Upload 101 files

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-35/iterations/best_policy.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea2d5a83f2c34e430e805c5162ae3f08d09d79e7c95766d8c1e3a34b79a7da5f
+size 82064

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-35/iterations/best_policy20230526-151404_trace.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a54ba350ef739beacae2e040e50a08ef99e55ef30f3d59694dcbd3358fdb598d
+size 645030315

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-35/job_config.yaml

@@ -0,0 +1,39 @@
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyStandRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 20001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J1c: Run it for way longer with higher init_std. J1b: (using stand configs)
+  J1a: Stand init(was using walk config) . Ported from Robel (not roel dev). J0e:
+  Root pos in world co-ordiante. J0d: H 160, automatic distance computation for bonus
+  (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading: 2.0,
+  dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.1
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J1c_standRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: J1c_standRandom

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-35/multirun.yaml

@@ -0,0 +1,207 @@
+hydra:
+  run:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  sweep:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  launcher:
+    cpus_per_task: 12
+    gpus_per_node: 0
+    tasks_per_node: 1
+    timeout_min: 4320
+    mem_gb: 64
+    name: ${hydra.job.name}
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+    submitit_folder: ${hydra.sweep.dir}/.submitit/%j
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra/output=self
+    - hydra/launcher=self
+    - hydra.mode=MULTIRUN
+    task:
+    - env=DKittyStandRandom-v0
+    - job_dir=Projects/robohive/quads/dkitty
+    - job_name=J1c_standRandom
+    - init_log_std=-.1
+  job:
+    name: ${env}
+    chdir: null
+    override_dirname: env=DKittyStandRandom-v0,init_log_std=-.1,job_dir=Projects/robohive/quads/dkitty,job_name=J1c_standRandom
+    id: ???
+    num: ???
+    config_name: hydra_quads_config.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: self
+      hydra/output: self
+  verbose: false
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyStandRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 20001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J1c: Run it for way longer with higher init_std. J1b: (using stand configs)
+  J1a: Stand init(was using walk config) . Ported from Robel (not roel dev). J0e:
+  Root pos in world co-ordiante. J0d: H 160, automatic distance computation for bonus
+  (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading: 2.0,
+  dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.1
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J1c_standRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: ${job_name}

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-50/iterations/best_policy.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad531f9e09491e9903ccd7acc36ba12de673a73a76e7a204e9fb2d0b273c1f2a
+size 82064

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-50/iterations/best_policy20230526-151234_trace.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f3de3ee239b8f75b839e1e6c62022d8e6ea3a165397f73a69a8b00989b42de
+size 689378279

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-50/job_config.yaml

@@ -0,0 +1,39 @@
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyStandRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 20001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J1c: Run it for way longer with higher init_std. J1b: (using stand configs)
+  J1a: Stand init(was using walk config) . Ported from Robel (not roel dev). J0e:
+  Root pos in world co-ordiante. J0d: H 160, automatic distance computation for bonus
+  (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading: 2.0,
+  dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: 0
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J1c_standRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: J1c_standRandom

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-35-50/multirun.yaml

@@ -0,0 +1,207 @@
+hydra:
+  run:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  sweep:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  launcher:
+    cpus_per_task: 12
+    gpus_per_node: 0
+    tasks_per_node: 1
+    timeout_min: 4320
+    mem_gb: 64
+    name: ${hydra.job.name}
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+    submitit_folder: ${hydra.sweep.dir}/.submitit/%j
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra/output=self
+    - hydra/launcher=self
+    - hydra.mode=MULTIRUN
+    task:
+    - env=DKittyStandRandom-v0
+    - job_dir=Projects/robohive/quads/dkitty
+    - job_name=J1c_standRandom
+    - init_log_std=0
+  job:
+    name: ${env}
+    chdir: null
+    override_dirname: env=DKittyStandRandom-v0,init_log_std=0,job_dir=Projects/robohive/quads/dkitty,job_name=J1c_standRandom
+    id: ???
+    num: ???
+    config_name: hydra_quads_config.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: self
+      hydra/output: self
+  verbose: false
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyStandRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 20001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J1c: Run it for way longer with higher init_std. J1b: (using stand configs)
+  J1a: Stand init(was using walk config) . Ported from Robel (not roel dev). J0e:
+  Root pos in world co-ordiante. J0d: H 160, automatic distance computation for bonus
+  (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading: 2.0,
+  dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: 0
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J1c_standRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: ${job_name}

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-36-12/iterations/best_policy.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af36eb83d830fa6b32520e517fe5ba814c1c63dc7504b89176d9f1f97c452d8b
+size 82064

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-36-12/iterations/best_policy20230526-151522_trace.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae87fa737d7922bea481b3bfcf0213b7ea88f57fd24f15f84f94b6e078c5bfc8
+size 690248256

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-36-12/job_config.yaml

@@ -0,0 +1,39 @@
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyStandRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 20001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J1c: Run it for way longer with higher init_std. J1b: (using stand configs)
+  J1a: Stand init(was using walk config) . Ported from Robel (not roel dev). J0e:
+  Root pos in world co-ordiante. J0d: H 160, automatic distance computation for bonus
+  (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading: 2.0,
+  dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: 0.2
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J1c_standRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: J1c_standRandom

staging/D_Kitty(expert)/DKittyStandRandom-v0/J1c_standRandom2023-05-23_00-36-12/multirun.yaml

@@ -0,0 +1,207 @@
+hydra:
+  run:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  sweep:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  launcher:
+    cpus_per_task: 12
+    gpus_per_node: 0
+    tasks_per_node: 1
+    timeout_min: 4320
+    mem_gb: 64
+    name: ${hydra.job.name}
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+    submitit_folder: ${hydra.sweep.dir}/.submitit/%j
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra/output=self
+    - hydra/launcher=self
+    - hydra.mode=MULTIRUN
+    task:
+    - env=DKittyStandRandom-v0
+    - job_dir=Projects/robohive/quads/dkitty
+    - job_name=J1c_standRandom
+    - init_log_std=0.2
+  job:
+    name: ${env}
+    chdir: null
+    override_dirname: env=DKittyStandRandom-v0,init_log_std=0.2,job_dir=Projects/robohive/quads/dkitty,job_name=J1c_standRandom
+    id: ???
+    num: ???
+    config_name: hydra_quads_config.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: self
+      hydra/output: self
+  verbose: false
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyStandRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 20001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J1c: Run it for way longer with higher init_std. J1b: (using stand configs)
+  J1a: Stand init(was using walk config) . Ported from Robel (not roel dev). J0e:
+  Root pos in world co-ordiante. J0d: H 160, automatic distance computation for bonus
+  (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading: 2.0,
+  dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: 0.2
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J1c_standRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: ${job_name}

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-07/iterations/best_policy.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadc6e725c969f044eb07d6cf09d6fe472400faa6ef828fb73483fbe090bc033
+size 64499

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-07/iterations/best_policy20230526-160624_trace.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfb7ab89370561156347f3c33793e463e310b59692569d1244d4bbeba2cd2e9c
+size 1181605002

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-07/job_config.yaml

@@ -0,0 +1,37 @@
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyWalkRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 10001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J0e: Root pos in world co-ordiante. J0d: H 160, automatic distance computation
+  for bonus (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading:
+  2.0, dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.2
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J0e_walkRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: J0e_walkRandom

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-07/multirun.yaml

@@ -0,0 +1,205 @@
+hydra:
+  run:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  sweep:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  launcher:
+    cpus_per_task: 12
+    gpus_per_node: 0
+    tasks_per_node: 1
+    timeout_min: 4320
+    mem_gb: 64
+    name: ${hydra.job.name}
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+    submitit_folder: ${hydra.sweep.dir}/.submitit/%j
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra/output=self
+    - hydra/launcher=self
+    - hydra.mode=MULTIRUN
+    task:
+    - env=DKittyWalkRandom-v0
+    - job_dir=Projects/robohive/quads/dkitty
+    - job_name=J0e_walkRandom
+    - init_log_std=-.2
+  job:
+    name: ${env}
+    chdir: null
+    override_dirname: env=DKittyWalkRandom-v0,init_log_std=-.2,job_dir=Projects/robohive/quads/dkitty,job_name=J0e_walkRandom
+    id: ???
+    num: ???
+    config_name: hydra_quads_config.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: self
+      hydra/output: self
+  verbose: false
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyWalkRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 10001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J0e: Root pos in world co-ordiante. J0d: H 160, automatic distance computation
+  for bonus (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading:
+  2.0, dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.2
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J0e_walkRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: ${job_name}

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-32/iterations/best_policy.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20127d8bd734f26940d095346878ba80c8581677ff0da51fd3e0a21240a8df87
+size 64499

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-32/iterations/best_policy20230526-160856_trace.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b7201dad871502551dcde348157572fc48eae30f65137e1b6954f3db2cb1fc
+size 1067986394

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-32/job_config.yaml

@@ -0,0 +1,37 @@
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyWalkRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 10001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J0e: Root pos in world co-ordiante. J0d: H 160, automatic distance computation
+  for bonus (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading:
+  2.0, dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.4
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J0e_walkRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: J0e_walkRandom

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-32/multirun.yaml

@@ -0,0 +1,205 @@
+hydra:
+  run:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  sweep:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  launcher:
+    cpus_per_task: 12
+    gpus_per_node: 0
+    tasks_per_node: 1
+    timeout_min: 4320
+    mem_gb: 64
+    name: ${hydra.job.name}
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+    submitit_folder: ${hydra.sweep.dir}/.submitit/%j
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra/output=self
+    - hydra/launcher=self
+    - hydra.mode=MULTIRUN
+    task:
+    - env=DKittyWalkRandom-v0
+    - job_dir=Projects/robohive/quads/dkitty
+    - job_name=J0e_walkRandom
+    - init_log_std=-.4
+  job:
+    name: ${env}
+    chdir: null
+    override_dirname: env=DKittyWalkRandom-v0,init_log_std=-.4,job_dir=Projects/robohive/quads/dkitty,job_name=J0e_walkRandom
+    id: ???
+    num: ???
+    config_name: hydra_quads_config.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: self
+      hydra/output: self
+  verbose: false
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyWalkRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 10001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J0e: Root pos in world co-ordiante. J0d: H 160, automatic distance computation
+  for bonus (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading:
+  2.0, dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.4
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J0e_walkRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: ${job_name}

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-46/iterations/best_policy.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6ae2e9abd61975d6b231abdf5e660b1e994a196d428e3097e463b862cb08991
+size 64499

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-46/iterations/best_policy20230526-160413_trace.h5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08bf7f4c87c23712572c3a65208b2f3a17d41281da2459ce0045a432d9fa95c8
+size 1054407399

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-46/job_config.yaml

@@ -0,0 +1,37 @@
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyWalkRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 10001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J0e: Root pos in world co-ordiante. J0d: H 160, automatic distance computation
+  for bonus (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading:
+  2.0, dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.6
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J0e_walkRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: J0e_walkRandom

staging/D_Kitty(expert)/DkittyWalkRandom-v0/J0e_walkRandom2023-05-20_19-07-46/multirun.yaml

@@ -0,0 +1,205 @@
+hydra:
+  run:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  sweep:
+    dir: ${oc.env:HOME}/${job_dir}/${job_name}${now:%Y-%m-%d}_${now:%H-%M-%S}
+    subdir: .
+  launcher:
+    cpus_per_task: 12
+    gpus_per_node: 0
+    tasks_per_node: 1
+    timeout_min: 4320
+    mem_gb: 64
+    name: ${hydra.job.name}
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.LocalLauncher
+    submitit_folder: ${hydra.sweep.dir}/.submitit/%j
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra/output=self
+    - hydra/launcher=self
+    - hydra.mode=MULTIRUN
+    task:
+    - env=DKittyWalkRandom-v0
+    - job_dir=Projects/robohive/quads/dkitty
+    - job_name=J0e_walkRandom
+    - init_log_std=-.6
+  job:
+    name: ${env}
+    chdir: null
+    override_dirname: env=DKittyWalkRandom-v0,init_log_std=-.6,job_dir=Projects/robohive/quads/dkitty,job_name=J0e_walkRandom
+    id: ???
+    num: ???
+    config_name: hydra_quads_config.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/robopen/Libraries/mjrl_dev/mjrl_dev/hydra/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: self
+      hydra/output: self
+  verbose: false
+default:
+- override hydra/output: self
+- override hydra/launcher: self
+env: DKittyWalkRandom-v0
+algorithm: NPG
+seed: 123
+sample_mode: trajectories
+rl_num_traj: 96
+rl_num_samples: 0
+num_cpu: 12
+rl_num_iter: 10001
+save_freq: 100
+eval_rollouts: 24
+exp_notes: 'J0e: Root pos in world co-ordiante. J0d: H 160, automatic distance computation
+  for bonus (dk_target_dist_cost: 4.0, dk_upright: 1.0, dk_falling: 100.0, dk_heading:
+  2.0, dk_height: 0.5) J0c: boosting rewards for target error to 10. J0b: lower penalty
+  on upright and height'
+policy_size: (64, 64)
+init_log_std: -0.6
+min_log_std: -2.0
+vf_hidden_size: (128, 128)
+vf_batch_size: 64
+vf_epochs: 2
+vf_learn_rate: 0.001
+rl_step_size: 0.05
+rl_gamma: 0.995
+rl_gae: 0.97
+alg_hyper_params:
+  device: cpu
+job_dir: Projects/robohive/quads/dkitty
+job_name: J0e_walkRandom
+suite_name: quads
+wandb_params:
+  use_wandb: true
+  wandb_user: vikashplus
+  wandb_project: quads
+  wandb_exp: ${job_name}

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