": "Linux-5.10.147+-x86_64-with-glibc2.31 # 1 SMP Sat Dec 10 16:00:40 UTC 2022", "Python": "3.9.16", "Stable-Baselines3": "1.8.0", "PyTorch": "2.0.0+cu118", "GPU Enabled": "True", "Numpy": "1.22.4", "Gym": "0.21.0"}}
replay.mp4 CHANGED
Binary files a/replay.mp4 and b/replay.mp4 differ
 
results.json CHANGED
@@ -1 +1 @@
1
- {"mean_reward": -7.40836002798751, "std_reward": 1.72407566073096, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2023-04-25T11:42:21.416766"}
 
1
+ {"mean_reward": -0.47356053445255386, "std_reward": 0.20933168928209842, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2023-04-25T12:19:29.824453"}
rl-a2c-PandaReachDense-v2.zip CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:db30ba3fe92c7cb30fd4dd3681a872304e6102baf2e791ddb2bd340d6c5dde1a
3
- size 108059
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22c8602be326954835d10db97fa5eb63350a9f30a6f737ce580c240c3d8d9ea9
3
+ size 109529
rl-a2c-PandaReachDense-v2/data CHANGED
@@ -11,7 +11,9 @@
11
  "verbose": 1,
12
  "policy_kwargs": {
13
  ":type:": "<class 'dict'>",
14
- ":serialized:": "gAWVgQAAAAAAAAB9lCiMD29wdGltaXplcl9jbGFzc5SME3RvcmNoLm9wdGltLnJtc3Byb3CUjAdSTVNwcm9wlJOUjBBvcHRpbWl6ZXJfa3dhcmdzlH2UKIwFYWxwaGGURz/vrhR64UeujANlcHOURz7k+LWI42jxjAx3ZWlnaHRfZGVjYXmUSwB1dS4=",
 
 
15
  "optimizer_class": "<class 'torch.optim.rmsprop.RMSprop'>",
16
  "optimizer_kwargs": {
17
  "alpha": 0.99,
@@ -19,24 +21,24 @@
19
  "weight_decay": 0
20
  }
21
  },
22
- "num_timesteps": 3000000,
23
- "_total_timesteps": 3000000,
24
  "_num_timesteps_at_start": 0,
25
  "seed": null,
26
  "action_noise": null,
27
- "start_time": 1682401449390470105,
28
- "learning_rate": 0.0007,
29
  "tensorboard_log": null,
30
  "lr_schedule": {
31
  ":type:": "<class 'function'>",
32
- ":serialized:": "gAWVwwIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMBGZ1bmOUS4JDAgABlIwDdmFslIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZR1Tk5oAIwQX21ha2VfZW1wdHlfY2VsbJSTlClSlIWUdJRSlIwcY2xvdWRwaWNrbGUuY2xvdWRwaWNrbGVfZmFzdJSMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGgffZR9lChoFmgNjAxfX3F1YWxuYW1lX1+UjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlIwPX19hbm5vdGF0aW9uc19flH2UjA5fX2t3ZGVmYXVsdHNfX5ROjAxfX2RlZmF1bHRzX1+UTowKX19tb2R1bGVfX5RoF4wHX19kb2NfX5ROjAtfX2Nsb3N1cmVfX5RoAIwKX21ha2VfY2VsbJSTlEc/RvAGjbi6x4WUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwLg=="
33
  },
34
  "_last_obs": {
35
  ":type:": "<class 'collections.OrderedDict'>",
36
- ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAB62vPlHLFr2Ly6M9B62vPlHLFr2Ly6M9B62vPlHLFr2Ly6M9B62vPlHLFr2Ly6M9lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAACWTDPz9NrL9LqUS+9bPOPk4Bzj8eas2/WxjYP68BPb6hA1i/MPW5PgDcmb8g7aU/lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAAAHra8+UcsWvYvLoz1cQPA8INrVuktTDbwHra8+UcsWvYvLoz1cQPA8INrVuktTDbwHra8+UcsWvYvLoz1cQPA8INrVuktTDbwHra8+UcsWvYvLoz1cQPA8INrVuktTDbyUaA5LBEsGhpRoEnSUUpR1Lg==",
37
- "achieved_goal": "[[ 0.34311697 -0.03681499 0.07997807]\n [ 0.34311697 -0.03681499 0.07997807]\n [ 0.34311697 -0.03681499 0.07997807]\n [ 0.34311697 -0.03681499 0.07997807]]",
38
- "desired_goal": "[[ 1.5264903 -1.3461074 -0.19205205]\n [ 0.4037167 1.6094148 -1.6048009 ]\n [ 1.6882433 -0.18457673 -0.8438054 ]\n [ 0.36319876 -1.2020264 1.296299 ]]",
39
- "observation": "[[ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]\n [ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]\n [ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]\n [ 0.34311697 -0.03681499 0.07997807 0.02932756 -0.00163156 -0.00862582]]"
40
  },
41
  "_last_episode_starts": {
42
  ":type:": "<class 'numpy.ndarray'>",
@@ -44,30 +46,30 @@
44
  },
45
  "_last_original_obs": {
46
  ":type:": "<class 'collections.OrderedDict'>",
47
- ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAANgsRvHFhLr0ofYk+RcKHPXWfjj1XYgE+pgkyvSLPpb30hLw9CEtbvTiPvT1PagM+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==",
48
  "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]]",
49
- "desired_goal": "[[-0.00885277 -0.0425734 0.268533 ]\n [ 0.06628851 0.06964008 0.1263517 ]\n [-0.04346623 -0.08096148 0.09205046]\n [-0.05353835 0.09255832 0.12833522]]",
50
  "observation": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]]"
51
  },
52
  "_episode_num": 0,
53
- "use_sde": false,
54
  "sde_sample_freq": -1,
55
  "_current_progress_remaining": 0.0,
56
  "_stats_window_size": 100,
57
  "ep_info_buffer": {
58
  ":type:": "<class 'collections.deque'>",
59
- ":serialized:": "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"
60
  },
61
  "ep_success_buffer": {
62
  ":type:": "<class 'collections.deque'>",
63
  ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="
64
  },
65
- "_n_updates": 150000,
66
- "n_steps": 5,
67
- "gamma": 0.99,
68
- "gae_lambda": 1.0,
69
  "ent_coef": 0.0,
70
- "vf_coef": 0.5,
71
  "max_grad_norm": 0.5,
72
  "normalize_advantage": false,
73
  "observation_space": {
 
11
  "verbose": 1,
12
  "policy_kwargs": {
13
  ":type:": "<class 'dict'>",
14
+ ":serialized:": "gAWVowAAAAAAAAB9lCiMDGxvZ19zdGRfaW5pdJRK/v///4wKb3J0aG9faW5pdJSJjA9vcHRpbWl6ZXJfY2xhc3OUjBN0b3JjaC5vcHRpbS5ybXNwcm9wlIwHUk1TcHJvcJSTlIwQb3B0aW1pemVyX2t3YXJnc5R9lCiMBWFscGhhlEc/764UeuFHrowDZXBzlEc+5Pi1iONo8YwMd2VpZ2h0X2RlY2F5lEsAdXUu",
15
+ "log_std_init": -2,
16
+ "ortho_init": false,
17
  "optimizer_class": "<class 'torch.optim.rmsprop.RMSprop'>",
18
  "optimizer_kwargs": {
19
  "alpha": 0.99,
 
21
  "weight_decay": 0
22
  }
23
  },
24
+ "num_timesteps": 100000,
25
+ "_total_timesteps": 100000,
26
  "_num_timesteps_at_start": 0,
27
  "seed": null,
28
  "action_noise": null,
29
+ "start_time": 1682424777850113787,
30
+ "learning_rate": 0.0006,
31
  "tensorboard_log": null,
32
  "lr_schedule": {
33
  ":type:": "<class 'function'>",
34
+ ":serialized:": "gAWVwwIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMBGZ1bmOUS4JDAgABlIwDdmFslIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOS9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZR1Tk5oAIwQX21ha2VfZW1wdHlfY2VsbJSTlClSlIWUdJRSlIwcY2xvdWRwaWNrbGUuY2xvdWRwaWNrbGVfZmFzdJSMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGgffZR9lChoFmgNjAxfX3F1YWxuYW1lX1+UjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlIwPX19hbm5vdGF0aW9uc19flH2UjA5fX2t3ZGVmYXVsdHNfX5ROjAxfX2RlZmF1bHRzX1+UTowKX19tb2R1bGVfX5RoF4wHX19kb2NfX5ROjAtfX2Nsb3N1cmVfX5RoAIwKX21ha2VfY2VsbJSTlEc/Q6kqMFUyYYWUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwLg=="
35
  },
36
  "_last_obs": {
37
  ":type:": "<class 'collections.OrderedDict'>",
38
+ ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAJ9hPPlSJYj4qJQc/J9hPPlSJYj4qJQc/J9hPPlSJYj4qJQc/J9hPPlSJYj4qJQc/lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAAn6ujPxHxnz9Oa3W/bTkZP2dQSL//E4k/0HwmPa8gqj+lFxy/+7kLP6+Eu79jPo09lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAAAn2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj0n2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj0n2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj0n2E8+VIliPiolBz/QcLE9yFgGPZ6Fpj2UaA5LBEsGhpRoEnSUUpR1Lg==",
39
+ "achieved_goal": "[[0.202973 0.22122699 0.5279108 ]\n [0.202973 0.22122699 0.5279108 ]\n [0.202973 0.22122699 0.5279108 ]\n [0.202973 0.22122699 0.5279108 ]]",
40
+ "desired_goal": "[[ 1.278675 1.2495443 -0.9586686 ]\n [ 0.5985325 -0.78247684 1.0709227 ]\n [ 0.04064637 1.3291224 -0.6097358 ]\n [ 0.5458066 -1.4649867 0.06896665]]",
41
+ "observation": "[[0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]\n [0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]\n [0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]\n [0.202973 0.22122699 0.5279108 0.08664095 0.03279951 0.08130954]]"
42
  },
43
  "_last_episode_starts": {
44
  ":type:": "<class 'numpy.ndarray'>",
 
46
  },
47
  "_last_original_obs": {
48
  ":type:": "<class 'collections.OrderedDict'>",
49
+ ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAApzWSPfllhT1EWC49RrWQPSXbMz0lf8Y8IDmsPGpc771VAjw+JdhSvTrwY714YoU+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==",
50
  "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]]",
51
+ "desired_goal": "[[ 0.0713914 0.0651359 0.04256465]\n [ 0.07065825 0.04391016 0.02423055]\n [ 0.02102333 -0.11687548 0.18360265]\n [-0.05147566 -0.05564902 0.26051688]]",
52
  "observation": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]]"
53
  },
54
  "_episode_num": 0,
55
+ "use_sde": true,
56
  "sde_sample_freq": -1,
57
  "_current_progress_remaining": 0.0,
58
  "_stats_window_size": 100,
59
  "ep_info_buffer": {
60
  ":type:": "<class 'collections.deque'>",
61
+ ":serialized:": "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"
62
  },
63
  "ep_success_buffer": {
64
  ":type:": "<class 'collections.deque'>",
65
  ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="
66
  },
67
+ "_n_updates": 2500,
68
+ "n_steps": 10,
69
+ "gamma": 0.95,
70
+ "gae_lambda": 0.85,
71
  "ent_coef": 0.0,
72
+ "vf_coef": 0.4,
73
  "max_grad_norm": 0.5,
74
  "normalize_advantage": false,
75
  "observation_space": {
rl-a2c-PandaReachDense-v2/policy.optimizer.pth CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:c63fa369753372c39355a152b64836997583d68c0a5d51cb5a7c687dfd53f7a3
3
- size 44734
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a196b8ba5f3b8d729c901fb2dde0c9b00be8e89420ccb85686842bfcaa9be3e0
3
+ size 45438
rl-a2c-PandaReachDense-v2/policy.pth CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:60987a7e4a01e1933410940f873db100c3f1c9ccfa5f0493ee13b0d6b9143de2
3
- size 46014
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b562ff9a0af2e40086e702a33c1b44012c0d2d8763e39e8a37dc77ee355ec42
3
+ size 46718
vec_normalize.pkl CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:9b8472541f19d5c35e090cb2ffdbd375a57407b1a0b29379ede570a61b9c6889
3
  size 2381
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:010e09f9bbc517bad5d9c49d379557d9fa1dca9d5547cb86208c739a0ad0ae7c
3
  size 2381