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device: "cuda"
experiment_name: Quadruped
seed: 0
env:
env_id: quadruped
task: walk
discrete: False
new_obs_size: [64, 64]
norm_obs: True
tensorboard:
enable: False
log_dir: "./runs/"
log_frequency: 1 # Log every 1000 steps
wandb:
enable: True
project: "dreamer"
entity: "phdminh01"
log_frequency: 1
video_recording:
enable: True
record_frequency: 50 #episodes
main:
continue_loss: False
continue_scale_factor: 10
total_iter: 2000
save_freq: 20
collect_iter: 100
data_interact_ep: 1
# data_init_ep: 1
data_init_ep: 5
horizon: 15
batch_size: 50
seq_len: 50
eval_eps: 3
eval_freq: 5
kl_divergence_scale : 1
free_nats : 3
discount : 0.99
lambda_ : 0.95
actor_lr : 8.0e-5
critic_lr : 8.0e-5
dyna_model_lr : 6.0e-4
grad_norm_type : 2
clip_grad : 100
hidden_units: 300
deterministic_size : 200
stochastic_size : 30
embedded_obs_size : 1024
buffer_capacity : 500000
epsilon_start: 0.4
epsilon_end: 0.1
eps_decay_steps: 200000
mean_noise: 0
std_noise: 0.3 |