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Merge branch 'benchmark' of github.com:middleyuan/safe-control-gym in…
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examples/rl/config_overrides/quadrotor_2D_attitude/dppo_quadrotor_2D_attitude.yaml
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83 changes: 41 additions & 42 deletions
83
examples/rl/config_overrides/quadrotor_2D_attitude/ppo_quadrotor_2D_attitude.yaml
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algo_config: | ||
# model args | ||
hidden_dim: 128 | ||
activation: "tanh" | ||
algo_config: | ||
# model args | ||
hidden_dim: 128 | ||
activation: "tanh" | ||
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||
# loss args | ||
gamma: 0.98 | ||
use_gae: True | ||
gae_lambda: 0.92 | ||
clip_param: 0.2 | ||
target_kl: 1.0e-2 | ||
entropy_coef: 0.01 | ||
# loss args | ||
gamma: 0.98 | ||
use_gae: True | ||
gae_lambda: 0.92 | ||
clip_param: 0.2 | ||
target_kl: 1.0e-2 | ||
entropy_coef: 0.005 | ||
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||
# optim args | ||
opt_epochs: 20 | ||
mini_batch_size: 256 | ||
actor_lr: 0.001 | ||
critic_lr: 0.001 | ||
# optim args | ||
opt_epochs: 20 | ||
mini_batch_size: 256 | ||
actor_lr: 0.001 | ||
critic_lr: 0.001 | ||
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||
# runner args | ||
max_env_steps: 396000 | ||
rollout_batch_size: 5 | ||
rollout_steps: 660 | ||
eval_batch_size: 10 | ||
# runner args | ||
max_env_steps: 660000 | ||
rollout_batch_size: 5 | ||
rollout_steps: 660 | ||
eval_batch_size: 10 | ||
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||
# misc | ||
log_interval: 6600 | ||
save_interval: 660000 | ||
num_checkpoints: 0 | ||
eval_interval: 6600 | ||
eval_save_best: True | ||
tensorboard: False | ||
# misc | ||
log_interval: 13200 | ||
save_interval: 660000 | ||
num_checkpoints: 0 | ||
eval_interval: 13200 | ||
eval_save_best: True | ||
tensorboard: False | ||
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||
#algo_config: | ||
# # model args | ||
# hidden_dim: 128 | ||
# activation: "relu" | ||
# hidden_dim: 8 | ||
# activation: "tanh" | ||
# | ||
# # loss args | ||
# gamma: 0.98 | ||
# use_gae: True # or False | ||
# gae_lambda: 0.92 | ||
# use_clipped_value: False # or True | ||
# clip_param: 0.1 | ||
# target_kl: 1.0e-5 | ||
# entropy_coef: 0.003 | ||
# use_gae: True | ||
# gae_lambda: 0.9 | ||
# clip_param: 0.2 | ||
# target_kl: 2.32e-2 | ||
# entropy_coef: 0.09 | ||
# | ||
# # optim args | ||
# opt_epochs: 25 | ||
# opt_epochs: 20 | ||
# mini_batch_size: 256 | ||
# actor_lr: 7.2e-5 | ||
# critic_lr: 0.0266 | ||
# actor_lr: 0.0012 | ||
# critic_lr: 0.0012 | ||
# | ||
# # runner args | ||
# max_env_steps: 216000 | ||
# max_env_steps: 660000 | ||
# rollout_batch_size: 5 | ||
# rollout_steps: 660 | ||
# eval_batch_size: 10 | ||
# | ||
# # misc | ||
# log_interval: 6600 | ||
# log_interval: 13200 | ||
# save_interval: 660000 | ||
# num_checkpoints: 0 | ||
# eval_interval: 6600 | ||
# eval_interval: 13200 | ||
# eval_save_best: True | ||
# tensorboard: False |
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