| from __future__ import annotations |
|
|
| from dataclasses import dataclass |
|
|
|
|
| @dataclass(slots=True) |
| class V2Config: |
| seed: int = 7 |
| device: str = "cuda" |
| envs: int = 2048 |
| eval_envs: int = 1024 |
| route_jumps: int = 20 |
| distractors: int = 10 |
| max_steps_factor: float = 3.0 |
| phase_probability: float = 0.0 |
| fire_probability: float = 0.0 |
| fragile_platforms: bool = False |
| fragile_delay_steps: int = 14 |
| launch_pads: bool = False |
| launch_pad_fraction: float = 0.24 |
| launch_pad_velocity: float = 10.4 |
| launch_pad_gap_extra: float = 0.0 |
| moving_platforms: bool = False |
| moving_platform_fraction: float = 0.18 |
| moving_platform_amplitude: float = 0.72 |
| moving_platform_period_steps: int = 70 |
| moving_platform_transport: bool = False |
| moving_platform_force_every: int = 0 |
| moving_platform_force_offset: int = 3 |
| moving_platform_transport_span: float = 5.35 |
| moving_platform_endpoint_gap: float = 1.05 |
| unlock_platforms: bool = False |
| unlock_gate_count: int = 1 |
| unlock_lock_span: int = 2 |
| unlock_hold_steps: int = 1 |
| unlock_reward: float = 1.5 |
| event_period: int = 8 |
| event_active: int = 4 |
| lr: float = 3e-4 |
| bc_updates: int = 600 |
| bc_rollout_steps: int = 48 |
| ppo_updates: int = 300 |
| ppo_steps: int = 96 |
| ppo_epochs: int = 3 |
| minibatches: int = 8 |
| gamma: float = 0.985 |
| gae_lambda: float = 0.92 |
| clip: float = 0.2 |
| entropy_coef: float = 0.01 |
| value_coef: float = 0.5 |
| aux_edge_coef: float = 0.10 |
| aux_distance_coef: float = 0.08 |
| ppo_teacher_coef: float = 0.25 |
| dagger_rollin_final: float = 0.0 |
| dagger_warmup_fraction: float = 0.18 |
| hidden: int = 192 |
| transformer_layers: int = 3 |
| transformer_heads: int = 4 |
| run_dir: str = "data/runs" |
| route_mode: str = "graph" |
| pillar_platforms: bool = True |
| sensor_mode: str = "ray" |
| sensor_topk: int = 16 |
| sensor_token_range: float = 9.5 |
| sensor_fov_degrees: float = 120.0 |
| sensor_token_sort: str = "index" |
| observe_progress: bool = True |
| arena_x: float = 32.0 |
| arena_y: float = 18.0 |
| lava_z: float = -0.9 |
| agent_radius: float = 0.18 |
| start_forward_fraction: float = 0.0 |
| dt: float = 0.05 |
| gravity: float = 30.0 |
| accel: float = 65.0 |
| ground_damping: float = 0.55 |
| air_damping: float = 0.91 |
| air_control: float = 0.10 |
| max_speed: float = 4.3 |
| jump_velocity: float = 7.2 |
| sprint_speed_mult: float = 1.35 |
| sprint_accel_mult: float = 1.25 |
| turn_speed: float = 3.2 |
| landing_pad_scale: float = 0.25 |
| landing_top_tolerance: float = 0.03 |
| landing_prev_slack: float = 0.12 |
| |
| physics_backend: str = "torch_fast_kinematic" |
| mujoco_substeps: int = 0 |
| platform_thickness: float = 0.24 |
| map_min_edge_gap: float = 0.66 |
| map_reach_scale: float = 0.82 |
| map_hard_fraction: float = 0.35 |
| map_route_gap_scale: float = 1.0 |
| map_route_jitter: float = 1.0 |
| map_route_lateral_fraction: float = 0.0 |
| map_route_lateral_scale: float = 0.45 |
| map_route_detour_fraction: float = 0.0 |
| map_route_detour_min: int = 3 |
| map_route_detour_max: int = 5 |
| map_route_detour_scale: float = 1.0 |
| map_braid_fraction: float = 0.0 |
| map_braid_lanes: int = 2 |
| map_braid_lane_width: float = 1.55 |
| map_braid_direct_height_bias: float = 0.38 |
| map_braid_alt_height_bias: float = 0.08 |
| map_braid_center_scale: float = 0.20 |
| map_braid_curve_scale: float = 1.00 |
| map_braid_progress_stagger: float = 0.18 |
| map_braid_height_band: float = 1.15 |
| map_braid_height_arch: float = 1.15 |
| map_braid_height_noise: float = 0.03 |
| map_braid_swap_period: int = 1 |
| map_braid_mesh_clearance: float = 0.16 |
| map_braid_style_jitter: float = 0.0 |
| map_braid_loopback_fraction: float = 0.0 |
| map_braid_loopback_period: int = 5 |
| map_braid_loopback_depth: float = 0.0 |
| map_braid_loopback_lateral: float = 0.0 |
| map_braid_loopback_height: float = 0.0 |
| map_side_gap_scale: float = 1.0 |
| map_branch_fraction: float = 0.0 |
| map_height_offset: float = 0.0 |
| map_vertical_scale: float = 1.0 |
| map_illegal_decoy_fraction: float = 0.0 |
| map_illegal_decoy_min_up: float = 0.90 |
| map_illegal_decoy_max_up: float = 1.45 |
| map_max_height: float = 2.65 |
| map_zigzag_fraction: float = 0.0 |
| map_zigzag_angle: float = 1.05 |
| map_zigzag_period: int = 1 |
| map_switchback_fraction: float = 0.0 |
| map_switchback_period: int = 4 |
| map_switchback_lane_extra_gap: float = 0.70 |
| map_overlap_cleanup_iters: int = 24 |
| map_route_tiny_fraction: float = 0.0 |
| map_route_tiny_min_scale: float = 0.44 |
| map_route_tiny_max_scale: float = 0.68 |
| map_momentum_jump_fraction: float = 0.0 |
| map_momentum_gap_bias: float = 0.82 |
| map_redirect_period: int = 0 |
| map_redirect_angle: float = 1.05 |
| map_direct_decoy_fraction: float = 0.0 |
| map_goal_xy_min: float = 0.0 |
| map_goal_xy_per_jump_min: float = 0.0 |
| map_extra_span_min_frac: float = 0.05 |
| map_extra_span_max_frac: float = 0.90 |
| map_extra_span_end_margin: float = 1.10 |
| map_route_edge_gap_floor: float = 0.0 |
| map_goal_vertical_bias: float = 0.0 |
| map_goal_vertical_bias_min: float = 0.0 |
| map_hairpin_period: int = 0 |
| map_hairpin_angle: float = 0.0 |
| map_hairpin_depth: float = 0.0 |
| map_cluster_extra_fraction: float = 0.0 |
| map_decoy_corridor_fraction: float = 0.0 |
| map_unintuitive_depth: float = 0.0 |
| map_valley_period: int = 0 |
| map_valley_depth: float = 0.0 |
| map_false_summit_fraction: float = 0.0 |
| map_false_branch_fraction: float = 0.0 |
| map_false_finish_fraction: float = 0.0 |
| map_greedy_trap_fraction: float = 0.0 |
| map_braid_bridge_fraction: float = 0.0 |
| map_braid_bridge_span: int = 3 |
| map_trap_jump_fraction: float = 0.0 |
| map_trap_jump_drop: float = 2.2 |
| map_trap_jump_min_drop: float = 0.42 |
| map_trap_jump_edge_margin: float = 0.10 |
| map_trap_jump_high_fraction: float = 0.0 |
| map_trap_jump_high_min_up: float = 0.34 |
| map_trap_jump_high_max_up: float = 1.35 |
| map_trap_jump_disguise: float = 0.0 |
| map_route_detour_period: int = 0 |
| map_route_detour_depth: float = 0.0 |
| map_backtrack_period: int = 0 |
| map_backtrack_depth: float = 0.0 |
| goal_progress_reward_scale: float = 2.0 |
| first_visit_reward: float = 0.0 |
| step_cost: float = 0.002 |
| fall_penalty: float = 8.0 |
| success_time_bonus: float = 0.0 |
| stagnation_patience_steps: int = 0 |
| stagnation_warmup_steps: int = 32 |
| stagnation_progress_epsilon: float = 0.002 |
| stagnation_penalty: float = 0.0 |
| force_choke_events: bool = True |
| clinic_success_bonus: float = 30.0 |
| clinic_centered_bonus: float = 0.6 |
| clinic_takeoff_cost: float = 0.10 |
| clinic_jump_command_cost: float = 0.0 |
| clinic_wrong_landing_cost: float = 0.90 |
| clinic_timeout_cost: float = 3.0 |
| clinic_step_cost: float = 0.006 |
| clinic_tail_fraction: float = 0.0 |
| clinic_tail_level: int = 5 |
| clinic_boundary_fraction: float = 0.0 |
| clinic_focus_fraction: float = 0.0 |
| clinic_focus_tiny_prob: float = 0.90 |
| clinic_focus_high_yaw_prob: float = 0.85 |
| clinic_focus_close_gap_prob: float = 0.50 |
|
|
| def __setstate__(self, state: object) -> None: |
| if isinstance(state, tuple) and len(state) == 2 and isinstance(state[1], dict): |
| values = state[1] |
| elif isinstance(state, dict): |
| values = state |
| else: |
| values = {} |
|
|
| fields = self.__dataclass_fields__ |
| defaults = type(self)() |
| for name in fields: |
| object.__setattr__(self, name, values.get(name, getattr(defaults, name))) |
|
|
