isaacgym_humanoid / cfg.json
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{
"help": false,
"algo": "APPO",
"env": "Humanoid",
"experiment": "11_v079_basic_ige_see_7919506_env_Humanoid_u.rnn_True_rec_16",
"train_dir": "./train_dir/v079_basic_ige/v079_basic_ige_slurm",
"restart_behavior": "resume",
"device": "gpu",
"seed": 7919506,
"num_policies": 1,
"async_rl": false,
"serial_mode": true,
"batched_sampling": true,
"num_batches_to_accumulate": 2,
"worker_num_splits": 1,
"policy_workers_per_policy": 1,
"max_policy_lag": 1000,
"num_workers": 1,
"num_envs_per_worker": 1,
"batch_size": 32768,
"num_batches_per_epoch": 4,
"num_epochs": 5,
"rollout": 32,
"recurrence": 16,
"shuffle_minibatches": false,
"gamma": 0.99,
"reward_scale": 0.01,
"reward_clip": 1000.0,
"value_bootstrap": true,
"normalize_returns": true,
"exploration_loss_coeff": 0.0,
"value_loss_coeff": 4.0,
"kl_loss_coeff": 0.0,
"exploration_loss": "entropy",
"gae_lambda": 0.95,
"ppo_clip_ratio": 0.2,
"ppo_clip_value": 1.0,
"with_vtrace": false,
"vtrace_rho": 1.0,
"vtrace_c": 1.0,
"optimizer": "adam",
"adam_eps": 1e-06,
"adam_beta1": 0.9,
"adam_beta2": 0.999,
"max_grad_norm": 1.0,
"learning_rate": 0.0003,
"lr_schedule": "kl_adaptive_epoch",
"lr_schedule_kl_threshold": 0.008,
"obs_subtract_mean": 0.0,
"obs_scale": 1.0,
"normalize_input": true,
"normalize_input_keys": null,
"decorrelate_experience_max_seconds": 0,
"decorrelate_envs_on_one_worker": true,
"actor_worker_gpus": [
0
],
"set_workers_cpu_affinity": true,
"force_envs_single_thread": false,
"default_niceness": 0,
"log_to_file": true,
"experiment_summaries_interval": 3,
"flush_summaries_interval": 30,
"stats_avg": 100,
"summaries_use_frameskip": true,
"heartbeat_interval": 10,
"heartbeat_reporting_interval": 60,
"train_for_env_steps": 100000000,
"train_for_seconds": 10000000000,
"save_every_sec": 15,
"keep_checkpoints": 2,
"load_checkpoint_kind": "latest",
"save_milestones_sec": -1,
"save_best_every_sec": 5,
"save_best_metric": "reward",
"save_best_after": 5000000,
"benchmark": false,
"encoder_mlp_layers": [
400,
200,
100
],
"encoder_conv_architecture": "convnet_simple",
"encoder_conv_mlp_layers": [
512
],
"use_rnn": true,
"rnn_size": 512,
"rnn_type": "gru",
"rnn_num_layers": 1,
"decoder_mlp_layers": [],
"nonlinearity": "elu",
"policy_initialization": "torch_default",
"policy_init_gain": 1.0,
"actor_critic_share_weights": true,
"adaptive_stddev": false,
"continuous_tanh_scale": 0.0,
"initial_stddev": 1.0,
"use_env_info_cache": true,
"env_gpu_actions": true,
"env_gpu_observations": true,
"env_frameskip": 1,
"env_framestack": 1,
"pixel_format": "CHW",
"use_record_episode_statistics": false,
"with_wandb": true,
"wandb_user": null,
"wandb_project": "sample_factory",
"wandb_group": "sf2_v079_basic_ige",
"wandb_job_type": "SF",
"wandb_tags": [
"v079_basic_ige"
],
"with_pbt": false,
"pbt_mix_policies_in_one_env": true,
"pbt_period_env_steps": 5000000,
"pbt_start_mutation": 20000000,
"pbt_replace_fraction": 0.3,
"pbt_mutation_rate": 0.15,
"pbt_replace_reward_gap": 0.1,
"pbt_replace_reward_gap_absolute": 1e-06,
"pbt_optimize_gamma": false,
"pbt_target_objective": "true_objective",
"pbt_perturb_min": 1.1,
"pbt_perturb_max": 1.5,
"env_agents": -1,
"obs_key": "obs",
"subtask": null,
"ige_api_version": "preview4",
"eval_stats": false,
"command_line": "--actor_worker_gpus 0 --wandb_project=sample_factory --train_for_env_steps=100000000 --with_wandb=True --wandb_tags v079_basic_ige --wandb_group=sf2_v079_basic_ige --seed=7919506 --env=Humanoid --use_rnn=True --recurrence=16 --experiment=11_v079_basic_ige_see_7919506_env_Humanoid_u.rnn_True_rec_16 --train_dir=./train_dir/v079_basic_ige/v079_basic_ige_slurm",
"cli_args": {
"env": "Humanoid",
"experiment": "11_v079_basic_ige_see_7919506_env_Humanoid_u.rnn_True_rec_16",
"train_dir": "./train_dir/v079_basic_ige/v079_basic_ige_slurm",
"seed": 7919506,
"recurrence": 16,
"actor_worker_gpus": [
0
],
"train_for_env_steps": 100000000,
"use_rnn": true,
"with_wandb": true,
"wandb_project": "sample_factory",
"wandb_group": "sf2_v079_basic_ige",
"wandb_tags": [
"v079_basic_ige"
]
},
"git_hash": "0b1d3fc4f93b814b0987f4f5ac91119ac2078725",
"git_repo_name": "https://github.com/andrewzhang505/sample-factory.git",
"train_script": "sf_examples.isaacgym_examples.train_isaacgym",
"wandb_unique_id": "11_v079_basic_ige_see_7919506_env_Humanoid_u.rnn_True_rec_16_20221128_155611_975079"
}