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{
"name": "FBcprAuxAgent",
"model": {
"name": "FBcprAuxModel",
"device": "cuda",
"archi": {
"name": "FBcprAuxModelArchiConfig",
"z_dim": 256,
"norm_z": true,
"f": {
"name": "ForwardArchi",
"hidden_dim": 2048,
"model": "residual",
"hidden_layers": 6,
"embedding_layers": 2,
"num_parallel": 2,
"ensemble_mode": "batch",
"input_filter": {
"name": "DictInputFilterConfig",
"key": [
"state",
"privileged_state",
"last_action",
"history_actor"
]
}
},
"b": {
"name": "BackwardArchi",
"hidden_dim": 256,
"hidden_layers": 1,
"norm": true,
"input_filter": {
"name": "DictInputFilterConfig",
"key": [
"state",
"privileged_state"
]
}
},
"actor": {
"name": "actor",
"model": "residual",
"hidden_dim": 2048,
"hidden_layers": 6,
"embedding_layers": 2,
"input_filter": {
"name": "DictInputFilterConfig",
"key": [
"state",
"last_action",
"history_actor"
]
}
},
"critic": {
"name": "ForwardArchi",
"hidden_dim": 2048,
"model": "residual",
"hidden_layers": 6,
"embedding_layers": 2,
"num_parallel": 2,
"ensemble_mode": "batch",
"input_filter": {
"name": "DictInputFilterConfig",
"key": [
"state",
"privileged_state",
"last_action",
"history_actor"
]
}
},
"discriminator": {
"name": "DiscriminatorArchi",
"hidden_dim": 1024,
"hidden_layers": 3,
"input_filter": {
"name": "DictInputFilterConfig",
"key": [
"state",
"privileged_state"
]
}
},
"aux_critic": {
"name": "ForwardArchi",
"hidden_dim": 1024,
"model": "simple",
"hidden_layers": 2,
"embedding_layers": 2,
"num_parallel": 2,
"ensemble_mode": "batch",
"input_filter": {
"name": "DictInputFilterConfig",
"key": [
"state",
"privileged_state",
"last_action",
"history_actor"
]
}
}
},
"obs_normalizer": {
"name": "ObsNormalizerConfig",
"normalizers": {
"state": {
"name": "BatchNormNormalizerConfig",
"momentum": 0.01
},
"privileged_state": {
"name": "BatchNormNormalizerConfig",
"momentum": 0.01
},
"last_action": {
"name": "BatchNormNormalizerConfig",
"momentum": 0.01
},
"history_actor": {
"name": "BatchNormNormalizerConfig",
"momentum": 0.01
}
},
"allow_mismatching_keys": true
},
"inference_batch_size": 500000,
"seq_length": 8,
"actor_std": 0.05,
"amp": false,
"norm_aux_reward": {
"name": "RewardNormalizer",
"translate": false,
"scale": true
}
},
"train": {
"name": "FBcprAuxAgentTrainConfig",
"lr_f": 0.0003,
"lr_b": 1e-05,
"lr_actor": 0.0003,
"weight_decay": 0.0,
"clip_grad_norm": 0.0,
"fb_target_tau": 0.01,
"ortho_coef": 100.0,
"train_goal_ratio": 0.2,
"fb_pessimism_penalty": 0.0,
"actor_pessimism_penalty": 0.5,
"stddev_clip": 0.3,
"q_loss_coef": 0.0,
"batch_size": 1024,
"discount": 0.98,
"use_mix_rollout": true,
"update_z_every_step": 100,
"z_buffer_size": 8192,
"lr_discriminator": 1e-05,
"lr_critic": 0.0003,
"critic_target_tau": 0.005,
"critic_pessimism_penalty": 0.5,
"reg_coeff": 0.05,
"scale_reg": true,
"expert_asm_ratio": 0.6,
"relabel_ratio": 0.8,
"grad_penalty_discriminator": 10.0,
"weight_decay_discriminator": 0.0,
"lr_aux_critic": 0.0003,
"reg_coeff_aux": 0.02,
"aux_critic_pessimism_penalty": 0.5
},
"aux_rewards": [
"penalty_torques",
"penalty_action_rate",
"limits_dof_pos",
"limits_torque",
"penalty_undesired_contact",
"penalty_feet_ori",
"penalty_ankle_roll",
"penalty_slippage"
],
"aux_rewards_scaling": {
"penalty_action_rate": -0.1,
"penalty_feet_ori": -0.4,
"penalty_ankle_roll": -4.0,
"limits_dof_pos": -10.0,
"penalty_slippage": -2.0,
"penalty_undesired_contact": -1.0,
"penalty_torques": 0.0,
"limits_torque": 0.0
},
"cudagraphs": false,
"compile": true
} |