60 lines
1.2 KiB
YAML
60 lines
1.2 KiB
YAML
params:
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seed: 42
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algo:
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name: a2c_continuous
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model:
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name: continuous_a2c_logstd
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network:
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name: actor_critic
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separate: False
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space:
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continuous:
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mu_activation: None
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sigma_activation: None
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mu_init:
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name: default
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sigma_init:
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name: const_initializer
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val: 0
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fixed_sigma: True
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mlp:
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units: [512, 256, 128]
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activation: relu
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d2rl: False
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initializer:
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name: default
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config:
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name: T1_Walking
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env_name: rlgym # Isaac Lab 包装器
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multi_gpu: False
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ppo: True
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mixed_precision: True
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normalize_input: True
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normalize_value: True
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value_bootstrap: True
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num_actors: 32768 # 同时训练的机器人数量
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reward_shaper:
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scale_value: 1.0
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normalize_advantage: True
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gamma: 0.96
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tau: 0.95
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learning_rate: 5e-4
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lr_schedule: adaptive
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kl_threshold: 0.013
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score_to_win: 20000
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max_epochs: 500000
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save_best_after: 50
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save_frequency: 100
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grad_norm: 1.0
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entropy_coef: 0.02
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truncate_grads: True
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bounds_loss_coef: 0.001
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e_clip: 0.2
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horizon_length: 32
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minibatch_size: 16384
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mini_epochs: 4
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critic_coef: 2
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clip_value: True |