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device: cuda:0
num_steps_per_env: 24
max_iterations: 5000
empirical_normalization: null
obs_groups: {}
clip_actions: null
save_interval: 100
experiment_name: unitree_b2w_piper_flat
run_name: ''
logger: tensorboard
neptune_project: isaaclab
wandb_project: isaaclab
resume: false
load_run: .*
load_checkpoint: model_.*.pt
class_name: OnPolicyRunner
policy:
class_name: ActorCritic
init_noise_std: 1.0
noise_std_type: scalar
state_dependent_std: false
actor_obs_normalization: false
critic_obs_normalization: false
actor_hidden_dims:
- 512
- 256
- 128
critic_hidden_dims:
- 512
- 256
- 128
activation: elu
algorithm:
class_name: PPO
num_learning_epochs: 5
num_mini_batches: 4
learning_rate: 0.001
schedule: adaptive
gamma: 0.99
lam: 0.95
entropy_coef: 0.01
desired_kl: 0.01
max_grad_norm: 1.0
value_loss_coef: 1.0
use_clipped_value_loss: true
clip_param: 0.2
normalize_advantage_per_mini_batch: false
rnd_cfg: null
symmetry_cfg: null
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