137 lines
2.5 KiB
YAML
137 lines
2.5 KiB
YAML
defaults:
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logdir: null
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traindir: null
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evaldir: null
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offline_traindir: ''
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offline_evaldir: ''
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seed: 0
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steps: 5e5
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eval_every: 1e4
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log_every: 1e4
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reset_every: 0
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#gpu_growth: True
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device: 'cuda:0'
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precision: 16
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debug: False
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expl_gifs: False
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# Environment
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task: 'dmc_walker_walk'
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size: [64, 64]
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envs: 1
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action_repeat: 2
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time_limit: 1000
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grayscale: False
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prefill: 2500
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eval_noise: 0.0
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reward_trans: 'symlog'
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obs_trans: 'normalize'
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critic_trans: 'symlog'
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reward_EMA: True
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# Model
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dyn_cell: 'gru_layer_norm'
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dyn_hidden: 512
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dyn_deter: 512
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dyn_stoch: 32
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dyn_discrete: 32
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dyn_input_layers: 1
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dyn_output_layers: 1
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dyn_rec_depth: 1
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dyn_shared: False
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dyn_mean_act: 'none'
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dyn_std_act: 'sigmoid2'
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dyn_min_std: 0.1
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dyn_temp_post: True
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grad_heads: ['image', 'reward', 'discount']
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units: 256
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reward_layers: 2
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discount_layers: 2
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value_layers: 2
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actor_layers: 2
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act: 'SiLU'
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norm: 'LayerNorm'
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cnn_depth: 32
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encoder_kernels: [3, 3, 3, 3]
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decoder_kernels: [3, 3, 3, 3]
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# changed here
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value_head: 'twohot'
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reward_head: 'twohot'
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kl_lscale: '0.1'
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kl_rscale: '0.5'
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kl_free: '1.0'
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kl_forward: False
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pred_discount: True
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discount_scale: 1.0
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reward_scale: 1.0
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weight_decay: 0.0
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unimix_ratio: 0.01
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# Training
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batch_size: 16
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batch_length: 64
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train_every: 5
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train_steps: 1
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pretrain: 100
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model_lr: 1e-4
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opt_eps: 1e-8
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grad_clip: 1000
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value_lr: 3e-5
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actor_lr: 3e-5
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ac_opt_eps: 1e-5
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value_grad_clip: 100
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actor_grad_clip: 100
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dataset_size: 0
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oversample_ends: False
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slow_value_target: True
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slow_actor_target: True
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slow_target_update: 50
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slow_target_fraction: 0.01
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opt: 'adam'
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# Behavior.
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discount: 0.997
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discount_lambda: 0.95
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imag_horizon: 15
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imag_gradient: 'dynamics'
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imag_gradient_mix: '0.1'
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imag_sample: True
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actor_dist: 'trunc_normal'
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actor_entropy: '3e-4'
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actor_state_entropy: 0.0
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actor_init_std: 1.0
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actor_min_std: 0.1
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actor_disc: 5
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actor_temp: 0.1
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actor_outscale: 0.0
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expl_amount: 0.0
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eval_state_mean: False
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collect_dyn_sample: True
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behavior_stop_grad: True
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value_decay: 0.0
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future_entropy: False
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# Exploration
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expl_behavior: 'greedy'
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expl_until: 0
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expl_extr_scale: 0.0
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expl_intr_scale: 1.0
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disag_target: 'stoch'
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disag_log: True
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disag_models: 10
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disag_offset: 1
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disag_layers: 4
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disag_units: 400
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disag_action_cond: False
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debug:
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debug: True
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pretrain: 1
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prefill: 1
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train_steps: 1
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batch_size: 10
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batch_length: 20
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