Add Figure 6 embodiment experiments and S9-S10 records (part 2)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- configs/figure6/hexapod/connectome/seed_20851/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_20852/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_20853/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_20854/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_20855/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_851/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_852/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_853/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_854/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_855/final.json +60 -0
- configs/figure6/hexapod/connectome/seed_856/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10851/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10852/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10853/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10854/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10855/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10856/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10857/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10858/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_10859/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_20851/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_20852/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_20853/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_20854/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_20855/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_851/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_852/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_853/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_854/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_855/final.json +60 -0
- configs/figure6/hexapod/mlp/seed_856/final.json +60 -0
- configs/figure6/tripod/connectome/seed_10861/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10862/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10863/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10864/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10865/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10866/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10867/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10868/final.json +61 -0
- configs/figure6/tripod/connectome/seed_10869/final.json +61 -0
- configs/figure6/tripod/connectome/seed_20861/final.json +61 -0
- configs/figure6/tripod/connectome/seed_20862/final.json +61 -0
- configs/figure6/tripod/connectome/seed_20863/final.json +61 -0
- configs/figure6/tripod/connectome/seed_20864/final.json +61 -0
- configs/figure6/tripod/connectome/seed_20865/final.json +61 -0
- configs/figure6/tripod/connectome/seed_861/final.json +61 -0
- configs/figure6/tripod/connectome/seed_862/final.json +61 -0
- configs/figure6/tripod/connectome/seed_863/final.json +61 -0
- configs/figure6/tripod/connectome/seed_864/final.json +61 -0
- configs/figure6/tripod/connectome/seed_865/final.json +61 -0
configs/figure6/hexapod/connectome/seed_20851/final.json
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{
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"body": "hexapod",
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"method": "connectome",
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"readout": "normalized",
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"seed": 20851,
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"config": {
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"total_timesteps": 131072,
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"n_envs": 4,
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"n_steps": 256,
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"seq_len": 32,
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"n_epochs": 4,
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"n_minibatches": 8,
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"gamma": 0.9920319148370607,
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"lam": 0.951229424500714,
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"clip_range": 0.2,
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"vf_clip_range": 0.2,
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"lr": 0.0001,
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"actor_lr": 0.0001,
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"critic_lr": 0.0001,
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"log_std_lr": 0.0001,
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"vf_coef": 0.5,
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"ent_coef": 0.0,
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"max_grad_norm": 0.5,
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"separate_actor_critic_grad_clipping": true,
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"target_kl": 0.03,
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"normalize_reward": true,
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"normalize_observation": false,
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"observation_clip": 10.0,
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"log_interval": 1,
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"seed": 20851,
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"separate_rng_streams": true,
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"initialization_seed": 20851,
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"environment_seed": 3005100,
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"policy_sampling_seed": 120851,
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"minibatch_seed": 320851,
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"initial_hidden_mode": "zero",
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"rollout_heartbeat": 128,
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"best_checkpoint_mode": "return",
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"best_checkpoint_window": 100,
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"best_checkpoint_min_episodes": 10,
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"best_checkpoint_velocity_key": "mean_x_velocity",
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"best_checkpoint_min_forward_velocity": 0.0,
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"best_checkpoint_max_high_z_termination_rate": 1.0,
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"best_checkpoint_max_inverted_completion_rate": 1.0,
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"best_checkpoint_max_functional_failure_rate": 1.0
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},
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"action_storage": "pre-tanh Gaussian coordinates",
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"teacher_used": false,
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"pretrained_actor_loaded": false,
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"body_interface": "hexapod_cpg_path",
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"body_config": {
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"repeat": 2,
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"initial_speed": 0.5,
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"speed": 0.5,
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"log_std": -1.0,
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"ramp_steps": 1
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},
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"actor_parameter_count": 1859042,
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"critic_sha256": "1aecbcd940ab01d49811f7c7eca15892a8bc9020159a04a683a1e236c272a9d8"
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}
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configs/figure6/hexapod/connectome/seed_20852/final.json
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{
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"body": "hexapod",
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"method": "connectome",
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"readout": "normalized",
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"seed": 20852,
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"config": {
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"total_timesteps": 131072,
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"n_envs": 4,
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"n_steps": 256,
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"seq_len": 32,
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"n_epochs": 4,
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| 12 |
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"n_minibatches": 8,
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| 13 |
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"gamma": 0.9920319148370607,
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| 14 |
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"lam": 0.951229424500714,
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| 15 |
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"clip_range": 0.2,
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| 16 |
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"vf_clip_range": 0.2,
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| 17 |
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"lr": 0.0001,
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| 18 |
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"actor_lr": 0.0001,
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| 19 |
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"critic_lr": 0.0001,
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| 20 |
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"log_std_lr": 0.0001,
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| 21 |
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"vf_coef": 0.5,
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| 22 |
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"ent_coef": 0.0,
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| 23 |
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"max_grad_norm": 0.5,
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| 24 |
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"separate_actor_critic_grad_clipping": true,
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| 25 |
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"target_kl": 0.03,
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"normalize_reward": true,
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"normalize_observation": false,
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| 28 |
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"observation_clip": 10.0,
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"log_interval": 1,
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"seed": 20852,
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| 31 |
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"separate_rng_streams": true,
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"initialization_seed": 20852,
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| 33 |
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"environment_seed": 3005200,
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| 34 |
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"policy_sampling_seed": 120852,
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| 35 |
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"minibatch_seed": 320852,
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| 36 |
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"initial_hidden_mode": "zero",
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| 37 |
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"rollout_heartbeat": 128,
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| 38 |
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"best_checkpoint_mode": "return",
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| 39 |
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"best_checkpoint_window": 100,
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| 40 |
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"best_checkpoint_min_episodes": 10,
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| 41 |
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"best_checkpoint_velocity_key": "mean_x_velocity",
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| 42 |
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"best_checkpoint_min_forward_velocity": 0.0,
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| 43 |
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"best_checkpoint_max_high_z_termination_rate": 1.0,
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| 44 |
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"best_checkpoint_max_inverted_completion_rate": 1.0,
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| 45 |
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"best_checkpoint_max_functional_failure_rate": 1.0
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| 46 |
+
},
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| 47 |
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"action_storage": "pre-tanh Gaussian coordinates",
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| 48 |
+
"teacher_used": false,
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| 49 |
+
"pretrained_actor_loaded": false,
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| 50 |
+
"body_interface": "hexapod_cpg_path",
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| 51 |
+
"body_config": {
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| 52 |
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"repeat": 2,
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| 53 |
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"initial_speed": 0.5,
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| 54 |
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"speed": 0.5,
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| 55 |
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"log_std": -1.0,
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| 56 |
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"ramp_steps": 1
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| 57 |
+
},
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| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "3d3a0b8874ae603a27ab03cc2896cc58492b85c30ddb423a5cc5f5df9bb58c0c"
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| 60 |
+
}
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configs/figure6/hexapod/connectome/seed_20853/final.json
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{
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"body": "hexapod",
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"method": "connectome",
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"readout": "normalized",
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| 5 |
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"seed": 20853,
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| 6 |
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"config": {
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| 7 |
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"total_timesteps": 131072,
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| 8 |
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"n_envs": 4,
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| 9 |
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"n_steps": 256,
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| 10 |
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"seq_len": 32,
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| 11 |
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"n_epochs": 4,
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| 12 |
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"n_minibatches": 8,
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| 13 |
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"gamma": 0.9920319148370607,
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| 14 |
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"lam": 0.951229424500714,
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| 15 |
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"clip_range": 0.2,
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| 16 |
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"vf_clip_range": 0.2,
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| 17 |
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"lr": 0.0001,
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| 18 |
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"actor_lr": 0.0001,
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| 19 |
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"critic_lr": 0.0001,
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| 20 |
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"log_std_lr": 0.0001,
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| 21 |
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"vf_coef": 0.5,
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| 22 |
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"ent_coef": 0.0,
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| 23 |
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"max_grad_norm": 0.5,
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| 24 |
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"separate_actor_critic_grad_clipping": true,
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| 25 |
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"target_kl": 0.03,
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| 26 |
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"normalize_reward": true,
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| 27 |
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"normalize_observation": false,
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| 28 |
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"observation_clip": 10.0,
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| 29 |
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"log_interval": 1,
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| 30 |
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"seed": 20853,
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| 31 |
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"separate_rng_streams": true,
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| 32 |
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"initialization_seed": 20853,
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| 33 |
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"environment_seed": 3005300,
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| 34 |
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"policy_sampling_seed": 120853,
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| 35 |
+
"minibatch_seed": 320853,
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| 36 |
+
"initial_hidden_mode": "zero",
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| 37 |
+
"rollout_heartbeat": 128,
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| 38 |
+
"best_checkpoint_mode": "return",
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| 39 |
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"best_checkpoint_window": 100,
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| 40 |
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"best_checkpoint_min_episodes": 10,
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| 41 |
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"best_checkpoint_velocity_key": "mean_x_velocity",
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| 42 |
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"best_checkpoint_min_forward_velocity": 0.0,
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| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
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| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
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| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
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| 46 |
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},
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| 47 |
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"action_storage": "pre-tanh Gaussian coordinates",
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| 48 |
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"teacher_used": false,
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| 49 |
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"pretrained_actor_loaded": false,
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| 50 |
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"body_interface": "hexapod_cpg_path",
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| 51 |
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"body_config": {
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| 52 |
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"repeat": 2,
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| 53 |
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"initial_speed": 0.5,
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| 54 |
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"speed": 0.5,
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| 55 |
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"log_std": -1.0,
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| 56 |
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"ramp_steps": 1
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| 57 |
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},
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| 58 |
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"actor_parameter_count": 1859042,
|
| 59 |
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"critic_sha256": "0fedf4ad264ca83b80273234af05587b04993d2a4f063bf696c29bea82f8e074"
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| 60 |
+
}
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configs/figure6/hexapod/connectome/seed_20854/final.json
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{
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"body": "hexapod",
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"method": "connectome",
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"readout": "normalized",
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"seed": 20854,
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"config": {
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| 7 |
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"total_timesteps": 131072,
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| 8 |
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"n_envs": 4,
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"n_steps": 256,
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| 10 |
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"seq_len": 32,
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| 11 |
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"n_epochs": 4,
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| 12 |
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"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20854,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20854,
|
| 33 |
+
"environment_seed": 3005400,
|
| 34 |
+
"policy_sampling_seed": 120854,
|
| 35 |
+
"minibatch_seed": 320854,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "c29a11197563ba61c075eedccd6774c51c995755d7868596d9870e47f094a13b"
|
| 60 |
+
}
|
configs/figure6/hexapod/connectome/seed_20855/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 20855,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20855,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20855,
|
| 33 |
+
"environment_seed": 3005500,
|
| 34 |
+
"policy_sampling_seed": 120855,
|
| 35 |
+
"minibatch_seed": 320855,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "d7eacc6fed32087a8c52314d97387c98d1675a79219e57d5f825f9b1f8a835b6"
|
| 60 |
+
}
|
configs/figure6/hexapod/connectome/seed_851/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 851,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 851,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 851,
|
| 33 |
+
"environment_seed": 1005100,
|
| 34 |
+
"policy_sampling_seed": 100851,
|
| 35 |
+
"minibatch_seed": 300851,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "9f8c8036f5d9f402ed71b507aca427e958c62d6ad11680e983c71b243823d9c9"
|
| 60 |
+
}
|
configs/figure6/hexapod/connectome/seed_852/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 852,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 852,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 852,
|
| 33 |
+
"environment_seed": 1005200,
|
| 34 |
+
"policy_sampling_seed": 100852,
|
| 35 |
+
"minibatch_seed": 300852,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "79f6c3e02636560b6c9f6aeeda2310721ecde9958891fcadc3f37d27e4526bab"
|
| 60 |
+
}
|
configs/figure6/hexapod/connectome/seed_853/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 853,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 853,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 853,
|
| 33 |
+
"environment_seed": 1005300,
|
| 34 |
+
"policy_sampling_seed": 100853,
|
| 35 |
+
"minibatch_seed": 300853,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "f20a178bac1043728505a650e1ffd752673e727c062f4584ba6c709528709da0"
|
| 60 |
+
}
|
configs/figure6/hexapod/connectome/seed_854/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 854,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 854,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 854,
|
| 33 |
+
"environment_seed": 1005400,
|
| 34 |
+
"policy_sampling_seed": 100854,
|
| 35 |
+
"minibatch_seed": 300854,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "afd7ccee5743ab0797f9d375e1ced81d6f09bc204f63469f3110423efd5eaf53"
|
| 60 |
+
}
|
configs/figure6/hexapod/connectome/seed_855/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 855,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 855,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 855,
|
| 33 |
+
"environment_seed": 1005500,
|
| 34 |
+
"policy_sampling_seed": 100855,
|
| 35 |
+
"minibatch_seed": 300855,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "4d8c662c5480fa4b6d1f594a169ac76c5a85d4de9f7359d9ec57638c31f4bd22"
|
| 60 |
+
}
|
configs/figure6/hexapod/connectome/seed_856/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 856,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 856,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 856,
|
| 33 |
+
"environment_seed": 1005600,
|
| 34 |
+
"policy_sampling_seed": 100856,
|
| 35 |
+
"minibatch_seed": 300856,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859042,
|
| 59 |
+
"critic_sha256": "d3a6f679d6c4f90ca1ea8755ba6aeb4c6965f112f541eb22faac9ec0693843c2"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10851/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10851,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10851,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10851,
|
| 33 |
+
"environment_seed": 2005100,
|
| 34 |
+
"policy_sampling_seed": 110851,
|
| 35 |
+
"minibatch_seed": 310851,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "5408ba2b62c7484929f7d6a4b2c2ac845b5a0b8466ac1b5b8bbac7663a57d6cb"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10852/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10852,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10852,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10852,
|
| 33 |
+
"environment_seed": 2005200,
|
| 34 |
+
"policy_sampling_seed": 110852,
|
| 35 |
+
"minibatch_seed": 310852,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "bd8b913127a0bf7716fe23c2b8583033c9b7bd43089d567f597290ea64e103d0"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10853/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10853,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10853,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10853,
|
| 33 |
+
"environment_seed": 2005300,
|
| 34 |
+
"policy_sampling_seed": 110853,
|
| 35 |
+
"minibatch_seed": 310853,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "fc8a876e3daa7020f797e29ae5ac20b084147af47afd5f53b16deff6fe7f1d6b"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10854/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10854,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10854,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10854,
|
| 33 |
+
"environment_seed": 2005400,
|
| 34 |
+
"policy_sampling_seed": 110854,
|
| 35 |
+
"minibatch_seed": 310854,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "6ddd385104580657e7b8984ba3ad1bf864de457cb6fb136aafbbe7d34f437d7a"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10855/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10855,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10855,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10855,
|
| 33 |
+
"environment_seed": 2005500,
|
| 34 |
+
"policy_sampling_seed": 110855,
|
| 35 |
+
"minibatch_seed": 310855,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "a5dc0c7932e7f6cf395c35abb736add81488c0b17cdc71237f8d4d98952f4644"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10856/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10856,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10856,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10856,
|
| 33 |
+
"environment_seed": 2005600,
|
| 34 |
+
"policy_sampling_seed": 110856,
|
| 35 |
+
"minibatch_seed": 310856,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "d450a10348d48de37639657590312ad0fcf8f0936cfece5f098f0e07657f28b8"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10857/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10857,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10857,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10857,
|
| 33 |
+
"environment_seed": 2005700,
|
| 34 |
+
"policy_sampling_seed": 110857,
|
| 35 |
+
"minibatch_seed": 310857,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "8fd4e4250ff2f8e8f15056db7cdf2be132927e99df25674ca1a1c5ef90d7c7a7"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10858/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10858,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10858,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10858,
|
| 33 |
+
"environment_seed": 2005800,
|
| 34 |
+
"policy_sampling_seed": 110858,
|
| 35 |
+
"minibatch_seed": 310858,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "8e9e3f7fde5990236679a5abc63c83816b7fb7fd5d6fa8f52639b487ce3eb260"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_10859/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 10859,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10859,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10859,
|
| 33 |
+
"environment_seed": 2005900,
|
| 34 |
+
"policy_sampling_seed": 110859,
|
| 35 |
+
"minibatch_seed": 310859,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "06322c6f82170fbb580acb8cc75ce399b5230a9ea8ab608e8ce58fbdf19903c8"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_20851/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 20851,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20851,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20851,
|
| 33 |
+
"environment_seed": 3005100,
|
| 34 |
+
"policy_sampling_seed": 120851,
|
| 35 |
+
"minibatch_seed": 320851,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "1aecbcd940ab01d49811f7c7eca15892a8bc9020159a04a683a1e236c272a9d8"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_20852/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 20852,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20852,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20852,
|
| 33 |
+
"environment_seed": 3005200,
|
| 34 |
+
"policy_sampling_seed": 120852,
|
| 35 |
+
"minibatch_seed": 320852,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "3d3a0b8874ae603a27ab03cc2896cc58492b85c30ddb423a5cc5f5df9bb58c0c"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_20853/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 20853,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20853,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20853,
|
| 33 |
+
"environment_seed": 3005300,
|
| 34 |
+
"policy_sampling_seed": 120853,
|
| 35 |
+
"minibatch_seed": 320853,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "0fedf4ad264ca83b80273234af05587b04993d2a4f063bf696c29bea82f8e074"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_20854/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 20854,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20854,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20854,
|
| 33 |
+
"environment_seed": 3005400,
|
| 34 |
+
"policy_sampling_seed": 120854,
|
| 35 |
+
"minibatch_seed": 320854,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "c29a11197563ba61c075eedccd6774c51c995755d7868596d9870e47f094a13b"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_20855/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 20855,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20855,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20855,
|
| 33 |
+
"environment_seed": 3005500,
|
| 34 |
+
"policy_sampling_seed": 120855,
|
| 35 |
+
"minibatch_seed": 320855,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "d7eacc6fed32087a8c52314d97387c98d1675a79219e57d5f825f9b1f8a835b6"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_851/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 851,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 851,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 851,
|
| 33 |
+
"environment_seed": 1005100,
|
| 34 |
+
"policy_sampling_seed": 100851,
|
| 35 |
+
"minibatch_seed": 300851,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "9f8c8036f5d9f402ed71b507aca427e958c62d6ad11680e983c71b243823d9c9"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_852/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 852,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 852,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 852,
|
| 33 |
+
"environment_seed": 1005200,
|
| 34 |
+
"policy_sampling_seed": 100852,
|
| 35 |
+
"minibatch_seed": 300852,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "79f6c3e02636560b6c9f6aeeda2310721ecde9958891fcadc3f37d27e4526bab"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_853/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 853,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 853,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 853,
|
| 33 |
+
"environment_seed": 1005300,
|
| 34 |
+
"policy_sampling_seed": 100853,
|
| 35 |
+
"minibatch_seed": 300853,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "f20a178bac1043728505a650e1ffd752673e727c062f4584ba6c709528709da0"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_854/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 854,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 854,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 854,
|
| 33 |
+
"environment_seed": 1005400,
|
| 34 |
+
"policy_sampling_seed": 100854,
|
| 35 |
+
"minibatch_seed": 300854,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "afd7ccee5743ab0797f9d375e1ced81d6f09bc204f63469f3110423efd5eaf53"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_855/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 855,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 855,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 855,
|
| 33 |
+
"environment_seed": 1005500,
|
| 34 |
+
"policy_sampling_seed": 100855,
|
| 35 |
+
"minibatch_seed": 300855,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "4d8c662c5480fa4b6d1f594a169ac76c5a85d4de9f7359d9ec57638c31f4bd22"
|
| 60 |
+
}
|
configs/figure6/hexapod/mlp/seed_856/final.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "hexapod",
|
| 3 |
+
"method": "mlp",
|
| 4 |
+
"readout": "normalized",
|
| 5 |
+
"seed": 856,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 856,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 856,
|
| 33 |
+
"environment_seed": 1005600,
|
| 34 |
+
"policy_sampling_seed": 100856,
|
| 35 |
+
"minibatch_seed": 300856,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "hexapod_cpg_path",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.5,
|
| 54 |
+
"speed": 0.5,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 1
|
| 57 |
+
},
|
| 58 |
+
"actor_parameter_count": 1859762,
|
| 59 |
+
"critic_sha256": "d3a6f679d6c4f90ca1ea8755ba6aeb4c6965f112f541eb22faac9ec0693843c2"
|
| 60 |
+
}
|
configs/figure6/tripod/connectome/seed_10861/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10861,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10861,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10861,
|
| 33 |
+
"environment_seed": 2006100,
|
| 34 |
+
"policy_sampling_seed": 110861,
|
| 35 |
+
"minibatch_seed": 310861,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "258e7a1792ead0a975826835b2c4d0b00a7ef3b81bbc7320c1a28a7cc8d19610"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10862/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10862,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10862,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10862,
|
| 33 |
+
"environment_seed": 2006200,
|
| 34 |
+
"policy_sampling_seed": 110862,
|
| 35 |
+
"minibatch_seed": 310862,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "3493a60da9c20dac8c700d327e7a30b6bdee54c0125e40d17ddc6da881fc7f5a"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10863/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10863,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10863,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10863,
|
| 33 |
+
"environment_seed": 2006300,
|
| 34 |
+
"policy_sampling_seed": 110863,
|
| 35 |
+
"minibatch_seed": 310863,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "1fb3371a8dfdc525a5765e327cd30b992954fe249975fd973bdd3e38bafa80e1"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10864/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10864,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10864,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10864,
|
| 33 |
+
"environment_seed": 2006400,
|
| 34 |
+
"policy_sampling_seed": 110864,
|
| 35 |
+
"minibatch_seed": 310864,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "92b7040f02d0ea9df0abd9c5c3407c1be011d079fca6d453077757620d60d13d"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10865/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10865,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10865,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10865,
|
| 33 |
+
"environment_seed": 2006500,
|
| 34 |
+
"policy_sampling_seed": 110865,
|
| 35 |
+
"minibatch_seed": 310865,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "0584cb7ebab75bcbb76ae1e10bc7ae23090d6285c019fa5ffa4da647b0e94132"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10866/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10866,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10866,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10866,
|
| 33 |
+
"environment_seed": 2006600,
|
| 34 |
+
"policy_sampling_seed": 110866,
|
| 35 |
+
"minibatch_seed": 310866,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "7db5977b58133d936bf31d84686fd8ec09978fd986a9d3cd53ecf16087d1bea7"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10867/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10867,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10867,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10867,
|
| 33 |
+
"environment_seed": 2006700,
|
| 34 |
+
"policy_sampling_seed": 110867,
|
| 35 |
+
"minibatch_seed": 310867,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "d4ef077aa05cd8856634cce8b20475cbc485dae8e9b092ee665bcb01c41914db"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10868/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10868,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10868,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10868,
|
| 33 |
+
"environment_seed": 2006800,
|
| 34 |
+
"policy_sampling_seed": 110868,
|
| 35 |
+
"minibatch_seed": 310868,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "3f7ab54892ddb7d63c991f2e6a649e3551ce0ec22b1d917bc4d668890e84faec"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_10869/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 10869,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 10869,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 10869,
|
| 33 |
+
"environment_seed": 2006900,
|
| 34 |
+
"policy_sampling_seed": 110869,
|
| 35 |
+
"minibatch_seed": 310869,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "fa11ddb11f9cde44544af995e2c3b264750a177b88d38acee1146b27a7d74b52"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_20861/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 20861,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20861,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20861,
|
| 33 |
+
"environment_seed": 3006100,
|
| 34 |
+
"policy_sampling_seed": 120861,
|
| 35 |
+
"minibatch_seed": 320861,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "de1a02d411c1add2b8b2ddb5b6d6972d892910fad0249b8bd3ae44ce3b0228c0"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_20862/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 20862,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20862,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20862,
|
| 33 |
+
"environment_seed": 3006200,
|
| 34 |
+
"policy_sampling_seed": 120862,
|
| 35 |
+
"minibatch_seed": 320862,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "1de298bef27bae2139bb01ef695c5077ae43dd8a48234f3da61b7e59098caf50"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_20863/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 20863,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20863,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20863,
|
| 33 |
+
"environment_seed": 3006300,
|
| 34 |
+
"policy_sampling_seed": 120863,
|
| 35 |
+
"minibatch_seed": 320863,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "0395eeb893a77874fd0406edf53fe9efc1f702a218617d662f77bd5a62d99eb9"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_20864/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 20864,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20864,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20864,
|
| 33 |
+
"environment_seed": 3006400,
|
| 34 |
+
"policy_sampling_seed": 120864,
|
| 35 |
+
"minibatch_seed": 320864,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "755c7544b73deda7d5c79ae4866def623e36c39a3f56ad868fce4b4550f939c9"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_20865/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 20865,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 20865,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 20865,
|
| 33 |
+
"environment_seed": 3006500,
|
| 34 |
+
"policy_sampling_seed": 120865,
|
| 35 |
+
"minibatch_seed": 320865,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "dc31ab1377375329a713c0bf2daeca30867542d328d236c7075787d604f490b9"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_861/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 861,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 861,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 861,
|
| 33 |
+
"environment_seed": 1006100,
|
| 34 |
+
"policy_sampling_seed": 100861,
|
| 35 |
+
"minibatch_seed": 300861,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "1f4aab11b2394a8efb2a602dcc141b3dffa1b7124491eebc627aba824577a65d"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_862/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 862,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 862,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 862,
|
| 33 |
+
"environment_seed": 1006200,
|
| 34 |
+
"policy_sampling_seed": 100862,
|
| 35 |
+
"minibatch_seed": 300862,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "f6badc68a154bb0752b45555f31fec6df74c6963a97d6b58f44de6c6f940cd83"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_863/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 863,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 863,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 863,
|
| 33 |
+
"environment_seed": 1006300,
|
| 34 |
+
"policy_sampling_seed": 100863,
|
| 35 |
+
"minibatch_seed": 300863,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "2a282abce58dcfb298053a1615cf62a390d014396cd6564cc0420a494cdfdcb5"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_864/final.json
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 864,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 864,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 864,
|
| 33 |
+
"environment_seed": 1006400,
|
| 34 |
+
"policy_sampling_seed": 100864,
|
| 35 |
+
"minibatch_seed": 300864,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "90b765c452637fe386b153be95e35bf4ad26294764442b5e7370a5ac15728754"
|
| 61 |
+
}
|
configs/figure6/tripod/connectome/seed_865/final.json
ADDED
|
@@ -0,0 +1,61 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"body": "tripod",
|
| 3 |
+
"method": "connectome",
|
| 4 |
+
"readout": "reflex",
|
| 5 |
+
"seed": 865,
|
| 6 |
+
"config": {
|
| 7 |
+
"total_timesteps": 131072,
|
| 8 |
+
"n_envs": 4,
|
| 9 |
+
"n_steps": 256,
|
| 10 |
+
"seq_len": 32,
|
| 11 |
+
"n_epochs": 4,
|
| 12 |
+
"n_minibatches": 8,
|
| 13 |
+
"gamma": 0.9920319148370607,
|
| 14 |
+
"lam": 0.951229424500714,
|
| 15 |
+
"clip_range": 0.2,
|
| 16 |
+
"vf_clip_range": 0.2,
|
| 17 |
+
"lr": 0.0001,
|
| 18 |
+
"actor_lr": 0.0001,
|
| 19 |
+
"critic_lr": 0.0001,
|
| 20 |
+
"log_std_lr": 0.0001,
|
| 21 |
+
"vf_coef": 0.5,
|
| 22 |
+
"ent_coef": 0.0,
|
| 23 |
+
"max_grad_norm": 0.5,
|
| 24 |
+
"separate_actor_critic_grad_clipping": true,
|
| 25 |
+
"target_kl": 0.03,
|
| 26 |
+
"normalize_reward": true,
|
| 27 |
+
"normalize_observation": false,
|
| 28 |
+
"observation_clip": 10.0,
|
| 29 |
+
"log_interval": 1,
|
| 30 |
+
"seed": 865,
|
| 31 |
+
"separate_rng_streams": true,
|
| 32 |
+
"initialization_seed": 865,
|
| 33 |
+
"environment_seed": 1006500,
|
| 34 |
+
"policy_sampling_seed": 100865,
|
| 35 |
+
"minibatch_seed": 300865,
|
| 36 |
+
"initial_hidden_mode": "zero",
|
| 37 |
+
"rollout_heartbeat": 128,
|
| 38 |
+
"best_checkpoint_mode": "return",
|
| 39 |
+
"best_checkpoint_window": 100,
|
| 40 |
+
"best_checkpoint_min_episodes": 10,
|
| 41 |
+
"best_checkpoint_velocity_key": "mean_x_velocity",
|
| 42 |
+
"best_checkpoint_min_forward_velocity": 0.0,
|
| 43 |
+
"best_checkpoint_max_high_z_termination_rate": 1.0,
|
| 44 |
+
"best_checkpoint_max_inverted_completion_rate": 1.0,
|
| 45 |
+
"best_checkpoint_max_functional_failure_rate": 1.0
|
| 46 |
+
},
|
| 47 |
+
"action_storage": "pre-tanh Gaussian coordinates",
|
| 48 |
+
"teacher_used": false,
|
| 49 |
+
"pretrained_actor_loaded": false,
|
| 50 |
+
"body_interface": "tripod_rhythm",
|
| 51 |
+
"body_config": {
|
| 52 |
+
"repeat": 2,
|
| 53 |
+
"initial_speed": 0.08,
|
| 54 |
+
"speed": 0.45,
|
| 55 |
+
"log_std": -1.0,
|
| 56 |
+
"ramp_steps": 262144,
|
| 57 |
+
"clock_hz": 1.5
|
| 58 |
+
},
|
| 59 |
+
"actor_parameter_count": 772888,
|
| 60 |
+
"critic_sha256": "fc97258aa9e5ac2ca5c06b5c1ed3acdb4b9aa94a172c6c518a21535321392d8a"
|
| 61 |
+
}
|