| { | |
| "name": "paper_image", | |
| "image": { | |
| "image_size": 160, | |
| "visual_scale": 2.5 | |
| }, | |
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| "uniform", | |
| "vortex_center", | |
| "double_gyre", | |
| "source_sink", | |
| "source_sink_pair", | |
| "gradient", | |
| "shear", | |
| "turbulent_patch", | |
| "random_fourier" | |
| ], | |
| "data": { | |
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| "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 | |
| }, | |
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| "flowmo", | |
| "leworldmodel", | |
| "planet", | |
| "tdmpc2" | |
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| "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": { | |
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| "reach_target", | |
| "station_keeping", | |
| "waypoint_square", | |
| "waypoint_zigzag" | |
| ], | |
| "boats": [ | |
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| "triangle" | |
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| "task_max_steps": { | |
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| "station_keeping": 300, | |
| "waypoint_square": 900, | |
| "waypoint_zigzag": 900 | |
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| "cem_horizon": 45, | |
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| "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, | |
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| "cem_w_boundary": 250.0, | |
| "cem_boundary_margin": 0.75, | |
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| }, | |
| "probe_eval": { | |
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| "test_source": "data/paper/test.npz", | |
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| "precision": "bf16", | |
| "ridge_alpha": 0.001 | |
| } | |
| } | |