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- benchmark/Airfoil3D-hard-v0/config.yaml +4 -0
- benchmark/Airfoil3D-hard-v0/result.json +5 -0
- benchmark/TCFSmall3D-both-easy-v0/config.yaml +4 -0
- benchmark/TCFSmall3D-both-easy-v0/hydra.yaml +155 -0
- benchmark/TCFSmall3D-both-easy-v0/overrides.yaml +1 -0
- benchmark/TCFSmall3D-both-easy-v0/result.json +5 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/config.yaml +58 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_10000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_12000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_14000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_16000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_18000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_2000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_20000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_4000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_6000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_8000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/hydra.yaml +163 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/multirun.yaml +221 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/overrides.yaml +4 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/test/test_eval_episode_0.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/test/test_eval_sequences.csv +0 -0
- training/sarl/Airfoil2D-hard-v0/PPO/0/training_log.csv +140 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/config.yaml +58 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_10000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_12000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_14000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_16000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_18000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_2000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_20000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_4000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_6000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_8000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/hydra.yaml +163 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/multirun.yaml +221 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/overrides.yaml +4 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/test/test_eval_episode_0.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/test/test_eval_sequences.csv +0 -0
- training/sarl/Airfoil2D-hard-v0/PPO/1/training_log.csv +113 -0
- training/sarl/Airfoil2D-hard-v0/PPO/2/eval_sequence_16000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/2/test/test_eval_episode_0.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/2/test/test_eval_sequences.csv +0 -0
- training/sarl/Airfoil2D-hard-v0/PPO/4/config.yaml +58 -0
- training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_10000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_12000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_14000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_16000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_18000.csv +301 -0
- training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_2000.csv +301 -0
benchmark/Airfoil3D-hard-v0/config.yaml
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env_id: Airfoil3D-hard-v0
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env_kwargs: {}
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n_iterations: 10
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+
steps: 80
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benchmark/Airfoil3D-hard-v0/result.json
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{
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"iterations": 10,
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"steps": 8,
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| 4 |
+
"avg_time_seconds": 511.30418417924085
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| 5 |
+
}
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benchmark/TCFSmall3D-both-easy-v0/config.yaml
ADDED
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@@ -0,0 +1,4 @@
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env_id: TCFSmall3D-both-easy-v0
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+
env_kwargs: {}
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+
n_iterations: 10
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+
steps: 80
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benchmark/TCFSmall3D-both-easy-v0/hydra.yaml
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@@ -0,0 +1,155 @@
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hydra:
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run:
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dir: output/benchmark/${env_id}
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sweep:
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dir: output/benchmark/${env_id}
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subdir: ''
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| 7 |
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launcher:
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| 8 |
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_target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
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| 9 |
+
sweeper:
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| 10 |
+
_target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
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| 11 |
+
max_batch_size: null
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| 12 |
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params: null
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| 13 |
+
help:
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| 14 |
+
app_name: ${hydra.job.name}
|
| 15 |
+
header: '${hydra.help.app_name} is powered by Hydra.
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| 16 |
+
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| 17 |
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'
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| 18 |
+
footer: 'Powered by Hydra (https://hydra.cc)
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| 19 |
+
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| 20 |
+
Use --hydra-help to view Hydra specific help
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| 21 |
+
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| 22 |
+
'
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| 23 |
+
template: '${hydra.help.header}
|
| 24 |
+
|
| 25 |
+
== Configuration groups ==
|
| 26 |
+
|
| 27 |
+
Compose your configuration from those groups (group=option)
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
$APP_CONFIG_GROUPS
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
== Config ==
|
| 34 |
+
|
| 35 |
+
Override anything in the config (foo.bar=value)
|
| 36 |
+
|
| 37 |
+
|
| 38 |
+
$CONFIG
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
${hydra.help.footer}
|
| 42 |
+
|
| 43 |
+
'
|
| 44 |
+
hydra_help:
|
| 45 |
+
template: 'Hydra (${hydra.runtime.version})
|
| 46 |
+
|
| 47 |
+
See https://hydra.cc for more info.
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
== Flags ==
|
| 51 |
+
|
| 52 |
+
$FLAGS_HELP
|
| 53 |
+
|
| 54 |
+
|
| 55 |
+
== Configuration groups ==
|
| 56 |
+
|
| 57 |
+
Compose your configuration from those groups (For example, append hydra/job_logging=disabled
|
| 58 |
+
to command line)
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
$HYDRA_CONFIG_GROUPS
|
| 62 |
+
|
| 63 |
+
|
| 64 |
+
Use ''--cfg hydra'' to Show the Hydra config.
|
| 65 |
+
|
| 66 |
+
'
|
| 67 |
+
hydra_help: ???
|
| 68 |
+
hydra_logging:
|
| 69 |
+
version: 1
|
| 70 |
+
formatters:
|
| 71 |
+
simple:
|
| 72 |
+
format: '[%(asctime)s][HYDRA] %(message)s'
|
| 73 |
+
handlers:
|
| 74 |
+
console:
|
| 75 |
+
class: logging.StreamHandler
|
| 76 |
+
formatter: simple
|
| 77 |
+
stream: ext://sys.stdout
|
| 78 |
+
root:
|
| 79 |
+
level: INFO
|
| 80 |
+
handlers:
|
| 81 |
+
- console
|
| 82 |
+
loggers:
|
| 83 |
+
logging_example:
|
| 84 |
+
level: DEBUG
|
| 85 |
+
disable_existing_loggers: false
|
| 86 |
+
job_logging:
|
| 87 |
+
version: 1
|
| 88 |
+
formatters:
|
| 89 |
+
simple:
|
| 90 |
+
format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
|
| 91 |
+
handlers:
|
| 92 |
+
console:
|
| 93 |
+
class: logging.StreamHandler
|
| 94 |
+
formatter: simple
|
| 95 |
+
stream: ext://sys.stdout
|
| 96 |
+
file:
|
| 97 |
+
class: logging.FileHandler
|
| 98 |
+
formatter: simple
|
| 99 |
+
filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
|
| 100 |
+
root:
|
| 101 |
+
level: INFO
|
| 102 |
+
handlers:
|
| 103 |
+
- console
|
| 104 |
+
- file
|
| 105 |
+
disable_existing_loggers: false
|
| 106 |
+
env: {}
|
| 107 |
+
mode: RUN
|
| 108 |
+
searchpath: []
|
| 109 |
+
callbacks: {}
|
| 110 |
+
output_subdir: .
|
| 111 |
+
overrides:
|
| 112 |
+
hydra:
|
| 113 |
+
- hydra.mode=RUN
|
| 114 |
+
task:
|
| 115 |
+
- env_id=TCFSmall3D-both-easy-v0
|
| 116 |
+
job:
|
| 117 |
+
name: benchmark
|
| 118 |
+
chdir: true
|
| 119 |
+
override_dirname: env_id=TCFSmall3D-both-easy-v0
|
| 120 |
+
id: ???
|
| 121 |
+
num: ???
|
| 122 |
+
config_name: benchmark
|
| 123 |
+
env_set: {}
|
| 124 |
+
env_copy: []
|
| 125 |
+
config:
|
| 126 |
+
override_dirname:
|
| 127 |
+
kv_sep: '='
|
| 128 |
+
item_sep: ','
|
| 129 |
+
exclude_keys: []
|
| 130 |
+
runtime:
|
| 131 |
+
version: 1.3.2
|
| 132 |
+
version_base: '1.3'
|
| 133 |
+
cwd: /cephfs/users/becktepe/git_projects/FluidGym
|
| 134 |
+
config_sources:
|
| 135 |
+
- path: hydra.conf
|
| 136 |
+
schema: pkg
|
| 137 |
+
provider: hydra
|
| 138 |
+
- path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
|
| 139 |
+
schema: file
|
| 140 |
+
provider: main
|
| 141 |
+
- path: ''
|
| 142 |
+
schema: structured
|
| 143 |
+
provider: schema
|
| 144 |
+
output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/benchmark/TCFSmall3D-both-easy-v0
|
| 145 |
+
choices:
|
| 146 |
+
hydra/env: default
|
| 147 |
+
hydra/callbacks: null
|
| 148 |
+
hydra/job_logging: default
|
| 149 |
+
hydra/hydra_logging: default
|
| 150 |
+
hydra/hydra_help: default
|
| 151 |
+
hydra/help: default
|
| 152 |
+
hydra/sweeper: basic
|
| 153 |
+
hydra/launcher: basic
|
| 154 |
+
hydra/output: default
|
| 155 |
+
verbose: false
|
benchmark/TCFSmall3D-both-easy-v0/overrides.yaml
ADDED
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@@ -0,0 +1 @@
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| 1 |
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- env_id=TCFSmall3D-both-easy-v0
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benchmark/TCFSmall3D-both-easy-v0/result.json
ADDED
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@@ -0,0 +1,5 @@
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| 1 |
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{
|
| 2 |
+
"iterations": 10,
|
| 3 |
+
"steps": 80,
|
| 4 |
+
"avg_time_seconds": 38.49841066500521
|
| 5 |
+
}
|
training/sarl/Airfoil2D-hard-v0/PPO/0/config.yaml
ADDED
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@@ -0,0 +1,58 @@
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| 1 |
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env_id: Airfoil2D-hard-v0
|
| 2 |
+
env_kwargs: {}
|
| 3 |
+
eval_env_kwargs: {}
|
| 4 |
+
seed: 0
|
| 5 |
+
rl_mode: sarl
|
| 6 |
+
total_timesteps: 50000.0
|
| 7 |
+
n_eval_steps: 10
|
| 8 |
+
eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
|
| 9 |
+
n_eval_episodes: 1
|
| 10 |
+
continue_training: false
|
| 11 |
+
checkpoint_latest: true
|
| 12 |
+
rl_device: cpu
|
| 13 |
+
eval_callback:
|
| 14 |
+
_target_: fluidgym.integration.sb3.EvalCallback
|
| 15 |
+
eval_freq: ${eval_freq}
|
| 16 |
+
n_eval_episodes: ${n_eval_episodes}
|
| 17 |
+
use_wandb: ${wandb.enable}
|
| 18 |
+
checkpoint_latest: ${checkpoint_latest}
|
| 19 |
+
wandb:
|
| 20 |
+
enable: true
|
| 21 |
+
entity: safe-autonomous-systems
|
| 22 |
+
project: jbecktepe-fluidgym
|
| 23 |
+
algorithm:
|
| 24 |
+
name: PPO
|
| 25 |
+
obj:
|
| 26 |
+
_target_: stable_baselines3.ppo.ppo.PPO
|
| 27 |
+
policy: MlpPolicy
|
| 28 |
+
learning_rate: 0.0003
|
| 29 |
+
n_steps: 2048
|
| 30 |
+
batch_size: 64
|
| 31 |
+
n_epochs: 10
|
| 32 |
+
gamma: 0.99
|
| 33 |
+
gae_lambda: 0.95
|
| 34 |
+
clip_range: 0.2
|
| 35 |
+
clip_range_vf: null
|
| 36 |
+
normalize_advantage: true
|
| 37 |
+
ent_coef: 0.01
|
| 38 |
+
vf_coef: 0.5
|
| 39 |
+
max_grad_norm: 0.5
|
| 40 |
+
use_sde: false
|
| 41 |
+
sde_sample_freq: -1
|
| 42 |
+
rollout_buffer_class: null
|
| 43 |
+
rollout_buffer_kwargs: null
|
| 44 |
+
target_kl: null
|
| 45 |
+
stats_window_size: 100
|
| 46 |
+
tensorboard_log: null
|
| 47 |
+
verbose: 0
|
| 48 |
+
seed: ${seed}
|
| 49 |
+
device: ${rl_device}
|
| 50 |
+
_init_setup_model: true
|
| 51 |
+
cluster: {}
|
| 52 |
+
test_env_id: ${env_id}
|
| 53 |
+
test_env_kwargs: ${env_kwargs}
|
| 54 |
+
test_rl_mode: ${rl_mode}
|
| 55 |
+
n_test_episodes: 10
|
| 56 |
+
deterministic: true
|
| 57 |
+
save_frames: true
|
| 58 |
+
render_3d: true
|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_10000.csv
ADDED
|
@@ -0,0 +1,301 @@
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24788113,1.5174632,0.11311573,-0.3660466,0.2469006,0.05838823318481445
|
| 3 |
+
0.18898454,1.1589254,0.11516264,-0.37289402,0.23715591,0.06903266906738281
|
| 4 |
+
0.22451317,1.4431709,0.11376399,-0.3836579,0.2648481,0.3646516799926758
|
| 5 |
+
0.23454265,1.5939972,0.114056446,-0.38537982,0.27831367,0.732844352722168
|
| 6 |
+
0.23827536,1.6718835,0.12580845,-0.3787285,0.22300966,0.9532532691955566
|
| 7 |
+
0.24626116,1.7170397,0.13907407,-0.3643676,0.16296872,0.9090847969055176
|
| 8 |
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0.2255168,1.6064501,0.12264652,-0.3570474,0.19453514,1.0600671768188477
|
| 9 |
+
0.15728657,1.188225,0.11173232,-0.36721584,0.24533816,1.4911737442016602
|
| 10 |
+
0.14734173,1.1519015,0.11538567,-0.37650135,0.2523513,1.7545413970947266
|
| 11 |
+
0.19814019,1.445541,0.11344353,-0.38903564,0.278431,1.2321977615356445
|
| 12 |
+
0.2277751,1.6466668,0.11239639,-0.38747686,0.27330106,1.1660046577453613
|
| 13 |
+
0.23580074,1.6999636,0.12597793,-0.38109097,0.22202048,1.1459732055664062
|
| 14 |
+
0.24591719,1.7523514,0.1328346,-0.3715448,0.18767859,1.062429428100586
|
| 15 |
+
0.25280365,1.7794726,0.123271935,-0.3706647,0.21164998,0.9756021499633789
|
| 16 |
+
0.27048403,1.8566964,0.12052724,-0.37206936,0.23512791,0.8009982109069824
|
| 17 |
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0.28605142,1.9370965,0.12489616,-0.3791212,0.232881,0.7084980010986328
|
| 18 |
+
0.30404115,2.0183015,0.122970484,-0.39327466,0.24226327,0.5749020576477051
|
| 19 |
+
0.31595907,2.060222,0.12271449,-0.38849577,0.24174453,0.4571847915649414
|
| 20 |
+
0.32524845,2.1323116,0.12702289,-0.3801984,0.22712773,0.4925975799560547
|
| 21 |
+
0.3373509,2.1975763,0.12699132,-0.37324852,0.21421617,0.4508657455444336
|
| 22 |
+
0.34773687,2.222452,0.12106746,-0.3694985,0.228235,0.32783937454223633
|
| 23 |
+
0.34889358,2.198941,0.117424384,-0.37165657,0.24303916,0.23926305770874023
|
| 24 |
+
0.3014877,1.9139935,0.11617775,-0.3761762,0.24178667,0.28514671325683594
|
| 25 |
+
0.22801356,1.4000897,0.11311594,-0.37089226,0.24125814,0.07703018188476562
|
| 26 |
+
0.24315718,1.4452595,0.1130213,-0.37136438,0.2468068,-0.11962413787841797
|
| 27 |
+
0.283182,1.7153386,0.113738894,-0.3837096,0.27536568,-0.005977630615234375
|
| 28 |
+
0.33630243,2.031119,0.11454013,-0.38612366,0.27219358,-0.023787975311279297
|
| 29 |
+
0.3604901,2.164675,0.12364347,-0.38169086,0.2195663,-0.05853843688964844
|
| 30 |
+
0.37466484,2.2304456,0.12806024,-0.37868837,0.20163555,-0.11017370223999023
|
| 31 |
+
0.37832046,2.2202878,0.119034834,-0.3791366,0.22688031,-0.19454717636108398
|
| 32 |
+
0.36951396,2.1056478,0.1159832,-0.38054556,0.24942327,-0.36492347717285156
|
| 33 |
+
0.3259561,1.8138644,0.11818273,-0.3783184,0.24233937,-0.4985990524291992
|
| 34 |
+
0.28738233,1.5380148,0.11316522,-0.38060808,0.25643808,-0.7115421295166016
|
| 35 |
+
0.2766272,1.5174115,0.11217804,-0.3806838,0.26102024,-0.5779471397399902
|
| 36 |
+
0.30241498,1.65981,0.11720932,-0.3768074,0.24860509,-0.574831485748291
|
| 37 |
+
0.33744276,1.8139721,0.118572764,-0.37143457,0.23171604,-0.6877050399780273
|
| 38 |
+
0.3374009,1.7635288,0.11383271,-0.36569852,0.23328848,-0.8365440368652344
|
| 39 |
+
0.28039542,1.37645,0.10896678,-0.36760372,0.25160134,-1.1543889045715332
|
| 40 |
+
0.22390275,0.96826917,0.10222564,-0.36987543,0.26307896,-1.7388415336608887
|
| 41 |
+
0.26433548,1.2467611,0.10367618,-0.37376878,0.27947438,-1.3467631340026855
|
| 42 |
+
0.28628644,1.485237,0.10917796,-0.37963107,0.29250726,-0.8754086494445801
|
| 43 |
+
0.31388876,1.7240044,0.11790749,-0.3846028,0.2531889,-0.5709438323974609
|
| 44 |
+
0.34438902,1.9146827,0.13298759,-0.37917173,0.19415858,-0.5036983489990234
|
| 45 |
+
0.37308463,2.0608594,0.1376226,-0.3742205,0.15919487,-0.5395102500915527
|
| 46 |
+
0.38637587,2.1513238,0.1227197,-0.36987066,0.19396245,-0.4953932762145996
|
| 47 |
+
0.35813275,1.9697531,0.113632366,-0.36801818,0.2403845,-0.5632848739624023
|
| 48 |
+
0.28422958,1.4759353,0.114243865,-0.3644905,0.24193943,-0.8705916404724121
|
| 49 |
+
0.24307095,1.1513704,0.11072486,-0.36751935,0.24943419,-1.326582431793213
|
| 50 |
+
0.25627682,1.230949,0.10887726,-0.38003558,0.2742276,-1.260148525238037
|
| 51 |
+
0.27372885,1.4112558,0.115781754,-0.3849803,0.27879098,-0.9076786041259766
|
| 52 |
+
0.32544756,1.7538884,0.11866714,-0.366994,0.23672004,-0.6741909980773926
|
| 53 |
+
0.32212803,1.7061005,0.12098512,-0.34716982,0.19044518,-0.7670063972473145
|
| 54 |
+
0.26265925,1.3009144,0.12245688,-0.34119695,0.1729404,-1.110489845275879
|
| 55 |
+
0.2379374,1.0746214,0.108862475,-0.36114606,0.22750717,-1.5469450950622559
|
| 56 |
+
0.2745743,1.3150793,0.10903273,-0.3791822,0.26912567,-1.2738285064697266
|
| 57 |
+
0.3012262,1.5660425,0.11571497,-0.38715202,0.2793493,-0.8644571304321289
|
| 58 |
+
0.3273123,1.7989502,0.11826071,-0.38542628,0.25291476,-0.5672211647033691
|
| 59 |
+
0.33848768,1.9054679,0.12997444,-0.38158798,0.20297742,-0.433992862701416
|
| 60 |
+
0.361243,2.019704,0.13904901,-0.37090722,0.1618268,-0.4723644256591797
|
| 61 |
+
0.3766644,2.1131651,0.12721197,-0.35870925,0.17373441,-0.4531426429748535
|
| 62 |
+
0.3608718,2.0197704,0.117184155,-0.3607751,0.22374023,-0.4664297103881836
|
| 63 |
+
0.29806113,1.656823,0.113190964,-0.3579872,0.24140212,-0.5046806335449219
|
| 64 |
+
0.21684511,1.11141,0.108757965,-0.37038234,0.25658995,-0.937985897064209
|
| 65 |
+
0.23635636,1.171298,0.11062387,-0.38007522,0.26305214,-1.1077051162719727
|
| 66 |
+
0.2727891,1.4202001,0.11759196,-0.38111526,0.26866665,-0.8571290969848633
|
| 67 |
+
0.31296644,1.7029829,0.11970956,-0.36804017,0.24124546,-0.6219258308410645
|
| 68 |
+
0.359688,2.0054543,0.12153195,-0.35464212,0.19537185,-0.4878110885620117
|
| 69 |
+
0.34527355,1.9081268,0.12939061,-0.35491863,0.17050846,-0.536928653717041
|
| 70 |
+
0.29219338,1.4949641,0.12130312,-0.36634055,0.18702848,-0.9469976425170898
|
| 71 |
+
0.25285164,1.1786935,0.11157931,-0.37383667,0.23126408,-1.401747703552246
|
| 72 |
+
0.28046712,1.3174403,0.11385381,-0.37078947,0.2505687,-1.366042137145996
|
| 73 |
+
0.321287,1.6282586,0.11356942,-0.38343897,0.27382517,-0.9954237937927246
|
| 74 |
+
0.36666235,1.9538406,0.112686254,-0.38836426,0.26581472,-0.7346301078796387
|
| 75 |
+
0.37690672,2.0637236,0.12890294,-0.37803835,0.20036824,-0.5879268646240234
|
| 76 |
+
0.39241847,2.1876209,0.13983354,-0.36360803,0.14868239,-0.4886350631713867
|
| 77 |
+
0.39409333,2.1941335,0.12797679,-0.3573409,0.18172678,-0.4958014488220215
|
| 78 |
+
0.38092157,2.1066399,0.11929481,-0.3581639,0.21835974,-0.5329723358154297
|
| 79 |
+
0.32589632,1.7833052,0.11507923,-0.3653157,0.24115396,-0.5913476943969727
|
| 80 |
+
0.23324624,1.229926,0.104280986,-0.3711166,0.26408604,-0.7902693748474121
|
| 81 |
+
0.22407757,1.1261934,0.10286251,-0.36726362,0.26780054,-1.037440299987793
|
| 82 |
+
0.27458343,1.4426768,0.113307536,-0.37163287,0.2688884,-0.8092927932739258
|
| 83 |
+
0.2905219,1.6081342,0.11781343,-0.37007943,0.24622664,-0.5280203819274902
|
| 84 |
+
0.36659834,2.055901,0.12218123,-0.3622796,0.20404504,-0.45530128479003906
|
| 85 |
+
0.3699522,2.0603502,0.1301431,-0.3614205,0.17680775,-0.49411582946777344
|
| 86 |
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0.31122857,1.6936365,0.12526162,-0.36453488,0.1686317,-0.6215720176696777
|
| 87 |
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0.25585377,1.2286152,0.10928485,-0.36764783,0.22174191,-1.2613282203674316
|
| 88 |
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0.27188465,1.301587,0.10994664,-0.36711958,0.25489143,-1.2760729789733887
|
| 89 |
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0.29220012,1.5336246,0.11151598,-0.3811789,0.28051698,-0.8148069381713867
|
| 90 |
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0.32023153,1.799447,0.11128365,-0.38978606,0.2796441,-0.44414329528808594
|
| 91 |
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0.3374331,1.9382763,0.12403734,-0.38044652,0.21617389,-0.3191695213317871
|
| 92 |
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0.35365024,2.0401032,0.14143854,-0.36505818,0.14994666,-0.2946462631225586
|
| 93 |
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0.3624511,2.0744014,0.12995319,-0.3514647,0.16372776,-0.3400907516479492
|
| 94 |
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0.3262786,1.8450893,0.11176085,-0.3527774,0.23140508,-0.4083986282348633
|
| 95 |
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0.24031058,1.3284277,0.10895882,-0.35166588,0.24510409,-0.5353875160217285
|
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_12000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
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0.24565268,1.510072,0.17253458,-0.46556088,0.25808156,0.08383369445800781
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|
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_14000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24555492,1.4740069,0.25179145,-0.49709052,0.31397966,-0.06059074401855469
|
| 3 |
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0.19076048,1.1878017,0.2558349,-0.50086933,0.29720834,0.1633162498474121
|
| 4 |
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0.21422417,1.450372,0.2601079,-0.51604086,0.33059436,0.7069978713989258
|
| 5 |
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0.21298106,1.6384627,0.2629132,-0.5318054,0.3519474,1.6296477317810059
|
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training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_16000.csv
ADDED
|
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| 1 |
+
drag,lift,action_0,action_1,action_2,reward
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| 2 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_18000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
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drag,lift,action_0,action_1,action_2,reward
|
| 2 |
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| 301 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_2000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24334495,1.5004168,-0.00052261533,-0.00042014546,-0.0024177397,0.10245275497436523
|
| 3 |
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0.18342909,1.142543,-0.00044361805,0.00088739075,-0.0035468773,0.1654496192932129
|
| 4 |
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0.24168172,1.4541707,0.0006581494,0.0002522304,-0.004571403,-0.04646587371826172
|
| 5 |
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0.27969712,1.6609421,8.849713e-05,-0.0012383132,-0.0033892873,-0.12498950958251953
|
| 6 |
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0.2936159,1.7557882,-0.00049232296,-0.0010376321,-0.0026803587,-0.08346796035766602
|
| 7 |
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0.30221102,1.824506,-0.00012571082,-0.00014749075,-0.0014030581,-0.026156902313232422
|
| 8 |
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0.30973825,1.8703594,-0.00016398734,7.4090785e-05,-0.0028014602,-0.024833202362060547
|
| 9 |
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0.2803609,1.7248821,-0.00013358174,-0.000625696,-0.0025598984,0.08901405334472656
|
| 10 |
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0.20829864,1.2714223,-0.0009669856,0.0004028429,-0.0029371874,0.04049396514892578
|
| 11 |
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0.21599546,1.2967882,0.00032677027,0.00083151745,-0.0040842867,-0.059574127197265625
|
| 12 |
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0.27354762,1.6184956,0.00041595424,-0.0006445258,-0.0040203724,-0.14666223526000977
|
| 13 |
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0.28637457,1.7162167,-0.00034076505,-0.0015643102,-0.0030041581,-0.07044029235839844
|
| 14 |
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0.29737672,1.7975613,-0.0006079861,-0.00033643417,-0.0018745642,-0.018621444702148438
|
| 15 |
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0.30308577,1.8452009,-0.00012121436,0.0003320645,-0.001969152,0.02469921112060547
|
| 16 |
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0.28158435,1.7182034,-0.000126634,-0.00016493673,-0.0029666421,0.03856468200683594
|
| 17 |
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0.2080653,1.2910689,-0.00041522802,-0.00028219112,-0.002752111,0.14176464080810547
|
| 18 |
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0.20125897,1.2331287,-0.00038194103,0.0011483944,-0.003795677,0.06372499465942383
|
| 19 |
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0.26063344,1.5613306,0.0007587766,-0.00037219163,-0.0044657458,-0.07282638549804688
|
| 20 |
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0.27881968,1.6737785,-0.00038188562,-0.0014773018,-0.0031432414,-0.06026315689086914
|
| 21 |
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0.29135227,1.763287,-0.0007218176,-0.00063753594,-0.0021184282,-0.011270523071289062
|
| 22 |
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0.29954037,1.8162016,0.00017645666,-3.0930125e-05,-0.0018814824,-5.435943603515625e-05
|
| 23 |
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0.28366074,1.7663845,-0.00023342064,0.00017361145,-0.0029295182,0.16375303268432617
|
| 24 |
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0.23604734,1.4752393,-0.0005251069,-0.00039991987,-0.0024842022,0.18641090393066406
|
| 25 |
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0.19122295,1.1963838,-0.0003813533,0.00080860744,-0.0034500693,0.19313716888427734
|
| 26 |
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0.24299994,1.46059,0.0006188655,0.00029174308,-0.00457766,-0.052689552307128906
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training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_20000.csv
ADDED
|
@@ -0,0 +1,301 @@
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| 1 |
+
drag,lift,action_0,action_1,action_2,reward
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| 2 |
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| 10 |
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0.15862338,1.1238531,0.46599662,-0.68471324,0.3430713,1.0216913223266602
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| 301 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_4000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
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drag,lift,action_0,action_1,action_2,reward
|
| 2 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_6000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.23915668,1.4773148,0.10948765,-0.1631488,0.10602387,0.11383485794067383
|
| 3 |
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0.19607268,1.1741971,0.113395974,-0.1696057,0.09419284,-0.0747685432434082
|
| 4 |
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0.24031246,1.4566865,0.116449535,-0.17311499,0.12664066,-0.0017137527465820312
|
| 5 |
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0.26469204,1.6346962,0.112205535,-0.17584044,0.15283804,0.11249303817749023
|
| 6 |
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0.26948234,1.6788847,0.118865654,-0.17365272,0.108178206,0.16668701171875
|
| 7 |
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0.28080016,1.7446793,0.12691103,-0.17080697,0.058832195,0.14989280700683594
|
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|
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|
| 10 |
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0.2063253,1.2291063,0.113245696,-0.17125747,0.10673302,-0.10622072219848633
|
| 11 |
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|
| 12 |
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|
| 13 |
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0.26957828,1.691737,0.123058766,-0.17570452,0.10496744,0.21214532852172852
|
| 14 |
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|
| 15 |
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|
| 16 |
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0.2800211,1.7383097,0.11418298,-0.1693778,0.09652053,0.14443206787109375
|
| 17 |
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0.23892108,1.4637154,0.11187321,-0.16473003,0.10612134,0.06300640106201172
|
| 18 |
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0.19664037,1.1814641,0.110593826,-0.17178118,0.11293609,-0.05510139465332031
|
| 19 |
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0.24731997,1.458414,0.11356199,-0.17312728,0.14007762,-0.16647815704345703
|
| 20 |
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0.2894713,1.6915267,0.11187343,-0.16828221,0.15521675,-0.21984529495239258
|
| 21 |
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0.3103353,1.8113333,0.11910659,-0.16787122,0.10948065,-0.22665166854858398
|
| 22 |
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0.3136737,1.8596957,0.12162319,-0.16815296,0.08567293,-0.13459062576293945
|
| 23 |
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0.32550016,1.9233509,0.11867882,-0.17469314,0.09600983,-0.15443992614746094
|
| 24 |
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0.33005372,1.9603693,0.11907306,-0.18646148,0.106917195,-0.12380266189575195
|
| 25 |
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0.33664605,2.010646,0.120745406,-0.1860454,0.09926112,-0.09076738357543945
|
| 26 |
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0.34469113,2.0233862,0.11920987,-0.18321967,0.11133106,-0.1932063102722168
|
| 27 |
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0.36074436,2.1071374,0.11764257,-0.18418737,0.11257737,-0.22226715087890625
|
| 28 |
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0.3623155,2.1183002,0.116341114,-0.17394617,0.11188705,-0.21678686141967773
|
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_8000.csv
ADDED
|
@@ -0,0 +1,301 @@
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| 1 |
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| 287 |
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0.31542593,1.8287071,0.111085884,-0.2847044,0.12548406,-0.26576900482177734
|
| 288 |
+
0.24239503,1.3739938,0.10968145,-0.28265998,0.12937023,-0.3949418067932129
|
| 289 |
+
0.22148147,1.2670821,0.107062645,-0.28595516,0.13476108,-0.342409610748291
|
| 290 |
+
0.2758617,1.6120621,0.10811183,-0.2958873,0.16842823,-0.21961641311645508
|
| 291 |
+
0.2919271,1.7592808,0.110571004,-0.29712808,0.1750799,-0.0369105339050293
|
| 292 |
+
0.30116692,1.830862,0.12740195,-0.29322165,0.11647173,0.015877723693847656
|
| 293 |
+
0.324952,1.9227527,0.13667254,-0.28741276,0.0774567,-0.14631319046020508
|
| 294 |
+
0.33393437,1.9344552,0.11889649,-0.28052315,0.097689256,-0.2704291343688965
|
| 295 |
+
0.2886895,1.669191,0.108932614,-0.2848832,0.1335662,-0.2813897132873535
|
| 296 |
+
0.21809149,1.2315956,0.10952743,-0.28517327,0.12497722,-0.4161977767944336
|
| 297 |
+
0.25617573,1.4473581,0.10743378,-0.2885159,0.14771141,-0.4134845733642578
|
| 298 |
+
0.28995082,1.6870102,0.10746624,-0.29877877,0.18212216,-0.2450861930847168
|
| 299 |
+
0.29189745,1.770689,0.11689281,-0.2940274,0.15155524,0.00278472900390625
|
| 300 |
+
0.31257442,1.8859564,0.13627902,-0.29077122,0.091411114,-0.02972555160522461
|
| 301 |
+
0.33010975,1.9443753,0.12973082,-0.28306064,0.077301756,-0.1732616424560547
|
training/sarl/Airfoil2D-hard-v0/PPO/0/hydra.yaml
ADDED
|
@@ -0,0 +1,163 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
hydra:
|
| 2 |
+
run:
|
| 3 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 4 |
+
sweep:
|
| 5 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 6 |
+
subdir: ''
|
| 7 |
+
launcher:
|
| 8 |
+
_target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
|
| 9 |
+
sweeper:
|
| 10 |
+
_target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
|
| 11 |
+
max_batch_size: null
|
| 12 |
+
params: null
|
| 13 |
+
help:
|
| 14 |
+
app_name: ${hydra.job.name}
|
| 15 |
+
header: '${hydra.help.app_name} is powered by Hydra.
|
| 16 |
+
|
| 17 |
+
'
|
| 18 |
+
footer: 'Powered by Hydra (https://hydra.cc)
|
| 19 |
+
|
| 20 |
+
Use --hydra-help to view Hydra specific help
|
| 21 |
+
|
| 22 |
+
'
|
| 23 |
+
template: '${hydra.help.header}
|
| 24 |
+
|
| 25 |
+
== Configuration groups ==
|
| 26 |
+
|
| 27 |
+
Compose your configuration from those groups (group=option)
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
$APP_CONFIG_GROUPS
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
== Config ==
|
| 34 |
+
|
| 35 |
+
Override anything in the config (foo.bar=value)
|
| 36 |
+
|
| 37 |
+
|
| 38 |
+
$CONFIG
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
${hydra.help.footer}
|
| 42 |
+
|
| 43 |
+
'
|
| 44 |
+
hydra_help:
|
| 45 |
+
template: 'Hydra (${hydra.runtime.version})
|
| 46 |
+
|
| 47 |
+
See https://hydra.cc for more info.
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
== Flags ==
|
| 51 |
+
|
| 52 |
+
$FLAGS_HELP
|
| 53 |
+
|
| 54 |
+
|
| 55 |
+
== Configuration groups ==
|
| 56 |
+
|
| 57 |
+
Compose your configuration from those groups (For example, append hydra/job_logging=disabled
|
| 58 |
+
to command line)
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
$HYDRA_CONFIG_GROUPS
|
| 62 |
+
|
| 63 |
+
|
| 64 |
+
Use ''--cfg hydra'' to Show the Hydra config.
|
| 65 |
+
|
| 66 |
+
'
|
| 67 |
+
hydra_help: ???
|
| 68 |
+
hydra_logging:
|
| 69 |
+
version: 1
|
| 70 |
+
formatters:
|
| 71 |
+
simple:
|
| 72 |
+
format: '[%(asctime)s][HYDRA] %(message)s'
|
| 73 |
+
handlers:
|
| 74 |
+
console:
|
| 75 |
+
class: logging.StreamHandler
|
| 76 |
+
formatter: simple
|
| 77 |
+
stream: ext://sys.stdout
|
| 78 |
+
root:
|
| 79 |
+
level: INFO
|
| 80 |
+
handlers:
|
| 81 |
+
- console
|
| 82 |
+
loggers:
|
| 83 |
+
logging_example:
|
| 84 |
+
level: DEBUG
|
| 85 |
+
disable_existing_loggers: false
|
| 86 |
+
job_logging:
|
| 87 |
+
version: 1
|
| 88 |
+
formatters:
|
| 89 |
+
simple:
|
| 90 |
+
format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
|
| 91 |
+
handlers:
|
| 92 |
+
console:
|
| 93 |
+
class: logging.StreamHandler
|
| 94 |
+
formatter: simple
|
| 95 |
+
stream: ext://sys.stdout
|
| 96 |
+
file:
|
| 97 |
+
class: logging.FileHandler
|
| 98 |
+
formatter: simple
|
| 99 |
+
filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
|
| 100 |
+
root:
|
| 101 |
+
level: INFO
|
| 102 |
+
handlers:
|
| 103 |
+
- console
|
| 104 |
+
- file
|
| 105 |
+
disable_existing_loggers: false
|
| 106 |
+
env: {}
|
| 107 |
+
mode: MULTIRUN
|
| 108 |
+
searchpath: []
|
| 109 |
+
callbacks: {}
|
| 110 |
+
output_subdir: .
|
| 111 |
+
overrides:
|
| 112 |
+
hydra:
|
| 113 |
+
- hydra.mode=MULTIRUN
|
| 114 |
+
task:
|
| 115 |
+
- algorithm=sb3_ppo
|
| 116 |
+
- env_id=Airfoil2D-hard-v0
|
| 117 |
+
- rl_mode=sarl
|
| 118 |
+
- seed=0
|
| 119 |
+
job:
|
| 120 |
+
name: test_sb3
|
| 121 |
+
chdir: true
|
| 122 |
+
override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=0
|
| 123 |
+
id: '0'
|
| 124 |
+
num: 0
|
| 125 |
+
config_name: test_sb3
|
| 126 |
+
env_set: {}
|
| 127 |
+
env_copy: []
|
| 128 |
+
config:
|
| 129 |
+
override_dirname:
|
| 130 |
+
kv_sep: '='
|
| 131 |
+
item_sep: ','
|
| 132 |
+
exclude_keys: []
|
| 133 |
+
runtime:
|
| 134 |
+
version: 1.3.2
|
| 135 |
+
version_base: '1.3'
|
| 136 |
+
cwd: /cephfs/users/becktepe/git_projects/FluidGym
|
| 137 |
+
config_sources:
|
| 138 |
+
- path: hydra.conf
|
| 139 |
+
schema: pkg
|
| 140 |
+
provider: hydra
|
| 141 |
+
- path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
|
| 142 |
+
schema: file
|
| 143 |
+
provider: main
|
| 144 |
+
- path: hydra_plugins.hydra_colorlog.conf
|
| 145 |
+
schema: pkg
|
| 146 |
+
provider: hydra-colorlog
|
| 147 |
+
- path: ''
|
| 148 |
+
schema: structured
|
| 149 |
+
provider: schema
|
| 150 |
+
output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/Airfoil2D-hard-v0/PPO/0
|
| 151 |
+
choices:
|
| 152 |
+
cluster: local
|
| 153 |
+
algorithm: sb3_ppo
|
| 154 |
+
hydra/env: default
|
| 155 |
+
hydra/callbacks: null
|
| 156 |
+
hydra/job_logging: default
|
| 157 |
+
hydra/hydra_logging: default
|
| 158 |
+
hydra/hydra_help: default
|
| 159 |
+
hydra/help: default
|
| 160 |
+
hydra/sweeper: basic
|
| 161 |
+
hydra/launcher: basic
|
| 162 |
+
hydra/output: default
|
| 163 |
+
verbose: false
|
training/sarl/Airfoil2D-hard-v0/PPO/0/multirun.yaml
ADDED
|
@@ -0,0 +1,221 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
hydra:
|
| 2 |
+
run:
|
| 3 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 4 |
+
sweep:
|
| 5 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 6 |
+
subdir: ''
|
| 7 |
+
launcher:
|
| 8 |
+
_target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
|
| 9 |
+
sweeper:
|
| 10 |
+
_target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
|
| 11 |
+
max_batch_size: null
|
| 12 |
+
params: null
|
| 13 |
+
help:
|
| 14 |
+
app_name: ${hydra.job.name}
|
| 15 |
+
header: '${hydra.help.app_name} is powered by Hydra.
|
| 16 |
+
|
| 17 |
+
'
|
| 18 |
+
footer: 'Powered by Hydra (https://hydra.cc)
|
| 19 |
+
|
| 20 |
+
Use --hydra-help to view Hydra specific help
|
| 21 |
+
|
| 22 |
+
'
|
| 23 |
+
template: '${hydra.help.header}
|
| 24 |
+
|
| 25 |
+
== Configuration groups ==
|
| 26 |
+
|
| 27 |
+
Compose your configuration from those groups (group=option)
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
$APP_CONFIG_GROUPS
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
== Config ==
|
| 34 |
+
|
| 35 |
+
Override anything in the config (foo.bar=value)
|
| 36 |
+
|
| 37 |
+
|
| 38 |
+
$CONFIG
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
${hydra.help.footer}
|
| 42 |
+
|
| 43 |
+
'
|
| 44 |
+
hydra_help:
|
| 45 |
+
template: 'Hydra (${hydra.runtime.version})
|
| 46 |
+
|
| 47 |
+
See https://hydra.cc for more info.
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
== Flags ==
|
| 51 |
+
|
| 52 |
+
$FLAGS_HELP
|
| 53 |
+
|
| 54 |
+
|
| 55 |
+
== Configuration groups ==
|
| 56 |
+
|
| 57 |
+
Compose your configuration from those groups (For example, append hydra/job_logging=disabled
|
| 58 |
+
to command line)
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
$HYDRA_CONFIG_GROUPS
|
| 62 |
+
|
| 63 |
+
|
| 64 |
+
Use ''--cfg hydra'' to Show the Hydra config.
|
| 65 |
+
|
| 66 |
+
'
|
| 67 |
+
hydra_help: ???
|
| 68 |
+
hydra_logging:
|
| 69 |
+
version: 1
|
| 70 |
+
formatters:
|
| 71 |
+
simple:
|
| 72 |
+
format: '[%(asctime)s][HYDRA] %(message)s'
|
| 73 |
+
handlers:
|
| 74 |
+
console:
|
| 75 |
+
class: logging.StreamHandler
|
| 76 |
+
formatter: simple
|
| 77 |
+
stream: ext://sys.stdout
|
| 78 |
+
root:
|
| 79 |
+
level: INFO
|
| 80 |
+
handlers:
|
| 81 |
+
- console
|
| 82 |
+
loggers:
|
| 83 |
+
logging_example:
|
| 84 |
+
level: DEBUG
|
| 85 |
+
disable_existing_loggers: false
|
| 86 |
+
job_logging:
|
| 87 |
+
version: 1
|
| 88 |
+
formatters:
|
| 89 |
+
simple:
|
| 90 |
+
format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
|
| 91 |
+
handlers:
|
| 92 |
+
console:
|
| 93 |
+
class: logging.StreamHandler
|
| 94 |
+
formatter: simple
|
| 95 |
+
stream: ext://sys.stdout
|
| 96 |
+
file:
|
| 97 |
+
class: logging.FileHandler
|
| 98 |
+
formatter: simple
|
| 99 |
+
filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
|
| 100 |
+
root:
|
| 101 |
+
level: INFO
|
| 102 |
+
handlers:
|
| 103 |
+
- console
|
| 104 |
+
- file
|
| 105 |
+
disable_existing_loggers: false
|
| 106 |
+
env: {}
|
| 107 |
+
mode: MULTIRUN
|
| 108 |
+
searchpath: []
|
| 109 |
+
callbacks: {}
|
| 110 |
+
output_subdir: .
|
| 111 |
+
overrides:
|
| 112 |
+
hydra:
|
| 113 |
+
- hydra.mode=MULTIRUN
|
| 114 |
+
task:
|
| 115 |
+
- algorithm=sb3_ppo
|
| 116 |
+
- env_id=Airfoil2D-hard-v0
|
| 117 |
+
- rl_mode=sarl
|
| 118 |
+
- seed=0
|
| 119 |
+
job:
|
| 120 |
+
name: test_sb3
|
| 121 |
+
chdir: true
|
| 122 |
+
override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=0
|
| 123 |
+
id: ???
|
| 124 |
+
num: ???
|
| 125 |
+
config_name: test_sb3
|
| 126 |
+
env_set: {}
|
| 127 |
+
env_copy: []
|
| 128 |
+
config:
|
| 129 |
+
override_dirname:
|
| 130 |
+
kv_sep: '='
|
| 131 |
+
item_sep: ','
|
| 132 |
+
exclude_keys: []
|
| 133 |
+
runtime:
|
| 134 |
+
version: 1.3.2
|
| 135 |
+
version_base: '1.3'
|
| 136 |
+
cwd: /cephfs/users/becktepe/git_projects/FluidGym
|
| 137 |
+
config_sources:
|
| 138 |
+
- path: hydra.conf
|
| 139 |
+
schema: pkg
|
| 140 |
+
provider: hydra
|
| 141 |
+
- path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
|
| 142 |
+
schema: file
|
| 143 |
+
provider: main
|
| 144 |
+
- path: hydra_plugins.hydra_colorlog.conf
|
| 145 |
+
schema: pkg
|
| 146 |
+
provider: hydra-colorlog
|
| 147 |
+
- path: ''
|
| 148 |
+
schema: structured
|
| 149 |
+
provider: schema
|
| 150 |
+
output_dir: ???
|
| 151 |
+
choices:
|
| 152 |
+
cluster: local
|
| 153 |
+
algorithm: sb3_ppo
|
| 154 |
+
hydra/env: default
|
| 155 |
+
hydra/callbacks: null
|
| 156 |
+
hydra/job_logging: default
|
| 157 |
+
hydra/hydra_logging: default
|
| 158 |
+
hydra/hydra_help: default
|
| 159 |
+
hydra/help: default
|
| 160 |
+
hydra/sweeper: basic
|
| 161 |
+
hydra/launcher: basic
|
| 162 |
+
hydra/output: default
|
| 163 |
+
verbose: false
|
| 164 |
+
env_id: Airfoil2D-hard-v0
|
| 165 |
+
env_kwargs: {}
|
| 166 |
+
eval_env_kwargs: {}
|
| 167 |
+
seed: 0
|
| 168 |
+
rl_mode: sarl
|
| 169 |
+
total_timesteps: 50000.0
|
| 170 |
+
n_eval_steps: 10
|
| 171 |
+
eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
|
| 172 |
+
n_eval_episodes: 1
|
| 173 |
+
continue_training: false
|
| 174 |
+
checkpoint_latest: true
|
| 175 |
+
rl_device: cpu
|
| 176 |
+
eval_callback:
|
| 177 |
+
_target_: fluidgym.integration.sb3.EvalCallback
|
| 178 |
+
eval_freq: ${eval_freq}
|
| 179 |
+
n_eval_episodes: ${n_eval_episodes}
|
| 180 |
+
use_wandb: ${wandb.enable}
|
| 181 |
+
checkpoint_latest: ${checkpoint_latest}
|
| 182 |
+
wandb:
|
| 183 |
+
enable: true
|
| 184 |
+
entity: safe-autonomous-systems
|
| 185 |
+
project: jbecktepe-fluidgym
|
| 186 |
+
algorithm:
|
| 187 |
+
name: PPO
|
| 188 |
+
obj:
|
| 189 |
+
_target_: stable_baselines3.ppo.ppo.PPO
|
| 190 |
+
policy: MlpPolicy
|
| 191 |
+
learning_rate: 0.0003
|
| 192 |
+
n_steps: 2048
|
| 193 |
+
batch_size: 64
|
| 194 |
+
n_epochs: 10
|
| 195 |
+
gamma: 0.99
|
| 196 |
+
gae_lambda: 0.95
|
| 197 |
+
clip_range: 0.2
|
| 198 |
+
clip_range_vf: null
|
| 199 |
+
normalize_advantage: true
|
| 200 |
+
ent_coef: 0.01
|
| 201 |
+
vf_coef: 0.5
|
| 202 |
+
max_grad_norm: 0.5
|
| 203 |
+
use_sde: false
|
| 204 |
+
sde_sample_freq: -1
|
| 205 |
+
rollout_buffer_class: null
|
| 206 |
+
rollout_buffer_kwargs: null
|
| 207 |
+
target_kl: null
|
| 208 |
+
stats_window_size: 100
|
| 209 |
+
tensorboard_log: null
|
| 210 |
+
verbose: 0
|
| 211 |
+
seed: ${seed}
|
| 212 |
+
device: ${rl_device}
|
| 213 |
+
_init_setup_model: true
|
| 214 |
+
cluster: {}
|
| 215 |
+
test_env_id: ${env_id}
|
| 216 |
+
test_env_kwargs: ${env_kwargs}
|
| 217 |
+
test_rl_mode: ${rl_mode}
|
| 218 |
+
n_test_episodes: 10
|
| 219 |
+
deterministic: true
|
| 220 |
+
save_frames: true
|
| 221 |
+
render_3d: true
|
training/sarl/Airfoil2D-hard-v0/PPO/0/overrides.yaml
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
- algorithm=sb3_ppo
|
| 2 |
+
- env_id=Airfoil2D-hard-v0
|
| 3 |
+
- rl_mode=sarl
|
| 4 |
+
- seed=0
|
training/sarl/Airfoil2D-hard-v0/PPO/0/test/test_eval_episode_0.csv
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.2536681,1.5410542,0.5318848,-0.84508306,0.48816478,0.011731624603271484
|
| 3 |
+
0.18373035,1.2155657,0.53378093,-0.84256786,0.47411096,0.5526819229125977
|
| 4 |
+
0.16877271,1.4417362,0.54314053,-0.85279846,0.48361906,2.4791226387023926
|
| 5 |
+
0.15016054,1.6342808,0.54917556,-0.86882037,0.49921098,4.8202080726623535
|
| 6 |
+
0.18025625,1.698266,0.54897046,-0.83701104,0.4224735,3.3580498695373535
|
| 7 |
+
0.21605693,1.7693936,0.5417932,-0.7772054,0.32479557,2.126129627227783
|
| 8 |
+
0.1894084,1.6288322,0.5249036,-0.77699256,0.3684828,2.5362277030944824
|
| 9 |
+
0.11327741,1.1996949,0.5229466,-0.8225246,0.46136844,4.527419567108154
|
| 10 |
+
0.0894298,1.060449,0.53212297,-0.8359347,0.47013032,5.794543743133545
|
| 11 |
+
0.1365209,1.3307543,0.5457636,-0.8581581,0.48633397,3.6842732429504395
|
| 12 |
+
0.17456047,1.58471,0.5482405,-0.8698642,0.49595755,3.014936923980713
|
| 13 |
+
0.18567473,1.6446488,0.54279786,-0.8341307,0.41997516,2.7943387031555176
|
| 14 |
+
0.18853971,1.6185097,0.5374035,-0.7843312,0.34184533,2.5211005210876465
|
| 15 |
+
0.17831431,1.5328056,0.5262859,-0.7685395,0.34455803,2.5327391624450684
|
| 16 |
+
0.16776627,1.4653975,0.5301927,-0.8073061,0.41501293,2.6714072227478027
|
| 17 |
+
0.1513186,1.3731987,0.5408017,-0.81495756,0.41384917,3.011535167694092
|
| 18 |
+
0.15031071,1.3228745,0.54687214,-0.8339516,0.43244043,2.7375845909118652
|
| 19 |
+
0.14970647,1.3039844,0.54321,-0.83814275,0.44391024,2.646925449371338
|
| 20 |
+
0.15131176,1.281036,0.53956336,-0.82186645,0.42237774,2.402853488922119
|
| 21 |
+
0.1506357,1.2593615,0.534322,-0.7965315,0.3841302,2.2969632148742676
|
| 22 |
+
0.15665829,1.2632984,0.5303449,-0.79829144,0.39626998,2.0006890296936035
|
| 23 |
+
0.16068526,1.2733319,0.5356364,-0.8096909,0.41190448,1.8610358238220215
|
| 24 |
+
0.14782186,1.2131908,0.5421746,-0.81771696,0.40948635,2.143764019012451
|
| 25 |
+
0.14275526,1.1549054,0.541636,-0.8172886,0.40572095,2.0267586708068848
|
| 26 |
+
0.141024,1.1266922,0.5402616,-0.81329244,0.40520853,1.926015853881836
|
| 27 |
+
0.1470144,1.154931,0.5406317,-0.8137479,0.40551543,1.7925548553466797
|
| 28 |
+
0.15531076,1.1907734,0.5408329,-0.81599784,0.40883628,1.6036877632141113
|
| 29 |
+
0.15017314,1.1529839,0.5411461,-0.81366134,0.40080217,1.6143479347229004
|
| 30 |
+
0.14765124,1.1298573,0.53968644,-0.8047458,0.38693854,1.5888538360595703
|
| 31 |
+
0.15273392,1.1495212,0.53840804,-0.80009615,0.38520318,1.4629502296447754
|
| 32 |
+
0.16257846,1.193954,0.5394025,-0.80937034,0.4017951,1.2805137634277344
|
| 33 |
+
0.15638362,1.175873,0.54019123,-0.81289047,0.40163833,1.455808162689209
|
| 34 |
+
0.15371235,1.1298755,0.5367863,-0.7999071,0.38175383,1.2872347831726074
|
| 35 |
+
0.15771207,1.1691947,0.53654444,-0.79110795,0.3746874,1.3501272201538086
|
| 36 |
+
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training/sarl/Airfoil2D-hard-v0/PPO/0/test/test_eval_sequences.csv
ADDED
|
The diff for this file is too large to render.
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|
training/sarl/Airfoil2D-hard-v0/PPO/0/training_log.csv
ADDED
|
@@ -0,0 +1,140 @@
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| 1 |
+
step,training/mean_reward,training/mean_drag,training/mean_lift,evaluation/mean_drag,evaluation/mean_lift,evaluation/mean_reward
|
| 2 |
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3800,0.5365537405014038,0.20009565457701683,1.3014596781134606,,,
|
| 21 |
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4000,0.5722998976707458,0.2119273847155273,1.3824597059190273,0.27124488522609075,1.629001245101293,-0.060619988441467286
|
| 22 |
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4200,0.5010092854499817,0.20898503124713896,1.3551524698734283,,,
|
| 23 |
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4400,0.8012487888336182,0.21638473588973284,1.4609603437781333,,,
|
| 24 |
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4600,0.44076263904571533,0.21380675591528417,1.368407126069069,,,
|
| 25 |
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4800,0.6181127429008484,0.21112822495400907,1.3945103365182876,,,
|
| 26 |
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5000,0.6176080107688904,0.24192178919911383,1.5564871987700462,,,
|
| 27 |
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5200,0.781826376914978,0.20869583077728748,1.4011186891794205,,,
|
| 28 |
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5400,0.6738946437835693,0.1949042709544301,1.2904548433423042,,,
|
| 29 |
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5600,0.48216763138771057,0.22665974993258714,1.4675899732112885,,,
|
| 30 |
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5800,0.49435052275657654,0.20889916706830264,1.3424933260679246,,,
|
| 31 |
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6000,0.6719934940338135,0.21026647046208383,1.4059675824642182,0.287511374404033,1.6811324004332224,-0.22415401617685954
|
| 32 |
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6200,0.48032450675964355,0.20667232347652317,1.3293137440085412,,,
|
| 33 |
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6400,0.6763876080513,0.20318434428423643,1.3440767192840577,,,
|
| 34 |
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6600,0.7423434257507324,0.21032877154648305,1.4055611437559128,,,
|
| 35 |
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6800,0.5902518033981323,0.20343916572630405,1.3278494787216186,,,
|
| 36 |
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7000,0.9296692609786987,0.2045511169359088,1.4024902611970902,,,
|
| 37 |
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7200,0.6048456430435181,0.20996764700859785,1.382640426158905,,,
|
| 38 |
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7400,0.9934419393539429,0.193337236456573,1.3363093385100364,,,
|
| 39 |
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7600,0.6506292819976807,0.2089067833684385,1.3752349293231965,,,
|
| 40 |
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7800,0.7039849758148193,0.22415410440415143,1.4936169910430908,,,
|
| 41 |
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8000,0.6740390062332153,0.2105828230455518,1.386520604789257,0.286343625386556,1.6800501716136933,-0.2033687957127889
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| 42 |
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8200,0.7089982628822327,0.20805231599137186,1.3863376900553703,,,
|
| 43 |
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8400,0.7381288409233093,0.2004793605580926,1.336064817905426,,,
|
| 44 |
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8600,0.7316054701805115,0.20496296364814043,1.3413329744338989,,,
|
| 45 |
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8800,0.5805156230926514,0.19470852937549352,1.2704101404547692,,,
|
| 46 |
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9000,0.7092926502227783,0.20255422005429863,1.3365106245875358,,,
|
| 47 |
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9200,0.7812323570251465,0.19508575458079577,1.3126766806840897,,,
|
| 48 |
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9400,0.7332675457000732,0.19743733488023282,1.3204573714733123,,,
|
| 49 |
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9600,0.6771999597549438,0.1895084175094962,1.2533207979798318,,,
|
| 50 |
+
9800,1.0545170307159424,0.20285989545285701,1.4098578530550003,,,
|
| 51 |
+
10000,0.8210305571556091,0.19865295907482505,1.33696223706007,0.3042278145750364,1.7181334537267685,-0.4217264874776204
|
| 52 |
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10200,0.9163820147514343,0.19005302466452123,1.300617595911026,,,
|
| 53 |
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10400,0.7794803380966187,0.1992925358749926,1.339095376431942,,,
|
| 54 |
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10600,0.6938645839691162,0.19301657468080521,1.2812831968069076,,,
|
| 55 |
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10800,1.1102255582809448,0.1980848890915513,1.3894211262464524,,,
|
| 56 |
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11000,0.7907046675682068,0.19424882041290403,1.3082605576515198,,,
|
| 57 |
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11200,0.7699955105781555,0.21348060239106417,1.4132125359773635,,,
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| 58 |
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11400,0.42684632539749146,0.1963039818778634,1.2469529178738594,,,
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| 59 |
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11600,0.8332764506340027,0.1962022453919053,1.3210310325026513,,,
|
| 60 |
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11800,0.7535436749458313,0.21352042932063342,1.4175888234376908,,,
|
| 61 |
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12000,0.8126921057701111,0.19785575039684772,1.3301618990302086,0.30384740928808845,1.7485654866695404,-0.30032397429148355
|
| 62 |
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12200,0.9431037306785583,0.1904506597854197,1.2996008729934692,,,
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| 63 |
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12400,0.7699206471443176,0.1996997595205903,1.3426179346442222,,,
|
| 64 |
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12600,0.6792698502540588,0.19574167918413876,1.2908271178603172,,,
|
| 65 |
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12800,0.8332916498184204,0.2041215057298541,1.3683172339200973,,,
|
| 66 |
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13000,0.9287509322166443,0.20901537215337157,1.4207152318954468,,,
|
| 67 |
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13200,1.0560601949691772,0.20450218688696623,1.4347652295231819,,,
|
| 68 |
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13400,0.8895996809005737,0.19725631549954414,1.341123171746731,,,
|
| 69 |
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13600,0.6375810503959656,0.1831099348515272,1.2036972025036812,,,
|
| 70 |
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13800,0.7823095917701721,0.18468632973730564,1.2479367563128472,,,
|
| 71 |
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14000,-0.0458674430847168,0.2733073532581329,1.6446220874786377,,,
|
| 72 |
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14000,,,,0.2926057242850463,1.7813154109319052,0.0462177308400472
|
| 73 |
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14200,0.6891728043556213,0.1893474218249321,1.2514786177873611,,,
|
| 74 |
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14400,0.9737045764923096,0.1974386755004525,1.3422271707654,,,
|
| 75 |
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14600,0.7917298674583435,0.204871571175754,1.3788619071245194,,,
|
| 76 |
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14800,0.9306299686431884,0.2138195265457034,1.4666313835978508,,,
|
| 77 |
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15000,1.140701174736023,0.2013095120340585,1.422182666361332,,,
|
| 78 |
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15200,1.030563235282898,0.200788655206561,1.402079308629036,,,
|
| 79 |
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15400,0.7255159616470337,0.2039410368725657,1.345279105603695,,,
|
| 80 |
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15600,0.9703153371810912,0.2037166139110922,1.4092774632573128,,,
|
| 81 |
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15800,0.7596538066864014,0.2077967662364244,1.395820220708847,,,
|
| 82 |
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16000,1.062177300453186,0.1955674538202584,1.364172298014164,,,
|
| 83 |
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16000,,,,0.2921868609885374,1.778614907662074,0.0447945054372151
|
| 84 |
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16200,0.8184127807617188,0.2216116076335311,1.4868169459700584,,,
|
| 85 |
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16400,0.9127469658851624,0.2384919939190149,1.622093904912472,,,
|
| 86 |
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16600,0.9913350939750672,0.2045492120459675,1.4225790187716485,,,
|
| 87 |
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16800,0.6731336712837219,0.2395106264576315,1.5792162278294564,,,
|
| 88 |
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17000,1.188625454902649,0.2089100444316864,1.481522395014763,,,
|
| 89 |
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17200,1.2839759588241575,0.2101822565309703,1.4973266804218293,,,
|
| 90 |
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17400,1.570918321609497,0.1949703434482216,1.4406397351622582,,,
|
| 91 |
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17600,0.9707952737808228,0.2246785905398428,1.5276742747426033,,,
|
| 92 |
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17800,0.975159227848053,0.1801388341933489,1.2366971948742866,,,
|
| 93 |
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18000,1.334500789642334,0.1953180781938135,1.390854351222515,,,
|
| 94 |
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18000,,,,0.2619093296428521,1.7543502843379974,0.7450283241271972
|
| 95 |
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18200,1.384679079055786,0.1911917856708169,1.3936515107750893,,,
|
| 96 |
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18400,1.4443358182907104,0.1915873645246029,1.413550390899181,,,
|
| 97 |
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18600,1.1360116004943848,0.1899505589716136,1.3376220232248306,,,
|
| 98 |
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18800,1.3022282123565674,0.1919317268952727,1.3890091961622235,,,
|
| 99 |
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19000,1.4022918939590454,0.2132746207341551,1.5473321002721787,,,
|
| 100 |
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19200,1.439310908317566,0.1846288439631462,1.3529451084136963,,,
|
| 101 |
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19400,0.8071966767311096,0.1810575186833739,1.22175912797451,,,
|
| 102 |
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19600,1.1893693208694458,0.2110173156112432,1.4792463287711144,,,
|
| 103 |
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19800,1.2058652639389038,0.1903908461146056,1.3528143076598644,,,
|
| 104 |
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20000,1.1038343906402588,0.1891328986734151,1.3300651749968528,,,
|
| 105 |
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20000,,,,0.1642118791739145,1.1905941021442414,1.2049085903167724
|
| 106 |
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14000,-0.0458674430847168,0.27330735325813293,1.6446220874786377,,,
|
| 107 |
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14000,,,,0.2926057242850463,1.7813154109319052,0.046217730840047204
|
| 108 |
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14200,0.6891728043556213,0.1893474218249321,1.2514786177873611,,,
|
| 109 |
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14400,0.9737045764923096,0.19743867550045252,1.3422271707653999,,,
|
| 110 |
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14600,0.7917298674583435,0.20487157117575408,1.3788619071245194,,,
|
| 111 |
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14800,0.9306299686431885,0.2138195265457034,1.4666313835978508,,,
|
| 112 |
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15000,1.140701174736023,0.20130951203405856,1.422182666361332,,,
|
| 113 |
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15200,1.030563235282898,0.20078865520656108,1.402079308629036,,,
|
| 114 |
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15400,0.7255159616470337,0.20394103687256573,1.345279105603695,,,
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| 115 |
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15600,0.9703153371810913,0.20371661391109228,1.4092774632573128,,,
|
| 116 |
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15800,0.7596538066864014,0.20779676623642446,1.395820220708847,,,
|
| 117 |
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16000,1.062177300453186,0.1955674538202584,1.364172298014164,,,
|
| 118 |
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16000,,,,0.29218686098853747,1.7786149076620739,0.04479450543721517
|
| 119 |
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16200,0.8184127807617188,0.2216116076335311,1.4868169459700584,,,
|
| 120 |
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16400,0.9127469658851624,0.23849199391901493,1.6220939049124719,,,
|
| 121 |
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16600,0.9913350939750671,0.20454921204596757,1.4225790187716485,,,
|
| 122 |
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16800,0.6731336712837219,0.23951062645763158,1.5792162278294564,,,
|
| 123 |
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17000,1.188625454902649,0.2089100444316864,1.481522395014763,,,
|
| 124 |
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17200,1.2839759588241577,0.21018225653097034,1.4973266804218293,,,
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| 125 |
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17400,1.570918321609497,0.19497034344822167,1.4406397351622582,,,
|
| 126 |
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17600,0.9707952737808228,0.22467859053984285,1.5276742747426033,,,
|
| 127 |
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17800,0.975159227848053,0.1801388341933489,1.2366971948742866,,,
|
| 128 |
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18000,1.334500789642334,0.19531807819381355,1.390854351222515,,,
|
| 129 |
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18000,,,,0.26190932964285213,1.7543502843379974,0.7450283241271972
|
| 130 |
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18200,1.3846790790557861,0.1911917856708169,1.3936515107750893,,,
|
| 131 |
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18400,1.4443358182907104,0.1915873645246029,1.4135503908991813,,,
|
| 132 |
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18600,1.1360116004943848,0.18995055897161364,1.3376220232248306,,,
|
| 133 |
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18800,1.3022282123565674,0.19193172689527274,1.3890091961622237,,,
|
| 134 |
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19000,1.4022918939590454,0.21327462073415518,1.5473321002721787,,,
|
| 135 |
+
19200,1.439310908317566,0.18462884396314622,1.3529451084136963,,,
|
| 136 |
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19400,0.8071966767311096,0.18105751868337394,1.2217591279745101,,,
|
| 137 |
+
19600,1.1893693208694458,0.21101731561124326,1.4792463287711144,,,
|
| 138 |
+
19800,1.2058652639389038,0.19039084611460566,1.3528143076598644,,,
|
| 139 |
+
20000,1.1038343906402588,0.18913289867341518,1.3300651749968528,,,
|
| 140 |
+
20000,,,,0.16421187917391458,1.1905941021442414,1.2049085903167724
|
training/sarl/Airfoil2D-hard-v0/PPO/1/config.yaml
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
env_id: Airfoil2D-hard-v0
|
| 2 |
+
env_kwargs: {}
|
| 3 |
+
eval_env_kwargs: {}
|
| 4 |
+
seed: 1
|
| 5 |
+
rl_mode: sarl
|
| 6 |
+
total_timesteps: 50000.0
|
| 7 |
+
n_eval_steps: 10
|
| 8 |
+
eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
|
| 9 |
+
n_eval_episodes: 1
|
| 10 |
+
continue_training: false
|
| 11 |
+
checkpoint_latest: true
|
| 12 |
+
rl_device: cpu
|
| 13 |
+
eval_callback:
|
| 14 |
+
_target_: fluidgym.integration.sb3.EvalCallback
|
| 15 |
+
eval_freq: ${eval_freq}
|
| 16 |
+
n_eval_episodes: ${n_eval_episodes}
|
| 17 |
+
use_wandb: ${wandb.enable}
|
| 18 |
+
checkpoint_latest: ${checkpoint_latest}
|
| 19 |
+
wandb:
|
| 20 |
+
enable: true
|
| 21 |
+
entity: safe-autonomous-systems
|
| 22 |
+
project: jbecktepe-fluidgym
|
| 23 |
+
algorithm:
|
| 24 |
+
name: PPO
|
| 25 |
+
obj:
|
| 26 |
+
_target_: stable_baselines3.ppo.ppo.PPO
|
| 27 |
+
policy: MlpPolicy
|
| 28 |
+
learning_rate: 0.0003
|
| 29 |
+
n_steps: 2048
|
| 30 |
+
batch_size: 64
|
| 31 |
+
n_epochs: 10
|
| 32 |
+
gamma: 0.99
|
| 33 |
+
gae_lambda: 0.95
|
| 34 |
+
clip_range: 0.2
|
| 35 |
+
clip_range_vf: null
|
| 36 |
+
normalize_advantage: true
|
| 37 |
+
ent_coef: 0.01
|
| 38 |
+
vf_coef: 0.5
|
| 39 |
+
max_grad_norm: 0.5
|
| 40 |
+
use_sde: false
|
| 41 |
+
sde_sample_freq: -1
|
| 42 |
+
rollout_buffer_class: null
|
| 43 |
+
rollout_buffer_kwargs: null
|
| 44 |
+
target_kl: null
|
| 45 |
+
stats_window_size: 100
|
| 46 |
+
tensorboard_log: null
|
| 47 |
+
verbose: 0
|
| 48 |
+
seed: ${seed}
|
| 49 |
+
device: ${rl_device}
|
| 50 |
+
_init_setup_model: true
|
| 51 |
+
cluster: {}
|
| 52 |
+
test_env_id: ${env_id}
|
| 53 |
+
test_env_kwargs: ${env_kwargs}
|
| 54 |
+
test_rl_mode: ${rl_mode}
|
| 55 |
+
n_test_episodes: 10
|
| 56 |
+
deterministic: true
|
| 57 |
+
save_frames: true
|
| 58 |
+
render_3d: true
|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_10000.csv
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
+
drag,lift,action_0,action_1,action_2,reward
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| 2 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_12000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_14000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
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0.2488221,1.4885788,0.16118339,-0.5647083,0.22285622,-0.08084678649902344
|
| 3 |
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|
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| 18 |
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| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 25 |
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|
| 26 |
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0.22674058,1.5180552,0.1685969,-0.56160957,0.21529375,0.6317696571350098
|
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training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_16000.csv
ADDED
|
@@ -0,0 +1,301 @@
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| 1 |
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0.23604241,1.3353368,0.19376446,-0.63681436,0.276786,-0.4061589241027832
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| 292 |
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0.27436876,1.6098223,0.16662735,-0.6567898,0.31350145,-0.1959819793701172
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| 293 |
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0.30207905,1.8429657,0.1740873,-0.64095366,0.30034265,0.037589073181152344
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| 294 |
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0.3416545,2.053662,0.23557352,-0.573513,0.20095736,-0.05241727828979492
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0.35447508,2.136809,0.27639043,-0.54197925,0.13735738,-0.03525543212890625
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0.3340188,1.9777478,0.23271339,-0.60512096,0.22015934,-0.14228200912475586
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| 297 |
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0.25954705,1.4987872,0.19370222,-0.6496585,0.28459662,-0.2887234687805176
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| 298 |
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0.22036889,1.2168381,0.19038998,-0.6521934,0.28972355,-0.5415258407592773
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| 299 |
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0.2633492,1.5055479,0.18392482,-0.64229876,0.28848013,-0.3464236259460449
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| 300 |
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| 301 |
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0.32786807,1.9870094,0.20999636,-0.5983135,0.24290666,-0.002956390380859375
|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_18000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
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drag,lift,action_0,action_1,action_2,reward
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| 2 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_2000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24344838,1.5033355,0.0012823273,0.003539545,0.00280859,0.11182212829589844
|
| 3 |
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0.18820572,1.1665038,0.0014460939,0.0028466345,0.0023595977,0.1346759796142578
|
| 4 |
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0.24012017,1.4516971,0.00042060827,0.0038587921,0.0024454864,-0.017638683319091797
|
| 5 |
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0.27563575,1.6426508,0.0019218393,0.0050415965,0.0030732737,-0.1038508415222168
|
| 6 |
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0.29170087,1.74976,0.004477354,0.004651187,0.0026765317,-0.06487560272216797
|
| 7 |
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0.30397496,1.847104,0.0029541177,0.0028816143,0.0033054634,0.013151168823242188
|
| 8 |
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0.30624798,1.8633629,0.0033796518,0.0031004976,0.0020203074,0.02114105224609375
|
| 9 |
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0.2813964,1.7079585,0.0020016127,0.0038555462,0.0026995447,0.006232738494873047
|
| 10 |
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0.20353262,1.2540772,0.0012852786,0.002965561,0.002665222,0.0982046127319336
|
| 11 |
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| 12 |
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|
| 13 |
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0.27938405,1.6859035,0.003743004,0.0051641674,0.0027108453,-0.028990745544433594
|
| 14 |
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0.29474875,1.7882023,0.0039605964,0.003655195,0.0030816102,0.003520488739013672
|
| 15 |
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0.2964685,1.8128003,0.0031294266,0.002708661,0.0027790584,0.05129814147949219
|
| 16 |
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0.28248456,1.7473919,0.002827248,0.003502999,0.0022624005,0.12244701385498047
|
| 17 |
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0.21601133,1.3461999,0.0009863502,0.0035549537,0.0028598479,0.1687307357788086
|
| 18 |
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0.19840212,1.2039422,0.0014777437,0.0028837493,0.002353659,0.0048427581787109375
|
| 19 |
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0.24464174,1.4838655,0.00036192848,0.0042770496,0.002416495,0.0021142959594726562
|
| 20 |
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0.28597966,1.7029418,0.0028755148,0.0050887475,0.0028884583,-0.10858392715454102
|
| 21 |
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0.29403633,1.7887774,0.0041576955,0.004246421,0.0028583128,0.020175933837890625
|
| 22 |
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0.30736667,1.8585469,0.0027453916,0.0027400136,0.003042049,-0.016672611236572266
|
| 23 |
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0.3006447,1.8366966,0.0033818872,0.0032719164,0.0021194578,0.045844078063964844
|
| 24 |
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0.252331,1.5292248,0.0015410939,0.0036282903,0.0027778544,-0.002956867218017578
|
| 25 |
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0.18955345,1.1689348,0.0013982233,0.0029655118,0.0024827116,0.10343265533447266
|
| 26 |
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0.23684037,1.4290398,0.0006633381,0.003529209,0.0024304667,-0.029581069946289062
|
| 27 |
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0.27417216,1.6216764,0.0014194803,0.0050189598,0.0030374445,-0.14853858947753906
|
| 28 |
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0.2894821,1.7340786,0.0043539363,0.0049048443,0.0026771387,-0.07306957244873047
|
| 29 |
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0.30241895,1.8225758,0.0032716594,0.003062021,0.0033502406,-0.03669023513793945
|
| 30 |
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0.3030668,1.847165,0.0033919134,0.0029763738,0.002229306,0.03156137466430664
|
| 31 |
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0.28470737,1.7476357,0.0023806326,0.0038234496,0.0026502851,0.07500886917114258
|
| 32 |
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0.2132856,1.2990719,0.0011842719,0.0031767255,0.0027482472,0.027413368225097656
|
| 33 |
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0.2079867,1.2487944,0.0014894296,0.0028399995,0.0024263337,-0.05914592742919922
|
| 34 |
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0.26126248,1.5630556,0.0004185301,0.004650594,0.0026651705,-0.08064699172973633
|
| 35 |
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0.28478315,1.6884755,0.0033426972,0.0052303476,0.0027575959,-0.13436269760131836
|
| 36 |
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0.29841945,1.7962894,0.0042499495,0.0038684395,0.002978592,-0.04400491714477539
|
| 37 |
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0.3080335,1.8635368,0.002891686,0.002641539,0.0029966019,-0.013562679290771484
|
| 38 |
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0.2972221,1.806715,0.0029778206,0.003411493,0.002090981,0.015320301055908203
|
| 39 |
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0.23087136,1.4187385,0.0010964271,0.0036326975,0.0028100067,0.08179759979248047
|
| 40 |
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0.1962455,1.1792606,0.0015039466,0.0028168727,0.0023483098,-0.05424022674560547
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| 41 |
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0.24235919,1.4494832,0.00039051648,0.0039380635,0.0023682395,-0.0826263427734375
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| 42 |
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0.27195272,1.6352863,0.0021456822,0.00518005,0.0030494956,-0.050221920013427734
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| 43 |
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0.2864599,1.7244091,0.004463951,0.004732675,0.002729279,-0.04362678527832031
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| 44 |
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0.2946129,1.7992924,0.0028607578,0.0028577403,0.0033054792,0.0439610481262207
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0.30415776,1.8562201,0.0034672471,0.003111662,0.0020479397,0.039470672607421875
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0.24582262,1.5156004,0.00184249,0.0037182719,0.00270788,0.10207366943359375
|
| 47 |
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0.19231285,1.1742464,0.0012391418,0.0030722702,0.0027816321,0.042568206787109375
|
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|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_20000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24970625,1.5190102,0.33239558,-0.83885,0.43211287,0.01983928680419922
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| 3 |
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0.18150623,1.1856986,0.33904716,-0.8335658,0.4190503,0.46920108795166016
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| 4 |
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0.17537367,1.44525,0.3145353,-0.8647549,0.46824023,2.1776251792907715
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| 5 |
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0.14812215,1.5956407,0.29743904,-0.8749462,0.4963349,4.709115505218506
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| 6 |
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0.17689219,1.6983298,0.39124084,-0.72761387,0.27849713,3.5375819206237793
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| 7 |
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0.21186383,1.7426453,0.41226706,-0.701514,0.23236036,2.161959171295166
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| 8 |
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0.18705808,1.5554106,0.34850296,-0.8231851,0.40149873,2.251772403717041
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| 9 |
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0.099839695,1.1077093,0.3310338,-0.84936076,0.4387864,5.031528949737549
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| 10 |
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0.0909004,1.0595257,0.32338446,-0.8661491,0.4596917,5.59254789352417
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| 11 |
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0.13512893,1.348942,0.32495633,-0.84614193,0.4416942,3.919280529022217
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| 12 |
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0.17913048,1.6223443,0.34430188,-0.80749893,0.39322415,2.993424892425537
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| 13 |
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0.18713725,1.6389283,0.38195083,-0.77203894,0.32322586,2.694545269012451
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| 14 |
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0.18422404,1.5899472,0.3831242,-0.7866057,0.3316756,2.567160129547119
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 21 |
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| 27 |
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| 28 |
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0.14675117,1.1448984,0.38291308,-0.77778,0.32008666,1.7382817268371582
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| 29 |
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| 32 |
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| 35 |
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| 55 |
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| 56 |
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0.16311438,1.155712,0.40502858,-0.7400874,0.26692498,1.0219364166259766
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training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_4000.csv
ADDED
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| 1 |
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drag,lift,action_0,action_1,action_2,reward
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| 2 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_6000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
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0.24304537,1.4795669,0.10771272,-0.17228486,0.120081134,0.024266719818115234
|
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| 35 |
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| 39 |
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|
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|
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0.2924552,1.7558739,0.07420694,-0.15540431,0.14777806,-0.05944204330444336
|
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|
training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_8000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24527621,1.4992656,0.12736996,-0.2676823,0.18641227,0.049210548400878906
|
| 3 |
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0.1908472,1.1674162,0.12489391,-0.26787317,0.18836911,0.05367088317871094
|
| 4 |
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0.23396654,1.4394485,0.10501246,-0.27858928,0.19783081,0.089019775390625
|
| 5 |
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0.25182548,1.6377865,0.094490595,-0.2752454,0.20573398,0.4403076171875
|
| 6 |
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0.2640243,1.7290936,0.11512264,-0.25294414,0.1934321,0.4856448173522949
|
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training/sarl/Airfoil2D-hard-v0/PPO/1/hydra.yaml
ADDED
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
hydra:
|
| 2 |
+
run:
|
| 3 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 4 |
+
sweep:
|
| 5 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 6 |
+
subdir: ''
|
| 7 |
+
launcher:
|
| 8 |
+
_target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
|
| 9 |
+
sweeper:
|
| 10 |
+
_target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
|
| 11 |
+
max_batch_size: null
|
| 12 |
+
params: null
|
| 13 |
+
help:
|
| 14 |
+
app_name: ${hydra.job.name}
|
| 15 |
+
header: '${hydra.help.app_name} is powered by Hydra.
|
| 16 |
+
|
| 17 |
+
'
|
| 18 |
+
footer: 'Powered by Hydra (https://hydra.cc)
|
| 19 |
+
|
| 20 |
+
Use --hydra-help to view Hydra specific help
|
| 21 |
+
|
| 22 |
+
'
|
| 23 |
+
template: '${hydra.help.header}
|
| 24 |
+
|
| 25 |
+
== Configuration groups ==
|
| 26 |
+
|
| 27 |
+
Compose your configuration from those groups (group=option)
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
$APP_CONFIG_GROUPS
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
== Config ==
|
| 34 |
+
|
| 35 |
+
Override anything in the config (foo.bar=value)
|
| 36 |
+
|
| 37 |
+
|
| 38 |
+
$CONFIG
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
${hydra.help.footer}
|
| 42 |
+
|
| 43 |
+
'
|
| 44 |
+
hydra_help:
|
| 45 |
+
template: 'Hydra (${hydra.runtime.version})
|
| 46 |
+
|
| 47 |
+
See https://hydra.cc for more info.
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
== Flags ==
|
| 51 |
+
|
| 52 |
+
$FLAGS_HELP
|
| 53 |
+
|
| 54 |
+
|
| 55 |
+
== Configuration groups ==
|
| 56 |
+
|
| 57 |
+
Compose your configuration from those groups (For example, append hydra/job_logging=disabled
|
| 58 |
+
to command line)
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
$HYDRA_CONFIG_GROUPS
|
| 62 |
+
|
| 63 |
+
|
| 64 |
+
Use ''--cfg hydra'' to Show the Hydra config.
|
| 65 |
+
|
| 66 |
+
'
|
| 67 |
+
hydra_help: ???
|
| 68 |
+
hydra_logging:
|
| 69 |
+
version: 1
|
| 70 |
+
formatters:
|
| 71 |
+
simple:
|
| 72 |
+
format: '[%(asctime)s][HYDRA] %(message)s'
|
| 73 |
+
handlers:
|
| 74 |
+
console:
|
| 75 |
+
class: logging.StreamHandler
|
| 76 |
+
formatter: simple
|
| 77 |
+
stream: ext://sys.stdout
|
| 78 |
+
root:
|
| 79 |
+
level: INFO
|
| 80 |
+
handlers:
|
| 81 |
+
- console
|
| 82 |
+
loggers:
|
| 83 |
+
logging_example:
|
| 84 |
+
level: DEBUG
|
| 85 |
+
disable_existing_loggers: false
|
| 86 |
+
job_logging:
|
| 87 |
+
version: 1
|
| 88 |
+
formatters:
|
| 89 |
+
simple:
|
| 90 |
+
format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
|
| 91 |
+
handlers:
|
| 92 |
+
console:
|
| 93 |
+
class: logging.StreamHandler
|
| 94 |
+
formatter: simple
|
| 95 |
+
stream: ext://sys.stdout
|
| 96 |
+
file:
|
| 97 |
+
class: logging.FileHandler
|
| 98 |
+
formatter: simple
|
| 99 |
+
filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
|
| 100 |
+
root:
|
| 101 |
+
level: INFO
|
| 102 |
+
handlers:
|
| 103 |
+
- console
|
| 104 |
+
- file
|
| 105 |
+
disable_existing_loggers: false
|
| 106 |
+
env: {}
|
| 107 |
+
mode: MULTIRUN
|
| 108 |
+
searchpath: []
|
| 109 |
+
callbacks: {}
|
| 110 |
+
output_subdir: .
|
| 111 |
+
overrides:
|
| 112 |
+
hydra:
|
| 113 |
+
- hydra.mode=MULTIRUN
|
| 114 |
+
task:
|
| 115 |
+
- algorithm=sb3_ppo
|
| 116 |
+
- env_id=Airfoil2D-hard-v0
|
| 117 |
+
- rl_mode=sarl
|
| 118 |
+
- seed=1
|
| 119 |
+
job:
|
| 120 |
+
name: test_sb3
|
| 121 |
+
chdir: true
|
| 122 |
+
override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=1
|
| 123 |
+
id: '0'
|
| 124 |
+
num: 0
|
| 125 |
+
config_name: test_sb3
|
| 126 |
+
env_set: {}
|
| 127 |
+
env_copy: []
|
| 128 |
+
config:
|
| 129 |
+
override_dirname:
|
| 130 |
+
kv_sep: '='
|
| 131 |
+
item_sep: ','
|
| 132 |
+
exclude_keys: []
|
| 133 |
+
runtime:
|
| 134 |
+
version: 1.3.2
|
| 135 |
+
version_base: '1.3'
|
| 136 |
+
cwd: /cephfs/users/becktepe/git_projects/FluidGym
|
| 137 |
+
config_sources:
|
| 138 |
+
- path: hydra.conf
|
| 139 |
+
schema: pkg
|
| 140 |
+
provider: hydra
|
| 141 |
+
- path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
|
| 142 |
+
schema: file
|
| 143 |
+
provider: main
|
| 144 |
+
- path: hydra_plugins.hydra_colorlog.conf
|
| 145 |
+
schema: pkg
|
| 146 |
+
provider: hydra-colorlog
|
| 147 |
+
- path: ''
|
| 148 |
+
schema: structured
|
| 149 |
+
provider: schema
|
| 150 |
+
output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/Airfoil2D-hard-v0/PPO/1
|
| 151 |
+
choices:
|
| 152 |
+
cluster: local
|
| 153 |
+
algorithm: sb3_ppo
|
| 154 |
+
hydra/env: default
|
| 155 |
+
hydra/callbacks: null
|
| 156 |
+
hydra/job_logging: default
|
| 157 |
+
hydra/hydra_logging: default
|
| 158 |
+
hydra/hydra_help: default
|
| 159 |
+
hydra/help: default
|
| 160 |
+
hydra/sweeper: basic
|
| 161 |
+
hydra/launcher: basic
|
| 162 |
+
hydra/output: default
|
| 163 |
+
verbose: false
|
training/sarl/Airfoil2D-hard-v0/PPO/1/multirun.yaml
ADDED
|
@@ -0,0 +1,221 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
hydra:
|
| 2 |
+
run:
|
| 3 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 4 |
+
sweep:
|
| 5 |
+
dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
|
| 6 |
+
subdir: ''
|
| 7 |
+
launcher:
|
| 8 |
+
_target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
|
| 9 |
+
sweeper:
|
| 10 |
+
_target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
|
| 11 |
+
max_batch_size: null
|
| 12 |
+
params: null
|
| 13 |
+
help:
|
| 14 |
+
app_name: ${hydra.job.name}
|
| 15 |
+
header: '${hydra.help.app_name} is powered by Hydra.
|
| 16 |
+
|
| 17 |
+
'
|
| 18 |
+
footer: 'Powered by Hydra (https://hydra.cc)
|
| 19 |
+
|
| 20 |
+
Use --hydra-help to view Hydra specific help
|
| 21 |
+
|
| 22 |
+
'
|
| 23 |
+
template: '${hydra.help.header}
|
| 24 |
+
|
| 25 |
+
== Configuration groups ==
|
| 26 |
+
|
| 27 |
+
Compose your configuration from those groups (group=option)
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
$APP_CONFIG_GROUPS
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
== Config ==
|
| 34 |
+
|
| 35 |
+
Override anything in the config (foo.bar=value)
|
| 36 |
+
|
| 37 |
+
|
| 38 |
+
$CONFIG
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
${hydra.help.footer}
|
| 42 |
+
|
| 43 |
+
'
|
| 44 |
+
hydra_help:
|
| 45 |
+
template: 'Hydra (${hydra.runtime.version})
|
| 46 |
+
|
| 47 |
+
See https://hydra.cc for more info.
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
== Flags ==
|
| 51 |
+
|
| 52 |
+
$FLAGS_HELP
|
| 53 |
+
|
| 54 |
+
|
| 55 |
+
== Configuration groups ==
|
| 56 |
+
|
| 57 |
+
Compose your configuration from those groups (For example, append hydra/job_logging=disabled
|
| 58 |
+
to command line)
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
$HYDRA_CONFIG_GROUPS
|
| 62 |
+
|
| 63 |
+
|
| 64 |
+
Use ''--cfg hydra'' to Show the Hydra config.
|
| 65 |
+
|
| 66 |
+
'
|
| 67 |
+
hydra_help: ???
|
| 68 |
+
hydra_logging:
|
| 69 |
+
version: 1
|
| 70 |
+
formatters:
|
| 71 |
+
simple:
|
| 72 |
+
format: '[%(asctime)s][HYDRA] %(message)s'
|
| 73 |
+
handlers:
|
| 74 |
+
console:
|
| 75 |
+
class: logging.StreamHandler
|
| 76 |
+
formatter: simple
|
| 77 |
+
stream: ext://sys.stdout
|
| 78 |
+
root:
|
| 79 |
+
level: INFO
|
| 80 |
+
handlers:
|
| 81 |
+
- console
|
| 82 |
+
loggers:
|
| 83 |
+
logging_example:
|
| 84 |
+
level: DEBUG
|
| 85 |
+
disable_existing_loggers: false
|
| 86 |
+
job_logging:
|
| 87 |
+
version: 1
|
| 88 |
+
formatters:
|
| 89 |
+
simple:
|
| 90 |
+
format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
|
| 91 |
+
handlers:
|
| 92 |
+
console:
|
| 93 |
+
class: logging.StreamHandler
|
| 94 |
+
formatter: simple
|
| 95 |
+
stream: ext://sys.stdout
|
| 96 |
+
file:
|
| 97 |
+
class: logging.FileHandler
|
| 98 |
+
formatter: simple
|
| 99 |
+
filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
|
| 100 |
+
root:
|
| 101 |
+
level: INFO
|
| 102 |
+
handlers:
|
| 103 |
+
- console
|
| 104 |
+
- file
|
| 105 |
+
disable_existing_loggers: false
|
| 106 |
+
env: {}
|
| 107 |
+
mode: MULTIRUN
|
| 108 |
+
searchpath: []
|
| 109 |
+
callbacks: {}
|
| 110 |
+
output_subdir: .
|
| 111 |
+
overrides:
|
| 112 |
+
hydra:
|
| 113 |
+
- hydra.mode=MULTIRUN
|
| 114 |
+
task:
|
| 115 |
+
- algorithm=sb3_ppo
|
| 116 |
+
- env_id=Airfoil2D-hard-v0
|
| 117 |
+
- rl_mode=sarl
|
| 118 |
+
- seed=1
|
| 119 |
+
job:
|
| 120 |
+
name: test_sb3
|
| 121 |
+
chdir: true
|
| 122 |
+
override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=1
|
| 123 |
+
id: ???
|
| 124 |
+
num: ???
|
| 125 |
+
config_name: test_sb3
|
| 126 |
+
env_set: {}
|
| 127 |
+
env_copy: []
|
| 128 |
+
config:
|
| 129 |
+
override_dirname:
|
| 130 |
+
kv_sep: '='
|
| 131 |
+
item_sep: ','
|
| 132 |
+
exclude_keys: []
|
| 133 |
+
runtime:
|
| 134 |
+
version: 1.3.2
|
| 135 |
+
version_base: '1.3'
|
| 136 |
+
cwd: /cephfs/users/becktepe/git_projects/FluidGym
|
| 137 |
+
config_sources:
|
| 138 |
+
- path: hydra.conf
|
| 139 |
+
schema: pkg
|
| 140 |
+
provider: hydra
|
| 141 |
+
- path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
|
| 142 |
+
schema: file
|
| 143 |
+
provider: main
|
| 144 |
+
- path: hydra_plugins.hydra_colorlog.conf
|
| 145 |
+
schema: pkg
|
| 146 |
+
provider: hydra-colorlog
|
| 147 |
+
- path: ''
|
| 148 |
+
schema: structured
|
| 149 |
+
provider: schema
|
| 150 |
+
output_dir: ???
|
| 151 |
+
choices:
|
| 152 |
+
cluster: local
|
| 153 |
+
algorithm: sb3_ppo
|
| 154 |
+
hydra/env: default
|
| 155 |
+
hydra/callbacks: null
|
| 156 |
+
hydra/job_logging: default
|
| 157 |
+
hydra/hydra_logging: default
|
| 158 |
+
hydra/hydra_help: default
|
| 159 |
+
hydra/help: default
|
| 160 |
+
hydra/sweeper: basic
|
| 161 |
+
hydra/launcher: basic
|
| 162 |
+
hydra/output: default
|
| 163 |
+
verbose: false
|
| 164 |
+
env_id: Airfoil2D-hard-v0
|
| 165 |
+
env_kwargs: {}
|
| 166 |
+
eval_env_kwargs: {}
|
| 167 |
+
seed: 1
|
| 168 |
+
rl_mode: sarl
|
| 169 |
+
total_timesteps: 50000.0
|
| 170 |
+
n_eval_steps: 10
|
| 171 |
+
eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
|
| 172 |
+
n_eval_episodes: 1
|
| 173 |
+
continue_training: false
|
| 174 |
+
checkpoint_latest: true
|
| 175 |
+
rl_device: cpu
|
| 176 |
+
eval_callback:
|
| 177 |
+
_target_: fluidgym.integration.sb3.EvalCallback
|
| 178 |
+
eval_freq: ${eval_freq}
|
| 179 |
+
n_eval_episodes: ${n_eval_episodes}
|
| 180 |
+
use_wandb: ${wandb.enable}
|
| 181 |
+
checkpoint_latest: ${checkpoint_latest}
|
| 182 |
+
wandb:
|
| 183 |
+
enable: true
|
| 184 |
+
entity: safe-autonomous-systems
|
| 185 |
+
project: jbecktepe-fluidgym
|
| 186 |
+
algorithm:
|
| 187 |
+
name: PPO
|
| 188 |
+
obj:
|
| 189 |
+
_target_: stable_baselines3.ppo.ppo.PPO
|
| 190 |
+
policy: MlpPolicy
|
| 191 |
+
learning_rate: 0.0003
|
| 192 |
+
n_steps: 2048
|
| 193 |
+
batch_size: 64
|
| 194 |
+
n_epochs: 10
|
| 195 |
+
gamma: 0.99
|
| 196 |
+
gae_lambda: 0.95
|
| 197 |
+
clip_range: 0.2
|
| 198 |
+
clip_range_vf: null
|
| 199 |
+
normalize_advantage: true
|
| 200 |
+
ent_coef: 0.01
|
| 201 |
+
vf_coef: 0.5
|
| 202 |
+
max_grad_norm: 0.5
|
| 203 |
+
use_sde: false
|
| 204 |
+
sde_sample_freq: -1
|
| 205 |
+
rollout_buffer_class: null
|
| 206 |
+
rollout_buffer_kwargs: null
|
| 207 |
+
target_kl: null
|
| 208 |
+
stats_window_size: 100
|
| 209 |
+
tensorboard_log: null
|
| 210 |
+
verbose: 0
|
| 211 |
+
seed: ${seed}
|
| 212 |
+
device: ${rl_device}
|
| 213 |
+
_init_setup_model: true
|
| 214 |
+
cluster: {}
|
| 215 |
+
test_env_id: ${env_id}
|
| 216 |
+
test_env_kwargs: ${env_kwargs}
|
| 217 |
+
test_rl_mode: ${rl_mode}
|
| 218 |
+
n_test_episodes: 10
|
| 219 |
+
deterministic: true
|
| 220 |
+
save_frames: true
|
| 221 |
+
render_3d: true
|
training/sarl/Airfoil2D-hard-v0/PPO/1/overrides.yaml
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
- algorithm=sb3_ppo
|
| 2 |
+
- env_id=Airfoil2D-hard-v0
|
| 3 |
+
- rl_mode=sarl
|
| 4 |
+
- seed=1
|
training/sarl/Airfoil2D-hard-v0/PPO/1/test/test_eval_episode_0.csv
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.2545651,1.5258878,0.40796265,-0.90798,0.40220845,-0.06925201416015625
|
| 3 |
+
0.18418373,1.2104748,0.39559996,-0.94294524,0.44056687,0.5087556838989258
|
| 4 |
+
0.16982569,1.4371728,0.39669392,-0.93283314,0.4310977,2.3992857933044434
|
| 5 |
+
0.15032066,1.6148614,0.40054128,-0.9013505,0.40395316,4.679427623748779
|
| 6 |
+
0.18048991,1.6856518,0.47938958,-0.7662471,0.22944476,3.275963306427002
|
| 7 |
+
0.21958332,1.7398579,0.52977395,-0.6791412,0.111793935,1.8601031303405762
|
| 8 |
+
0.19733539,1.6291322,0.43320444,-0.87232804,0.3512381,2.1923022270202637
|
| 9 |
+
0.11274624,1.1958927,0.3941632,-0.9467061,0.4430388,4.5435919761657715
|
| 10 |
+
0.08159319,1.0382695,0.3893934,-0.9537656,0.45282903,6.6616034507751465
|
| 11 |
+
0.13418816,1.3639336,0.3978588,-0.92832434,0.42543656,4.100986957550049
|
| 12 |
+
0.17322339,1.5773242,0.42025203,-0.8758995,0.3664821,3.0423731803894043
|
| 13 |
+
0.18738706,1.6518475,0.4722502,-0.81050694,0.26911455,2.7518134117126465
|
| 14 |
+
0.18986244,1.6322564,0.47660848,-0.82208854,0.26963994,2.5336976051330566
|
| 15 |
+
0.17302601,1.5415734,0.4416934,-0.875722,0.34220266,2.8461403846740723
|
| 16 |
+
0.16413248,1.45508,0.451726,-0.84054554,0.30421826,2.801928997039795
|
| 17 |
+
0.15077977,1.363757,0.4670833,-0.79444915,0.25538892,2.9813456535339355
|
| 18 |
+
0.15433094,1.3376745,0.48288894,-0.76056564,0.2167185,2.6042227745056152
|
| 19 |
+
0.14860642,1.311923,0.4531083,-0.833812,0.2991759,2.764822483062744
|
| 20 |
+
0.14356676,1.2823678,0.44527167,-0.8729537,0.33506203,2.868856906890869
|
| 21 |
+
0.13654606,1.2397822,0.44560722,-0.8742465,0.3350497,3.0162405967712402
|
| 22 |
+
0.14401351,1.269389,0.46398896,-0.8283918,0.28119147,2.751025676727295
|
| 23 |
+
0.15648429,1.3039602,0.48121744,-0.7845509,0.23116142,2.269501209259033
|
| 24 |
+
0.1512184,1.2561051,0.48305905,-0.7791108,0.22631516,2.243213176727295
|
| 25 |
+
0.14803475,1.2476977,0.47969535,-0.7928289,0.24097899,2.3650612831115723
|
| 26 |
+
0.14950442,1.2363366,0.4769167,-0.80172104,0.24997263,2.206216335296631
|
| 27 |
+
0.15051562,1.245717,0.46833718,-0.82070273,0.27226204,2.212981700897217
|
| 28 |
+
0.14766511,1.2244008,0.46572804,-0.8283162,0.28071642,2.228391170501709
|
| 29 |
+
0.13567276,1.1679509,0.47496998,-0.81408906,0.26211715,2.5452380180358887
|
| 30 |
+
0.14175566,1.2080907,0.47425702,-0.8136471,0.262157,2.458996295928955
|
| 31 |
+
0.15395696,1.2601743,0.4619921,-0.8326724,0.28718147,2.121887683868408
|
| 32 |
+
0.1552741,1.2660939,0.46455115,-0.8268635,0.2802786,2.0905795097351074
|
| 33 |
+
0.15474617,1.2483233,0.48524627,-0.79028356,0.23515707,2.0035595893859863
|
| 34 |
+
0.15848663,1.2604979,0.481956,-0.78654593,0.23463184,1.8899898529052734
|
| 35 |
+
0.15770996,1.2635491,0.4549387,-0.83795273,0.29721418,1.9485039710998535
|
| 36 |
+
0.15418349,1.2402912,0.4576937,-0.8408083,0.29842493,1.9809050559997559
|
| 37 |
+
0.153213,1.2367382,0.48062456,-0.79827625,0.24524066,2.008669376373291
|
| 38 |
+
0.16119912,1.2587832,0.47392553,-0.7938629,0.24839054,1.7455220222473145
|
| 39 |
+
0.15826252,1.255475,0.45995703,-0.8344866,0.2905034,1.8695144653320312
|
| 40 |
+
0.15733257,1.2434242,0.47771654,-0.8073485,0.25403237,1.8398089408874512
|
| 41 |
+
0.1612621,1.2527236,0.47768936,-0.79792726,0.24716993,1.7048964500427246
|
| 42 |
+
0.16319373,1.273507,0.46678576,-0.8175678,0.27205545,1.7403020858764648
|
| 43 |
+
0.1559333,1.2265457,0.46236435,-0.83159417,0.2857968,1.8024859428405762
|
| 44 |
+
0.15677807,1.2199224,0.4872013,-0.78487325,0.22771327,1.7178568840026855
|
| 45 |
+
0.16537641,1.2612718,0.48228452,-0.7785237,0.22832707,1.563323974609375
|
| 46 |
+
0.16250707,1.2557627,0.46112812,-0.82936144,0.28495768,1.6640849113464355
|
| 47 |
+
0.15949789,1.2355655,0.47403428,-0.81524175,0.26389217,1.6832456588745117
|
| 48 |
+
0.16017126,1.2400869,0.4783294,-0.7963633,0.24523063,1.6789069175720215
|
| 49 |
+
0.16302632,1.2576147,0.4709651,-0.80818486,0.26142472,1.6508331298828125
|
| 50 |
+
0.15956138,1.2390791,0.46326408,-0.8301416,0.28439963,1.7021832466125488
|
| 51 |
+
0.1614807,1.2301604,0.4859822,-0.791123,0.23403409,1.5546531677246094
|
| 52 |
+
0.16540377,1.2606887,0.47939125,-0.787742,0.23836878,1.5585365295410156
|
| 53 |
+
0.16479251,1.2612208,0.46195886,-0.8303906,0.28561923,1.5900378227233887
|
| 54 |
+
0.15819271,1.2180218,0.47261655,-0.8173498,0.26712522,1.6362581253051758
|
| 55 |
+
0.16194162,1.2345072,0.4835108,-0.789783,0.23566973,1.5598130226135254
|
| 56 |
+
0.16473381,1.2506208,0.47114256,-0.8071369,0.2607169,1.5284185409545898
|
| 57 |
+
0.15862368,1.2028879,0.4622493,-0.8320509,0.28698093,1.5199313163757324
|
| 58 |
+
0.1598824,1.2235895,0.48584586,-0.79207915,0.23503712,1.5897107124328613
|
| 59 |
+
0.1684647,1.2611172,0.4790984,-0.78924036,0.23995751,1.4225940704345703
|
| 60 |
+
0.16423704,1.2313381,0.46494967,-0.8252388,0.27912244,1.433973789215088
|
| 61 |
+
0.15979266,1.2150787,0.47388706,-0.81599367,0.26503444,1.5407466888427734
|
| 62 |
+
0.16232763,1.2294382,0.4837109,-0.79037803,0.23588449,1.510457992553711
|
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training/sarl/Airfoil2D-hard-v0/PPO/1/test/test_eval_sequences.csv
ADDED
|
The diff for this file is too large to render.
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training/sarl/Airfoil2D-hard-v0/PPO/1/training_log.csv
ADDED
|
@@ -0,0 +1,113 @@
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| 1 |
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step,training/mean_reward,training/mean_drag,training/mean_lift,evaluation/mean_drag,evaluation/mean_lift,evaluation/mean_reward
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18000,,,,0.16122181855142118,1.175190269947052,1.2408165343602497
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| 109 |
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| 110 |
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| 112 |
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20200,1.4100227355957031,0.18615783166140318,1.3547913911938667,,,
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| 113 |
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20400,1.196471929550171,0.17736638516187667,1.2622700062394143,,,
|
training/sarl/Airfoil2D-hard-v0/PPO/2/eval_sequence_16000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
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|
|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24587317,1.4959863,0.32703334,-0.65846044,0.2900456,0.02103281021118164
|
| 3 |
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|
| 4 |
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0.20865548,1.4647628,0.32197937,-0.61824036,0.22510771,0.9566574096679688
|
| 5 |
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0.19869898,1.6414918,0.2913932,-0.6596628,0.29845423,2.197849750518799
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| 6 |
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|
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0.20164561,1.7319399,0.30333957,-0.63659275,0.25722295,2.525679111480713
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|
| 9 |
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|
| 10 |
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|
| 11 |
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| 12 |
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|
| 13 |
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0.20691518,1.7085841,0.2965747,-0.6177409,0.261491,2.194063663482666
|
| 14 |
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0.20844351,1.7229084,0.30295575,-0.68567294,0.27333328,2.202239513397217
|
| 15 |
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0.21344967,1.7509044,0.3113788,-0.7124121,0.29894415,2.1395421028137207
|
| 16 |
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0.22173531,1.7692813,0.31597212,-0.7091948,0.3181091,1.9158997535705566
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| 17 |
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0.19277062,1.6160086,0.31907952,-0.6783682,0.2881386,2.319715976715088
|
| 18 |
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|
| 19 |
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0.13740793,1.3031645,0.30871484,-0.65003544,0.27351868,3.4205613136291504
|
| 20 |
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0.16674553,1.489501,0.30851528,-0.665549,0.2869139,2.8694300651550293
|
| 21 |
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0.1948535,1.65069,0.31083933,-0.6595807,0.2782535,2.4080920219421387
|
| 22 |
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0.20486584,1.724527,0.30632222,-0.67087215,0.29632184,2.3544859886169434
|
| 23 |
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0.1987172,1.6481663,0.30565992,-0.66892076,0.28926137,2.230679988861084
|
| 24 |
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0.16141732,1.409995,0.30200484,-0.6821269,0.29219672,2.6717419624328613
|
| 25 |
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0.12543653,1.1755577,0.31348634,-0.67497605,0.28856903,3.308384418487549
|
| 26 |
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0.13498966,1.217454,0.31303668,-0.6624182,0.28150988,2.955519199371338
|
| 27 |
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0.15784463,1.382883,0.31221646,-0.6583629,0.27230993,2.6976895332336426
|
| 28 |
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0.16948573,1.4559366,0.30591372,-0.64605486,0.2771973,2.526970386505127
|
| 29 |
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|
| 30 |
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0.17526595,1.4845089,0.3105809,-0.66664094,0.272953,2.406686305999756
|
| 31 |
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0.18457471,1.5329158,0.30485722,-0.69969606,0.30476302,2.2417750358581543
|
| 32 |
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0.1865376,1.5297058,0.3144548,-0.6765432,0.28961015,2.1371731758117676
|
| 33 |
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0.16164987,1.3857259,0.31239688,-0.65645313,0.2732764,2.5090413093566895
|
| 34 |
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0.14561717,1.2731647,0.31599578,-0.6586186,0.261525,2.679882526397705
|
| 35 |
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0.15197675,1.3273691,0.3112101,-0.65988016,0.2759492,2.6706786155700684
|
| 36 |
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0.16167995,1.4162822,0.31291476,-0.6607245,0.2799474,2.696439266204834
|
| 37 |
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0.17820735,1.5068125,0.31531522,-0.65369314,0.2670176,2.3920397758483887
|
| 38 |
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0.18864338,1.5636026,0.3082976,-0.66692394,0.28559807,2.225320339202881
|
| 39 |
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0.18940394,1.5571607,0.31013575,-0.65526575,0.2709337,2.1580252647399902
|
| 40 |
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0.1676691,1.3811206,0.31101796,-0.67790717,0.28348503,2.173830509185791
|
| 41 |
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0.14089906,1.2324241,0.3153367,-0.6750333,0.28708476,2.683509349822998
|
| 42 |
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0.13791226,1.2195252,0.3148114,-0.65825176,0.27701506,2.7794127464294434
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| 43 |
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| 48 |
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|
| 49 |
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0.14494383,1.2430315,0.31636894,-0.650218,0.26754314,2.512603282928467
|
| 50 |
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0.14730345,1.2455797,0.3160437,-0.6553284,0.25895184,2.3925271034240723
|
| 51 |
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0.16500168,1.3745764,0.31148165,-0.65852094,0.27359137,2.2673325538635254
|
| 52 |
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0.17208098,1.4339336,0.3123292,-0.65626484,0.27792642,2.2695508003234863
|
| 53 |
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0.1738079,1.4474785,0.3181697,-0.6408452,0.25329065,2.2646870613098145
|
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| 301 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/2/test/test_eval_episode_0.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.25414535,1.5428799,0.5333761,-0.9455004,0.40217993,0.00750732421875
|
| 3 |
+
0.18929346,1.2168673,0.54462373,-0.87235063,0.29738808,0.36512088775634766
|
| 4 |
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0.17910449,1.4763944,0.5300081,-0.9049533,0.32220444,2.17985200881958
|
| 5 |
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0.15388434,1.6397222,0.49506867,-0.96134627,0.43855166,4.592200756072998
|
| 6 |
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0.17780058,1.6862134,0.48796716,-0.9276366,0.43563652,3.4203848838806152
|
| 7 |
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0.21195117,1.738931,0.51491225,-0.9120892,0.35982728,2.141045093536377
|
| 8 |
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0.18451469,1.63363,0.5175808,-0.957782,0.3825424,2.790309429168701
|
| 9 |
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0.112782694,1.2324085,0.51759565,-0.95823216,0.4176731,4.8639349937438965
|
| 10 |
+
0.09067128,1.0719599,0.5302199,-0.9048954,0.33380762,5.759135723114014
|
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|
training/sarl/Airfoil2D-hard-v0/PPO/2/test/test_eval_sequences.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
training/sarl/Airfoil2D-hard-v0/PPO/4/config.yaml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
+
env_id: Airfoil2D-hard-v0
|
| 2 |
+
env_kwargs: {}
|
| 3 |
+
eval_env_kwargs: {}
|
| 4 |
+
seed: 4
|
| 5 |
+
rl_mode: sarl
|
| 6 |
+
total_timesteps: 50000.0
|
| 7 |
+
n_eval_steps: 10
|
| 8 |
+
eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
|
| 9 |
+
n_eval_episodes: 1
|
| 10 |
+
continue_training: false
|
| 11 |
+
checkpoint_latest: true
|
| 12 |
+
rl_device: cpu
|
| 13 |
+
eval_callback:
|
| 14 |
+
_target_: fluidgym.integration.sb3.EvalCallback
|
| 15 |
+
eval_freq: ${eval_freq}
|
| 16 |
+
n_eval_episodes: ${n_eval_episodes}
|
| 17 |
+
use_wandb: ${wandb.enable}
|
| 18 |
+
checkpoint_latest: ${checkpoint_latest}
|
| 19 |
+
wandb:
|
| 20 |
+
enable: true
|
| 21 |
+
entity: safe-autonomous-systems
|
| 22 |
+
project: jbecktepe-fluidgym
|
| 23 |
+
algorithm:
|
| 24 |
+
name: PPO
|
| 25 |
+
obj:
|
| 26 |
+
_target_: stable_baselines3.ppo.ppo.PPO
|
| 27 |
+
policy: MlpPolicy
|
| 28 |
+
learning_rate: 0.0003
|
| 29 |
+
n_steps: 2048
|
| 30 |
+
batch_size: 64
|
| 31 |
+
n_epochs: 10
|
| 32 |
+
gamma: 0.99
|
| 33 |
+
gae_lambda: 0.95
|
| 34 |
+
clip_range: 0.2
|
| 35 |
+
clip_range_vf: null
|
| 36 |
+
normalize_advantage: true
|
| 37 |
+
ent_coef: 0.01
|
| 38 |
+
vf_coef: 0.5
|
| 39 |
+
max_grad_norm: 0.5
|
| 40 |
+
use_sde: false
|
| 41 |
+
sde_sample_freq: -1
|
| 42 |
+
rollout_buffer_class: null
|
| 43 |
+
rollout_buffer_kwargs: null
|
| 44 |
+
target_kl: null
|
| 45 |
+
stats_window_size: 100
|
| 46 |
+
tensorboard_log: null
|
| 47 |
+
verbose: 0
|
| 48 |
+
seed: ${seed}
|
| 49 |
+
device: ${rl_device}
|
| 50 |
+
_init_setup_model: true
|
| 51 |
+
cluster: {}
|
| 52 |
+
test_env_id: ${env_id}
|
| 53 |
+
test_env_kwargs: ${env_kwargs}
|
| 54 |
+
test_rl_mode: ${rl_mode}
|
| 55 |
+
n_test_episodes: 10
|
| 56 |
+
deterministic: true
|
| 57 |
+
save_frames: true
|
| 58 |
+
render_3d: true
|
training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_10000.csv
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24412389,1.4827002,0.14612623,-0.38660607,0.10110138,0.010207176208496094
|
| 3 |
+
0.19527777,1.2125362,0.14966968,-0.37129235,0.07995946,0.14594030380249023
|
| 4 |
+
0.23515455,1.4602069,0.14081694,-0.37397417,0.09094976,0.14621305465698242
|
| 5 |
+
0.25533816,1.6535496,0.1511056,-0.36920625,0.09050183,0.4125709533691406
|
| 6 |
+
0.2583126,1.7268469,0.15225928,-0.363927,0.1014953,0.6217555999755859
|
| 7 |
+
0.25450748,1.723237,0.13989004,-0.3737253,0.11857296,0.7075204849243164
|
| 8 |
+
0.23437996,1.6074854,0.13595167,-0.39322528,0.124731384,0.795109748840332
|
| 9 |
+
0.17368941,1.2548577,0.13403937,-0.4018274,0.1222984,1.1613726615905762
|
| 10 |
+
0.1733453,1.2476395,0.1448463,-0.38536534,0.09317732,1.1340742111206055
|
| 11 |
+
0.21668482,1.5363309,0.13555649,-0.37347764,0.100508854,1.0268149375915527
|
| 12 |
+
0.24265786,1.683621,0.13713668,-0.3679113,0.106898606,0.874901294708252
|
| 13 |
+
0.24867272,1.7174342,0.13734674,-0.36448407,0.12235215,0.8430542945861816
|
| 14 |
+
0.25634798,1.7653354,0.13082843,-0.3697891,0.13178658,0.8231315612792969
|
| 15 |
+
0.2659449,1.8140907,0.13793403,-0.39688963,0.12638474,0.7579536437988281
|
| 16 |
+
0.28280932,1.9236603,0.14161855,-0.39832738,0.11880369,0.7386198043823242
|
| 17 |
+
0.28608817,1.9209083,0.14007537,-0.37790418,0.107094,0.6510434150695801
|
| 18 |
+
0.29395553,1.9461342,0.13620569,-0.37202314,0.11256363,0.5571560859680176
|
| 19 |
+
0.3107917,2.0280888,0.14753234,-0.37242967,0.10023473,0.4622073173522949
|
| 20 |
+
0.32847616,2.0825307,0.15064196,-0.36504072,0.095964685,0.2766261100769043
|
| 21 |
+
0.3483473,2.171642,0.15075421,-0.37273163,0.09205687,0.17077970504760742
|
| 22 |
+
0.35158244,2.180412,0.14327684,-0.38719738,0.10914234,0.13836002349853516
|
| 23 |
+
0.3046711,1.8897256,0.13696457,-0.3837605,0.11062313,0.1391606330871582
|
| 24 |
+
0.2285991,1.4068927,0.1370698,-0.38162038,0.10234168,0.09106111526489258
|
| 25 |
+
0.26889744,1.5959835,0.13538781,-0.38923934,0.10145905,-0.12806224822998047
|
| 26 |
+
0.31496525,1.8713038,0.14055976,-0.38241693,0.10541188,-0.12204694747924805
|
| 27 |
+
0.35409197,2.0842485,0.14747645,-0.37246692,0.09833772,-0.1771707534790039
|
| 28 |
+
0.38102064,2.2138188,0.14136602,-0.37371016,0.11391717,-0.2531161308288574
|
| 29 |
+
0.40771315,2.3489213,0.14092332,-0.37336445,0.10815268,-0.3021388053894043
|
| 30 |
+
0.40450928,2.332258,0.14705823,-0.38774708,0.10489319,-0.297701358795166
|
| 31 |
+
0.37298885,2.1340883,0.14813036,-0.3855538,0.0998188,-0.34176206588745117
|
| 32 |
+
0.29651555,1.6481036,0.14089471,-0.38075775,0.09665033,-0.5051126480102539
|
| 33 |
+
0.26126045,1.4090251,0.13593547,-0.3854002,0.09464486,-0.6701674461364746
|
| 34 |
+
0.29622355,1.6174058,0.14578652,-0.3827322,0.08878237,-0.603264331817627
|
| 35 |
+
0.33796087,1.9072536,0.15594341,-0.36574364,0.084681034,-0.4199337959289551
|
| 36 |
+
0.36854517,2.083269,0.15464541,-0.3709981,0.08647247,-0.41066646575927734
|
| 37 |
+
0.33652696,1.8854393,0.13155776,-0.3880823,0.13021906,-0.4607095718383789
|
| 38 |
+
0.24406901,1.3069402,0.12930214,-0.38489044,0.116812825,-0.7085514068603516
|
| 39 |
+
0.25359473,1.3476702,0.14332527,-0.3998595,0.09884345,-0.7490816116333008
|
| 40 |
+
0.29468533,1.6457596,0.1529976,-0.38966447,0.09241476,-0.478546142578125
|
| 41 |
+
0.30901054,1.8025945,0.14655119,-0.3664482,0.09796351,-0.22990894317626953
|
| 42 |
+
0.3252934,1.9053684,0.13819961,-0.3665902,0.117486365,-0.2059650421142578
|
| 43 |
+
0.34703943,2.0159783,0.14231196,-0.36563426,0.11328678,-0.2542734146118164
|
| 44 |
+
0.35258195,2.0337589,0.15057886,-0.37471855,0.09432588,-0.29516124725341797
|
| 45 |
+
0.30262518,1.7235683,0.14699163,-0.39339787,0.10032147,-0.36795949935913086
|
| 46 |
+
0.22032347,1.2069746,0.1435771,-0.38687482,0.08540008,-0.5851554870605469
|
| 47 |
+
0.24690919,1.3412876,0.13311416,-0.38263103,0.092698544,-0.631037712097168
|
| 48 |
+
0.2776502,1.5802425,0.15417151,-0.3642596,0.08497683,-0.37186241149902344
|
| 49 |
+
0.31800923,1.8421086,0.15588914,-0.35216197,0.091246665,-0.2707228660583496
|
| 50 |
+
0.33333975,1.9188175,0.14490531,-0.36986583,0.10939438,-0.3070073127746582
|
| 51 |
+
0.33716542,1.9311154,0.13105875,-0.3864285,0.12908234,-0.3358478546142578
|
| 52 |
+
0.28146535,1.5781548,0.13684033,-0.39057654,0.11298008,-0.45642518997192383
|
| 53 |
+
0.22509049,1.220373,0.14222068,-0.38936785,0.09653291,-0.6416497230529785
|
| 54 |
+
0.27969563,1.5498567,0.1481046,-0.37710592,0.07938079,-0.5221233367919922
|
| 55 |
+
0.30003962,1.7264748,0.14244975,-0.36585173,0.09668746,-0.30919313430786133
|
| 56 |
+
0.30043432,1.816124,0.15240458,-0.3578817,0.09262285,-0.018354415893554688
|
| 57 |
+
0.30890238,1.8734413,0.14081152,-0.36261964,0.12042367,0.0014834403991699219
|
| 58 |
+
0.32170185,1.9130739,0.14524573,-0.37628838,0.10520104,-0.11661958694458008
|
| 59 |
+
0.31693864,1.8377856,0.14652957,-0.40083703,0.10792279,-0.26479578018188477
|
| 60 |
+
0.24401064,1.386557,0.14411294,-0.38527822,0.09657288,-0.38098669052124023
|
| 61 |
+
0.22678612,1.2621462,0.13903491,-0.37176806,0.08688853,-0.49799013137817383
|
| 62 |
+
0.29122853,1.6372674,0.14027691,-0.37089765,0.09431469,-0.44141626358032227
|
| 63 |
+
0.3252843,1.8650054,0.15267365,-0.35486838,0.088963516,-0.32988643646240234
|
| 64 |
+
0.32040864,1.905949,0.14706765,-0.36183336,0.1112259,-0.11485481262207031
|
| 65 |
+
0.32355872,1.9606389,0.1325198,-0.38745221,0.13514796,-0.003741741180419922
|
| 66 |
+
0.33657008,2.0119393,0.14264174,-0.39109245,0.114745356,-0.08557701110839844
|
| 67 |
+
0.34925598,2.0433412,0.15199965,-0.38350445,0.09121868,-0.21279478073120117
|
| 68 |
+
0.33138964,1.9418,0.15382077,-0.3672868,0.08140846,-0.2037816047668457
|
| 69 |
+
0.2529076,1.4850129,0.13541164,-0.36683306,0.099279284,-0.1915888786315918
|
| 70 |
+
0.23401599,1.3336748,0.13815235,-0.3707785,0.08870714,-0.3642735481262207
|
| 71 |
+
0.28710365,1.669087,0.15017964,-0.36770993,0.08444019,-0.24981451034545898
|
| 72 |
+
0.31677324,1.8668282,0.15230136,-0.36654007,0.09451065,-0.17008543014526367
|
| 73 |
+
0.3239939,1.9375536,0.14717512,-0.38036242,0.11090057,-0.08313274383544922
|
| 74 |
+
0.33479914,1.9818558,0.13533042,-0.38013312,0.1257803,-0.1438126564025879
|
| 75 |
+
0.35487792,2.0823448,0.14675808,-0.37308973,0.09476126,-0.1955714225769043
|
| 76 |
+
0.32129118,1.8797677,0.14514972,-0.38551173,0.10469178,-0.21268224716186523
|
| 77 |
+
0.24131422,1.4051732,0.1451579,-0.37590402,0.09022169,-0.24034738540649414
|
| 78 |
+
0.24184294,1.3715109,0.13532151,-0.37383386,0.090191185,-0.39226818084716797
|
| 79 |
+
0.29556963,1.6893662,0.14312226,-0.37038228,0.090580806,-0.3477206230163574
|
| 80 |
+
0.31178418,1.8437138,0.15410818,-0.3545344,0.091024056,-0.1499195098876953
|
| 81 |
+
0.31273127,1.898548,0.14362083,-0.36885113,0.1160093,0.007511615753173828
|
| 82 |
+
0.32999277,1.9667004,0.13484897,-0.38480252,0.12678854,-0.10352039337158203
|
| 83 |
+
0.3389558,1.9900678,0.14829232,-0.38625708,0.099837005,-0.19217681884765625
|
| 84 |
+
0.3152627,1.8372296,0.14419402,-0.38568154,0.10135819,-0.2357344627380371
|
| 85 |
+
0.24069166,1.3789824,0.14395165,-0.37067673,0.088238545,-0.33410024642944336
|
| 86 |
+
0.23634036,1.3399312,0.13268353,-0.37311023,0.093986794,-0.39385080337524414
|
| 87 |
+
0.29385167,1.6828626,0.14488436,-0.3692116,0.089237906,-0.3364372253417969
|
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|
training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_12000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24500361,1.5046083,0.17611523,-0.45417953,0.066335335,0.07781839370727539
|
| 3 |
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|
| 4 |
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0.23564783,1.4614973,0.15966406,-0.44801217,0.07686826,0.13869094848632812
|
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0.247979,1.6558386,0.15846595,-0.44438964,0.09086094,0.6139845848083496
|
| 6 |
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|
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0.23874035,1.734647,0.16870147,-0.44469234,0.09709055,1.202481746673584
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|
| 10 |
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| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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0.35857245,2.226134,0.17067207,-0.45165065,0.07813333,0.1449751853942871
|
| 22 |
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|
| 23 |
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|
| 24 |
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0.28527662,1.7230347,0.16204262,-0.44738984,0.079115294,-0.02347564697265625
|
| 25 |
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0.2542862,1.4759047,0.16051103,-0.4540161,0.07276349,-0.25924062728881836
|
| 26 |
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0.30978686,1.7878975,0.15109223,-0.46241444,0.09224095,-0.29196977615356445
|
| 27 |
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0.36549413,2.128435,0.14881706,-0.4549203,0.106428295,-0.23990440368652344
|
| 28 |
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0.38260144,2.2398288,0.163025,-0.44790417,0.09433735,-0.20914030075073242
|
| 29 |
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|
| 30 |
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|
| 31 |
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0.43225202,2.4753072,0.17879339,-0.46463218,0.067796774,-0.33681201934814453
|
| 32 |
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|
| 33 |
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0.45936385,2.6203582,0.1620521,-0.44895643,0.080529206,-0.35902976989746094
|
| 34 |
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0.47036487,2.6958582,0.17180441,-0.4464659,0.06574999,-0.33193016052246094
|
| 35 |
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0.4581426,2.6420045,0.17245302,-0.44423568,0.07181903,-0.29657602310180664
|
| 36 |
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0.43074614,2.4720578,0.1652982,-0.45049685,0.07734708,-0.32433605194091797
|
| 37 |
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0.36696082,2.0640476,0.16457322,-0.45728248,0.069532625,-0.4386410713195801
|
| 38 |
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0.268627,1.4083738,0.15849656,-0.45331445,0.06360253,-0.8204889297485352
|
| 39 |
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0.2945574,1.5042633,0.15654647,-0.4600528,0.067737184,-0.9564895629882812
|
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training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_14000.csv
ADDED
|
@@ -0,0 +1,301 @@
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| 1 |
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drag,lift,action_0,action_1,action_2,reward
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| 2 |
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training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_16000.csv
ADDED
|
@@ -0,0 +1,301 @@
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| 1 |
+
drag,lift,action_0,action_1,action_2,reward
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| 2 |
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|
training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_18000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
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0.25478664,1.5517097,0.30382723,-0.6916313,0.223363,0.026882171630859375
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| 3 |
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| 35 |
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|
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|
training/sarl/Airfoil2D-hard-v0/PPO/4/eval_sequence_2000.csv
ADDED
|
@@ -0,0 +1,301 @@
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|
| 1 |
+
drag,lift,action_0,action_1,action_2,reward
|
| 2 |
+
0.24269894,1.5165665,0.0006917183,0.0010946663,-0.0032899794,0.18540716171264648
|
| 3 |
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0.19205293,1.1936743,0.000617402,0.00087928615,-0.0012117146,0.1519908905029297
|
| 4 |
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0.23770785,1.4378623,-0.0005934087,0.000110119,0.0005007665,-0.014486312866210938
|
| 5 |
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0.27573195,1.6464859,-0.0013988991,0.00026338594,-0.0016056856,-0.09202146530151367
|
| 6 |
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0.29610673,1.7675177,0.00054988766,0.00013055785,-0.0021441884,-0.09415817260742188
|
| 7 |
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0.3073597,1.8563372,0.00085224456,0.0006295734,-0.0014854949,-0.02372455596923828
|
| 8 |
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0.3069446,1.8616505,5.2593045e-05,0.0011295688,-0.00283211,0.0017533302307128906
|
| 9 |
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0.2792232,1.7022498,0.0001390588,0.00095600536,-0.003526397,0.03302717208862305
|
| 10 |
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0.20332323,1.2575561,0.0005496175,0.0010338655,-0.002069974,0.12166023254394531
|
| 11 |
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0.21273756,1.280728,-1.7114828e-05,0.00042085187,9.9618774e-05,-0.04312419891357422
|
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