Initial commit

README.md

@@ -16,7 +16,7 @@ model-index:
       type: PandaReachDense-v2
     metrics:
     - type: mean_reward
-      value: -3.13 +/- 1.06
+      value: -0.93 +/- 0.30
       name: mean_reward
       verified: false
 ---

a2c-PandaReachDense-v2.zip

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3304638edd1ba99e3cd807d0471fa1c2b9e2f19f42b07659bd3bcec86f12c96d
-size 108023
+oid sha256:2e7834e59ffb5d97511272a1fe720bcb7cf8358d4b9f54a96299253b1e758021
+size 108009

a2c-PandaReachDense-v2/data

@@ -41,12 +41,12 @@
         "_np_random": null
     },
     "n_envs": 4,
-    "num_timesteps": 1000000,
-    "_total_timesteps": 1000000,
+    "num_timesteps": 800000,
+    "_total_timesteps": 800000,
     "_num_timesteps_at_start": 0,
     "seed": null,
     "action_noise": null,
-    "start_time": 1677164822695648196,
+    "start_time": 1677168515223407202,
     "learning_rate": 0.0007,
     "tensorboard_log": null,
     "lr_schedule": {
@@ -55,10 +55,10 @@
     },
     "_last_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
-        ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAZB7JPkVZWbz3ORE/ZB7JPkVZWbz3ORE/ZB7JPkVZWbz3ORE/ZB7JPkVZWbz3ORE/lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAA4Uw+vloCzb9IJZu/+MfGv8EWnb2t7eO+YTXJPi+aOL+DDnC/qv9xP8AOpD9YzwU/lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAABkHsk+RVlZvPc5ET87wlI8S8jSOjhESDxkHsk+RVlZvPc5ET87wlI8S8jSOjhESDxkHsk+RVlZvPc5ET87wlI8S8jSOjhESDxkHsk+RVlZvPc5ET87wlI8S8jSOjhESDyUaA5LBEsGhpRoEnSUUpR1Lg==",
-        "achieved_goal": "[[ 0.39281    -0.01326591  0.5672907 ]\n [ 0.39281    -0.01326591  0.5672907 ]\n [ 0.39281    -0.01326591  0.5672907 ]\n [ 0.39281    -0.01326591  0.5672907 ]]",
-        "desired_goal": "[[-0.18584014 -1.6016343  -1.2120752 ]\n [-1.5529776  -0.07670356 -0.4451727 ]\n [ 0.39298537 -0.72110265 -0.93772143]\n [ 0.9453074   1.2817001   0.52269506]]",
-        "observation": "[[ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]\n [ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]\n [ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]\n [ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]]"
+        ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAhODQPtck+jt88RA/hODQPtck+jt88RA/hODQPtck+jt88RA/hODQPtck+jt88RA/lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAAhz9Nvzm8jL+GXza/6xAKvvHCbT6HVCq+djq6PhdNnz/iHWW/69ajPj3yTT+wS4s+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAACE4NA+1yT6O3zxED8RMh285mIdur3iVDuE4NA+1yT6O3zxED8RMh285mIdur3iVDuE4NA+1yT6O3zxED8RMh285mIdur3iVDuE4NA+1yT6O3zxED8RMh285mIdur3iVDuUaA5LBEsGhpRoEnSUUpR1Lg==",
+        "achieved_goal": "[[0.40796292 0.00763379 0.56618476]\n [0.40796292 0.00763379 0.56618476]\n [0.40796292 0.00763379 0.56618476]\n [0.40796292 0.00763379 0.56618476]]",
+        "desired_goal": "[[-0.8017506  -1.0994941  -0.7123951 ]\n [-0.13483016  0.23218895 -0.16633807]\n [ 0.36372727  1.2445401  -0.8949872 ]\n [ 0.31999907  0.8044775   0.27206182]]",
+        "observation": "[[ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]\n [ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]\n [ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]\n [ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]]"
     },
     "_last_episode_starts": {
         ":type:": "<class 'numpy.ndarray'>",
@@ -66,9 +66,9 @@
     },
     "_last_original_obs": {
         ":type:": "<class 'collections.OrderedDict'>",
-        ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAAH97pvV6NzL37G4I+uf2nvbWQkbw7l9w9ZaK2O0xGDr4ngGY+cCDEvMMm9D1RPYw8lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==",
+        ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAA4N10PXRsnj0j7sE9JFW9PVe4vL22Z3g+2z2OvTF2Tb07qCU9XyDzPbI7nj3MonE+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==",
         "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]]",
-        "desired_goal": "[[-0.11419319 -0.09987901  0.25411972]\n [-0.08202691 -0.0177692   0.10771032]\n [ 0.00557356 -0.13894004  0.22509824]\n [-0.02394125  0.11921456  0.01711908]]",
+        "desired_goal": "[[ 0.05978191  0.0773553   0.09469249]\n [ 0.09244755 -0.09214848  0.24258313]\n [-0.06945392 -0.05016154  0.04044364]\n [ 0.11871409  0.0772623   0.23597258]]",
         "observation": "[[ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]]"
     },
     "_episode_num": 0,
@@ -77,13 +77,13 @@
     "_current_progress_remaining": 0.0,
     "ep_info_buffer": {
         ":type:": "<class 'collections.deque'>",
-        ":serialized:": "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"
+        ":serialized:": "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"
     },
     "ep_success_buffer": {
         ":type:": "<class 'collections.deque'>",
         ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="
     },
-    "_n_updates": 50000,
+    "_n_updates": 40000,
     "n_steps": 5,
     "gamma": 0.99,
     "gae_lambda": 1.0,

a2c-PandaReachDense-v2/policy.optimizer.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:24a0441798c404ead486b3dde35e3d82970e87353e2ca2e428ab25eb9cefb961
+oid sha256:bf2b83db2e76dfa88b7fb1c857cd02b276e4aaab4d469ed4506fab9c15123337
 size 44734

a2c-PandaReachDense-v2/policy.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b6392d5766486c38b94720aac87b4fa191b97753ef377a06fbffc494bfdc89d6
+oid sha256:700b1ecaa28f372497b0dc76c7014c1fe4c82316e2d82a5de679bbe26b7cb623
 size 46014

config.json

@@ -1 +1 @@
-{"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVRQAAAAAAAACMIXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5wb2xpY2llc5SMG011bHRpSW5wdXRBY3RvckNyaXRpY1BvbGljeZSTlC4=", "__module__": "stable_baselines3.common.policies", "__doc__": "\n    MultiInputActorClass policy class for actor-critic algorithms (has both policy and value prediction).\n    Used by A2C, PPO and the likes.\n\n    :param observation_space: Observation space (Tuple)\n    :param action_space: Action space\n    :param lr_schedule: Learning rate schedule (could be constant)\n    :param net_arch: The specification of the policy and value networks.\n    :param activation_fn: Activation function\n    :param ortho_init: Whether to use or not orthogonal initialization\n    :param use_sde: Whether to use State Dependent Exploration or not\n    :param log_std_init: Initial value for the log standard deviation\n    :param full_std: Whether to use (n_features x n_actions) parameters\n        for the std instead of only (n_features,) when using gSDE\n    :param use_expln: Use ``expln()`` function instead of ``exp()`` to ensure\n        a positive standard deviation (cf paper). It allows to keep variance\n        above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n    :param squash_output: Whether to squash the output using a tanh function,\n        this allows to ensure boundaries when using gSDE.\n    :param features_extractor_class: Uses the CombinedExtractor\n    :param features_extractor_kwargs: Keyword arguments\n        to pass to the features extractor.\n    :param share_features_extractor: If True, the features extractor is shared between the policy and value networks.\n    :param normalize_images: Whether to normalize images or not,\n         dividing by 255.0 (True by default)\n    :param optimizer_class: The optimizer to use,\n        ``th.optim.Adam`` by default\n    :param optimizer_kwargs: Additional keyword arguments,\n        excluding the learning rate, to pass to the optimizer\n    ", "__init__": "<function MultiInputActorCriticPolicy.__init__ at 0x7fdb60f628b0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc_data object at 0x7fdb60f613c0>"}, "verbose": 1, "policy_kwargs": {":type:": "<class 'dict'>", ":serialized:": "gAWVgQAAAAAAAAB9lCiMD29wdGltaXplcl9jbGFzc5SME3RvcmNoLm9wdGltLnJtc3Byb3CUjAdSTVNwcm9wlJOUjBBvcHRpbWl6ZXJfa3dhcmdzlH2UKIwFYWxwaGGURz/vrhR64UeujANlcHOURz7k+LWI42jxjAx3ZWlnaHRfZGVjYXmUSwB1dS4=", "optimizer_class": "<class 'torch.optim.rmsprop.RMSprop'>", "optimizer_kwargs": {"alpha": 0.99, "eps": 1e-05, "weight_decay": 0}}, "observation_space": {":type:": "<class 'gym.spaces.dict.Dict'>", ":serialized:": "gAWVUgMAAAAAAACMD2d5bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwOZ3ltLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUaBCTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowGX3NoYXBllEsDhZSMA2xvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZSMAUOUdJRSlIwEaGlnaJRoHSiWDAAAAAAAAAAAACBBAAAgQQAAIEGUaBVLA4WUaCB0lFKUjA1ib3VuZGVkX2JlbG93lGgdKJYDAAAAAAAAAAEBAZRoEowCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZRoIHSUUpSMDWJvdW5kZWRfYWJvdmWUaB0olgMAAAAAAAAAAQEBlGgsSwOFlGggdJRSlIwKX25wX3JhbmRvbZROdWKMDGRlc2lyZWRfZ29hbJRoDSmBlH2UKGgQaBVoGEsDhZRoGmgdKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZRoIHSUUpRoI2gdKJYMAAAAAAAAAAAAIEEAACBBAAAgQZRoFUsDhZRoIHSUUpRoKGgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoMmgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoN051YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgVaBhLBoWUaBpoHSiWGAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBVLBoWUaCB0lFKUaCNoHSiWGAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBVLBoWUaCB0lFKUaChoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDJoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDdOdWJ1aBhOaBBOaDdOdWIu", "spaces": "OrderedDict([('achieved_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('desired_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('observation', Box([-10. -10. -10. -10. -10. -10.], [10. 10. 10. 10. 10. 10.], (6,), float32))])", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gym.spaces.box.Box'>", ":serialized:": "gAWVbQEAAAAAAACMDmd5bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lGgFk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLA4WUjANsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWDAAAAAAAAAAAAIC/AACAvwAAgL+UaApLA4WUjAFDlHSUUpSMBGhpZ2iUaBIolgwAAAAAAAAAAACAPwAAgD8AAIA/lGgKSwOFlGgVdJRSlIwNYm91bmRlZF9iZWxvd5RoEiiWAwAAAAAAAAABAQGUaAeMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUaBV0lFKUjA1ib3VuZGVkX2Fib3ZllGgSKJYDAAAAAAAAAAEBAZRoIUsDhZRoFXSUUpSMCl9ucF9yYW5kb22UTnViLg==", "dtype": "float32", "_shape": [3], "low": "[-1. -1. -1.]", "high": "[1. 1. 1.]", "bounded_below": "[ True  True  True]", "bounded_above": "[ True  True  True]", "_np_random": null}, "n_envs": 4, "num_timesteps": 1000000, "_total_timesteps": 1000000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1677164822695648196, "learning_rate": 0.0007, "tensorboard_log": null, "lr_schedule": {":type:": "<class 'function'>", ":serialized:": "gAWVwwIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOC9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMBGZ1bmOUS4JDAgABlIwDdmFslIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOC9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZR1Tk5oAIwQX21ha2VfZW1wdHlfY2VsbJSTlClSlIWUdJRSlIwcY2xvdWRwaWNrbGUuY2xvdWRwaWNrbGVfZmFzdJSMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGgffZR9lChoFmgNjAxfX3F1YWxuYW1lX1+UjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlIwPX19hbm5vdGF0aW9uc19flH2UjA5fX2t3ZGVmYXVsdHNfX5ROjAxfX2RlZmF1bHRzX1+UTowKX19tb2R1bGVfX5RoF4wHX19kb2NfX5ROjAtfX2Nsb3N1cmVfX5RoAIwKX21ha2VfY2VsbJSTlEc/RvAGjbi6x4WUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwLg=="}, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAZB7JPkVZWbz3ORE/ZB7JPkVZWbz3ORE/ZB7JPkVZWbz3ORE/ZB7JPkVZWbz3ORE/lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAA4Uw+vloCzb9IJZu/+MfGv8EWnb2t7eO+YTXJPi+aOL+DDnC/qv9xP8AOpD9YzwU/lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAABkHsk+RVlZvPc5ET87wlI8S8jSOjhESDxkHsk+RVlZvPc5ET87wlI8S8jSOjhESDxkHsk+RVlZvPc5ET87wlI8S8jSOjhESDxkHsk+RVlZvPc5ET87wlI8S8jSOjhESDyUaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[ 0.39281    -0.01326591  0.5672907 ]\n [ 0.39281    -0.01326591  0.5672907 ]\n [ 0.39281    -0.01326591  0.5672907 ]\n [ 0.39281    -0.01326591  0.5672907 ]]", "desired_goal": "[[-0.18584014 -1.6016343  -1.2120752 ]\n [-1.5529776  -0.07670356 -0.4451727 ]\n [ 0.39298537 -0.72110265 -0.93772143]\n [ 0.9453074   1.2817001   0.52269506]]", "observation": "[[ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]\n [ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]\n [ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]\n [ 0.39281    -0.01326591  0.5672907   0.01286369  0.00160814  0.0122233 ]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVdwAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYEAAAAAAAAAAEBAQGUjAVudW1weZSMBWR0eXBllJOUjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlIwBQ5R0lFKULg=="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAAH97pvV6NzL37G4I+uf2nvbWQkbw7l9w9ZaK2O0xGDr4ngGY+cCDEvMMm9D1RPYw8lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]]", "desired_goal": "[[-0.11419319 -0.09987901  0.25411972]\n [-0.08202691 -0.0177692   0.10771032]\n [ 0.00557356 -0.13894004  0.22509824]\n [-0.02394125  0.11921456  0.01711908]]", "observation": "[[ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]]"}, "_episode_num": 0, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": 0.0, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="}, "_n_updates": 50000, "n_steps": 5, "gamma": 0.99, "gae_lambda": 1.0, "ent_coef": 0.0, "vf_coef": 0.5, "max_grad_norm": 0.5, "normalize_advantage": false, "system_info": {"OS": "Linux-5.10.147+-x86_64-with-glibc2.29 # 1 SMP Sat Dec 10 16:00:40 UTC 2022", "Python": "3.8.10", "Stable-Baselines3": "1.7.0", "PyTorch": "1.13.1+cu116", "GPU Enabled": "True", "Numpy": "1.22.4", "Gym": "0.21.0"}}
+{"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVRQAAAAAAAACMIXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5wb2xpY2llc5SMG011bHRpSW5wdXRBY3RvckNyaXRpY1BvbGljeZSTlC4=", "__module__": "stable_baselines3.common.policies", "__doc__": "\n    MultiInputActorClass policy class for actor-critic algorithms (has both policy and value prediction).\n    Used by A2C, PPO and the likes.\n\n    :param observation_space: Observation space (Tuple)\n    :param action_space: Action space\n    :param lr_schedule: Learning rate schedule (could be constant)\n    :param net_arch: The specification of the policy and value networks.\n    :param activation_fn: Activation function\n    :param ortho_init: Whether to use or not orthogonal initialization\n    :param use_sde: Whether to use State Dependent Exploration or not\n    :param log_std_init: Initial value for the log standard deviation\n    :param full_std: Whether to use (n_features x n_actions) parameters\n        for the std instead of only (n_features,) when using gSDE\n    :param use_expln: Use ``expln()`` function instead of ``exp()`` to ensure\n        a positive standard deviation (cf paper). It allows to keep variance\n        above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n    :param squash_output: Whether to squash the output using a tanh function,\n        this allows to ensure boundaries when using gSDE.\n    :param features_extractor_class: Uses the CombinedExtractor\n    :param features_extractor_kwargs: Keyword arguments\n        to pass to the features extractor.\n    :param share_features_extractor: If True, the features extractor is shared between the policy and value networks.\n    :param normalize_images: Whether to normalize images or not,\n         dividing by 255.0 (True by default)\n    :param optimizer_class: The optimizer to use,\n        ``th.optim.Adam`` by default\n    :param optimizer_kwargs: Additional keyword arguments,\n        excluding the learning rate, to pass to the optimizer\n    ", "__init__": "<function MultiInputActorCriticPolicy.__init__ at 0x7fdb60f628b0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc_data object at 0x7fdb60f613c0>"}, "verbose": 1, "policy_kwargs": {":type:": "<class 'dict'>", ":serialized:": "gAWVgQAAAAAAAAB9lCiMD29wdGltaXplcl9jbGFzc5SME3RvcmNoLm9wdGltLnJtc3Byb3CUjAdSTVNwcm9wlJOUjBBvcHRpbWl6ZXJfa3dhcmdzlH2UKIwFYWxwaGGURz/vrhR64UeujANlcHOURz7k+LWI42jxjAx3ZWlnaHRfZGVjYXmUSwB1dS4=", "optimizer_class": "<class 'torch.optim.rmsprop.RMSprop'>", "optimizer_kwargs": {"alpha": 0.99, "eps": 1e-05, "weight_decay": 0}}, "observation_space": {":type:": "<class 'gym.spaces.dict.Dict'>", ":serialized:": "gAWVUgMAAAAAAACMD2d5bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwOZ3ltLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUaBCTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowGX3NoYXBllEsDhZSMA2xvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZSMAUOUdJRSlIwEaGlnaJRoHSiWDAAAAAAAAAAAACBBAAAgQQAAIEGUaBVLA4WUaCB0lFKUjA1ib3VuZGVkX2JlbG93lGgdKJYDAAAAAAAAAAEBAZRoEowCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZRoIHSUUpSMDWJvdW5kZWRfYWJvdmWUaB0olgMAAAAAAAAAAQEBlGgsSwOFlGggdJRSlIwKX25wX3JhbmRvbZROdWKMDGRlc2lyZWRfZ29hbJRoDSmBlH2UKGgQaBVoGEsDhZRoGmgdKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFUsDhZRoIHSUUpRoI2gdKJYMAAAAAAAAAAAAIEEAACBBAAAgQZRoFUsDhZRoIHSUUpRoKGgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoMmgdKJYDAAAAAAAAAAEBAZRoLEsDhZRoIHSUUpRoN051YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgVaBhLBoWUaBpoHSiWGAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBVLBoWUaCB0lFKUaCNoHSiWGAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBVLBoWUaCB0lFKUaChoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDJoHSiWBgAAAAAAAAABAQEBAQGUaCxLBoWUaCB0lFKUaDdOdWJ1aBhOaBBOaDdOdWIu", "spaces": "OrderedDict([('achieved_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('desired_goal', Box([-10. -10. -10.], [10. 10. 10.], (3,), float32)), ('observation', Box([-10. -10. -10. -10. -10. -10.], [10. 10. 10. 10. 10. 10.], (6,), float32))])", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gym.spaces.box.Box'>", ":serialized:": "gAWVbQEAAAAAAACMDmd5bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lGgFk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMBl9zaGFwZZRLA4WUjANsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWDAAAAAAAAAAAAIC/AACAvwAAgL+UaApLA4WUjAFDlHSUUpSMBGhpZ2iUaBIolgwAAAAAAAAAAACAPwAAgD8AAIA/lGgKSwOFlGgVdJRSlIwNYm91bmRlZF9iZWxvd5RoEiiWAwAAAAAAAAABAQGUaAeMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUaBV0lFKUjA1ib3VuZGVkX2Fib3ZllGgSKJYDAAAAAAAAAAEBAZRoIUsDhZRoFXSUUpSMCl9ucF9yYW5kb22UTnViLg==", "dtype": "float32", "_shape": [3], "low": "[-1. -1. -1.]", "high": "[1. 1. 1.]", "bounded_below": "[ True  True  True]", "bounded_above": "[ True  True  True]", "_np_random": null}, "n_envs": 4, "num_timesteps": 800000, "_total_timesteps": 800000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1677168515223407202, "learning_rate": 0.0007, "tensorboard_log": null, "lr_schedule": {":type:": "<class 'function'>", ":serialized:": "gAWVwwIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOC9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZSMBGZ1bmOUS4JDAgABlIwDdmFslIWUKXSUUpR9lCiMC19fcGFja2FnZV9flIwYc3RhYmxlX2Jhc2VsaW5lczMuY29tbW9ulIwIX19uYW1lX1+UjB5zdGFibGVfYmFzZWxpbmVzMy5jb21tb24udXRpbHOUjAhfX2ZpbGVfX5SMSC91c3IvbG9jYWwvbGliL3B5dGhvbjMuOC9kaXN0LXBhY2thZ2VzL3N0YWJsZV9iYXNlbGluZXMzL2NvbW1vbi91dGlscy5weZR1Tk5oAIwQX21ha2VfZW1wdHlfY2VsbJSTlClSlIWUdJRSlIwcY2xvdWRwaWNrbGUuY2xvdWRwaWNrbGVfZmFzdJSMEl9mdW5jdGlvbl9zZXRzdGF0ZZSTlGgffZR9lChoFmgNjAxfX3F1YWxuYW1lX1+UjBljb25zdGFudF9mbi48bG9jYWxzPi5mdW5jlIwPX19hbm5vdGF0aW9uc19flH2UjA5fX2t3ZGVmYXVsdHNfX5ROjAxfX2RlZmF1bHRzX1+UTowKX19tb2R1bGVfX5RoF4wHX19kb2NfX5ROjAtfX2Nsb3N1cmVfX5RoAIwKX21ha2VfY2VsbJSTlEc/RvAGjbi6x4WUUpSFlIwXX2Nsb3VkcGlja2xlX3N1Ym1vZHVsZXOUXZSMC19fZ2xvYmFsc19flH2UdYaUhlIwLg=="}, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAAhODQPtck+jt88RA/hODQPtck+jt88RA/hODQPtck+jt88RA/hODQPtck+jt88RA/lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAAhz9Nvzm8jL+GXza/6xAKvvHCbT6HVCq+djq6PhdNnz/iHWW/69ajPj3yTT+wS4s+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAACE4NA+1yT6O3zxED8RMh285mIdur3iVDuE4NA+1yT6O3zxED8RMh285mIdur3iVDuE4NA+1yT6O3zxED8RMh285mIdur3iVDuE4NA+1yT6O3zxED8RMh285mIdur3iVDuUaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[0.40796292 0.00763379 0.56618476]\n [0.40796292 0.00763379 0.56618476]\n [0.40796292 0.00763379 0.56618476]\n [0.40796292 0.00763379 0.56618476]]", "desired_goal": "[[-0.8017506  -1.0994941  -0.7123951 ]\n [-0.13483016  0.23218895 -0.16633807]\n [ 0.36372727  1.2445401  -0.8949872 ]\n [ 0.31999907  0.8044775   0.27206182]]", "observation": "[[ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]\n [ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]\n [ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]\n [ 0.40796292  0.00763379  0.56618476 -0.00959446 -0.00060038  0.00324838]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVdwAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYEAAAAAAAAAAEBAQGUjAVudW1weZSMBWR0eXBllJOUjAJiMZSJiIeUUpQoSwOMAXyUTk5OSv////9K/////0sAdJRiSwSFlIwBQ5R0lFKULg=="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "gAWVuwEAAAAAAACMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwSbnVtcHkuY29yZS5udW1lcmljlIwLX2Zyb21idWZmZXKUk5QoljAAAAAAAAAA6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+6nIdPRlsGqxDI0o+lIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYksESwOGlIwBQ5R0lFKUjAxkZXNpcmVkX2dvYWyUaAcoljAAAAAAAAAA4N10PXRsnj0j7sE9JFW9PVe4vL22Z3g+2z2OvTF2Tb07qCU9XyDzPbI7nj3MonE+lGgOSwRLA4aUaBJ0lFKUjAtvYnNlcnZhdGlvbpRoByiWYAAAAAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAADqch09GWwarEMjSj4AAAAAAAAAgAAAAACUaA5LBEsGhpRoEnSUUpR1Lg==", "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01]]", "desired_goal": "[[ 0.05978191  0.0773553   0.09469249]\n [ 0.09244755 -0.09214848  0.24258313]\n [-0.06945392 -0.05016154  0.04044364]\n [ 0.11871409  0.0772623   0.23597258]]", "observation": "[[ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12  1.9740014e-01  0.0000000e+00\n  -0.0000000e+00  0.0000000e+00]]"}, "_episode_num": 0, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": 0.0, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="}, "_n_updates": 40000, "n_steps": 5, "gamma": 0.99, "gae_lambda": 1.0, "ent_coef": 0.0, "vf_coef": 0.5, "max_grad_norm": 0.5, "normalize_advantage": false, "system_info": {"OS": "Linux-5.10.147+-x86_64-with-glibc2.29 # 1 SMP Sat Dec 10 16:00:40 UTC 2022", "Python": "3.8.10", "Stable-Baselines3": "1.7.0", "PyTorch": "1.13.1+cu116", "GPU Enabled": "True", "Numpy": "1.22.4", "Gym": "0.21.0"}}

results.json

@@ -1 +1 @@
-{"mean_reward": -3.1275932968594136, "std_reward": 1.0579280830562912, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2023-02-23T16:01:18.715118"}
+{"mean_reward": -0.9303545006550848, "std_reward": 0.29725309038240993, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2023-02-23T16:50:50.721477"}

vec_normalize.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a2b2675bc607e2315b9e11aecd7443691d0caa774d683a5e31d06860e2c51a69
+oid sha256:a3ade50a6908805a305488a3ced028bea23371429b83149d2c88b2014fab5643
 size 3056