File size: 2,520 Bytes
604e535 ccf9f1b 604e535 ccf9f1b 604e535 ccf9f1b 604e535 ccf9f1b 604e535 ccf9f1b 604e535 ccf9f1b 604e535 ccf9f1b 604e535 f64a7b1 604e535 f64a7b1 604e535 f64a7b1 604e535 f64a7b1 ccf9f1b 604e535 ccf9f1b 604e535 ccf9f1b 604e535 ccf9f1b 604e535 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 | {
"name": "paper_image",
"image": {
"image_size": 160,
"visual_scale": 2.5
},
"flow_families": [
"noflow",
"uniform",
"vortex_center",
"double_gyre",
"source_sink",
"source_sink_pair",
"gradient",
"shear",
"turbulent_patch",
"random_fourier"
],
"data": {
"train_source": "data/paper/train.npz",
"test_source": "data/paper/test.npz",
"train_episodes": 2400,
"test_episodes": 480,
"steps": 300,
"flow_pool_size": 80,
"boundary": "terminate",
"train_seed": 4301,
"test_seed": 4302
},
"training": {
"methods": [
"flowmo",
"leworldmodel",
"planet",
"tdmpc2"
],
"history_len": 32,
"horizon": 60,
"train_windows": 393216,
"test_windows": 24576,
"batch_size": 256,
"steps": 20000,
"checkpoint_interval": 2000,
"precision": "bf16",
"learning_rate": 0.0003,
"target_mode": "absolute_normalized",
"current_pose_weight": 1.0,
"motion_weight": 0.5,
"heading_weight": 2.0,
"num_workers": 4,
"render_mode": "device",
"parallel_jobs": 2
},
"prediction_eval": {
"horizon": 60,
"test_windows": 16384,
"batch_size": 256,
"precision": "bf16",
"out": "experiments/reports/paper_prediction.json"
},
"planning_eval": {
"tasks": [
"reach_target",
"station_keeping",
"waypoint_square",
"waypoint_zigzag"
],
"boats": [
"twin",
"triangle"
],
"episodes": 50,
"precision": "fp32",
"max_steps": 420,
"task_max_steps": {
"reach_target": 420,
"station_keeping": 300,
"waypoint_square": 900,
"waypoint_zigzag": 900
},
"make_gifs": 3,
"cem_horizon": 45,
"cem_population": 512,
"cem_elites": 64,
"cem_iterations": 4,
"cem_action_std": 0.5,
"cem_knots": 10,
"cem_w_goal": 6.0,
"cem_w_path": 0.2,
"cem_w_route": 6.0,
"cem_w_lookahead": 2.0,
"cem_w_via": 2.0,
"cem_route_horizon_distance": 3.0,
"cem_w_heading_goal": 0.0,
"cem_w_progress": 2.5,
"cem_w_action": 0.08,
"cem_w_smooth": 0.08,
"cem_w_boundary": 250.0,
"cem_boundary_margin": 0.75,
"parallel_jobs": 3
},
"probe_eval": {
"train_source": "data/paper/train.npz",
"test_source": "data/paper/test.npz",
"train_episodes": 2400,
"test_episodes": 480,
"train_windows": 32768,
"eval_windows": 8192,
"batch_size": 256,
"precision": "bf16",
"ridge_alpha": 0.001
}
}
|