realman_sac / config.json
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{
"type": "sac",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MIN_MAX",
"ENV": "MIN_MAX",
"ACTION": "MIN_MAX"
},
"input_features": {
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"shape": [
3,
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]
},
"observation.images.wrist": {
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3,
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]
},
"observation.state": {
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}
},
"output_features": {
"action": {
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"shape": [
3
]
}
},
"device": "cuda",
"use_amp": false,
"push_to_hub": true,
"repo_id": "yfynb1111/realman_sac",
"private": null,
"tags": null,
"license": null,
"dataset_stats": {
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"observation.images.wrist": {
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}
},
"storage_device": "cpu",
"vision_encoder_name": "helper2424/resnet10",
"freeze_vision_encoder": true,
"image_encoder_hidden_dim": 32,
"shared_encoder": true,
"num_discrete_actions": 3,
"image_embedding_pooling_dim": 8,
"online_steps": 1000000,
"online_env_seed": 10000,
"online_buffer_capacity": 80000,
"offline_buffer_capacity": 50000,
"async_prefetch": false,
"online_step_before_learning": 100,
"policy_update_freq": 1,
"discount": 0.97,
"temperature_init": 0.01,
"num_critics": 2,
"num_subsample_critics": null,
"critic_lr": 0.0003,
"actor_lr": 0.0003,
"temperature_lr": 0.0003,
"critic_target_update_weight": 0.005,
"utd_ratio": 2,
"state_encoder_hidden_dim": 256,
"latent_dim": 256,
"target_entropy": null,
"use_backup_entropy": true,
"grad_clip_norm": 10.0,
"critic_network_kwargs": {
"hidden_dims": [
256,
256
],
"activate_final": true,
"final_activation": null
},
"actor_network_kwargs": {
"hidden_dims": [
256,
256
],
"activate_final": true
},
"policy_kwargs": {
"use_tanh_squash": true,
"std_min": -5.0,
"std_max": 2.0,
"init_final": 0.05
},
"discrete_critic_network_kwargs": {
"hidden_dims": [
256,
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],
"activate_final": true,
"final_activation": null
},
"actor_learner_config": {
"learner_host": "127.0.0.1",
"learner_port": 50051,
"policy_parameters_push_frequency": 4,
"queue_get_timeout": 2.0
},
"concurrency": {
"actor": "threads",
"learner": "threads"
},
"use_torch_compile": true
}