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| {'env_config': {'data_set': 1, 'algo': 'HER', 'env': 'BLAdapEnv', 'horizon': 5, 'seed': 247632, 'vec_frame_stack': 0, 'terminate_on_success': True}, 'sand_sim_config': {'field_size': 32, 'sand_range': 20, 'sand_perturbation_range': 0, 'sand_base_height': 10, 'angle_of_repose': 34, 'half_extent_tool_x': 0.0005, 'half_extent_tool_y': 0.0005, 'half_extent_tool_z': 0.005, 'initial_tool_pos': [0, 0, 0.01]}, 'log_config': {'eval_callback_freq': 5000}, 'model_config': {'policy': 'MultiInputPolicy', 'total_timesteps': 40000000, 'gamma': 0.95, 'learning_rate': 0.0001, 'batch_size': 256}, 'ddpg_params': {'buffer_size': 1000000, 'net_arch': [256, 256, 256]}, 'ppo_params': {'n_steps': 2048, 'ent_coef': 4e-07, 'gae_lambda': 1.0, 'clip_range': 0.3, 'n_epochs': 8, 'max_grad_norm': 1, 'ortho_init': False, 'vf_coef': 0.15, 'target_kl': 0.05, 'use_sde': False}} |