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templates/halfcheetah-ppo-baseline.yaml
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name: halfcheetah-ppo-baseline
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task: HalfCheetah-v4
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algorithm: ppo
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seeds:
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- 42
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- 123
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- 456
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hyperparams:
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total_steps: 1000000
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learning_rate: 0.0003
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gamma: 0.99
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gae_lambda: 0.95
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clip_epsilon: 0.2
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value_coef: 0.5
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entropy_coef: 0.01
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max_grad_norm: 0.5
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rollout_steps: 2048
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num_envs: 8
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num_minibatches: 32
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update_epochs: 10
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network:
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actor_hidden:
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- 256
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- 256
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critic_hidden:
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- 256
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- 256
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activation: tanh
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shared_backbone: false
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trace:
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checkpoint_steps:
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- 100000
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- 250000
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- 500000
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- 750000
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- 1000000
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checkpoint_freq: null
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log_freq: 1000
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video_freq: 50000
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description: PPO baseline on HalfCheetah velocity task
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tags:
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- baseline
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- mujoco
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- velocity
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