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runs/24b3cec191ea20d8/config.yaml

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+template_name: antdir-ppo
+instance_id: 24b3cec191ea20d8
+env_id: AntDir-v1
+env_kwargs:
+  direction_rad: 1.5707963267948966
+algorithm: ppo
+seed: 801849371
+total_steps: 2000000
+learning_rate: 0.0003
+gamma: 0.99
+gae_lambda: 0.95
+clip_epsilon: 0.2
+value_coef: 0.5
+entropy_coef: 0.01
+max_grad_norm: 0.5
+rollout_steps: 2048
+num_envs: 8
+num_minibatches: 32
+update_epochs: 10
+actor_hidden:
+- 256
+- 256
+critic_hidden:
+- 256
+- 256
+activation: tanh
+shared_backbone: false
+trace_checkpoint_steps:
+- 200000
+- 500000
+- 1000000
+- 1500000
+- 2000000
+trace_checkpoint_freq: 50000
+trace_log_freq: 1000
+trace_video_freq: 100000
+description: PPO training on Ant with direction control task
+tags:
+- baseline
+- mujoco
+- locomotion
+- multitask

runs/24b3cec191ea20d8/meta.yaml

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+run_id: 24b3cec191ea20d8
+template_name: antdir-ppo
+seed: 801849371
+status: pending
+created_at: '2026-01-30T16:51:13.633515Z'
+started_at: null
+completed_at: null
+current_step: 0
+total_steps: 2000000
+checkpoints_saved: []
+videos_saved: []
+error_message: null