| adaptive_lr: false | |
| adversary: true | |
| desired_kl: 0.01 | |
| device: cuda:0 | |
| dstb_pretrain: 20 | |
| end_criterion: null | |
| ent_coef: 0.001 | |
| force_floor: 0.3 | |
| force_init: 0.5 | |
| force_max: 25.0 | |
| force_ramp_frac: 0.55 | |
| fwd_force: 15.0 | |
| gamma: 0.99 | |
| gamma_anneal: false | |
| l_anneal_steps: 0 | |
| l_hold_steps: 20000000 | |
| leg_death: false | |
| load: checkpoints/getup_stage1/final/final_model.zip | |
| load_tensornorm: null | |
| lr: 0.0001 | |
| max_std: 0.4 | |
| net: 128,128,128 | |
| no_wandb: true | |
| norm_freeze_steps: 5000000 | |
| num_envs: 1024 | |
| out: runs/getup | |
| reset_log_std: null | |
| reset_value: false | |
| seed: 0 | |
| std_ceil: null | |
| std_floor: null | |
| steps: 50000000 | |
| target_kl: 0.01 | |
| task: go2_getup | |
| terminal_type: all | |
| vf_coef: 0.5 | |
| video_interval: 5000000 | |
| wandb_project: odd-conditioned | |