File size: 681 Bytes
358589c b1b0cc4 358589c 38ded9b 358589c b1b0cc4 358589c b1b0cc4 358589c b1b0cc4 358589c b1b0cc4 358589c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | general:
name: "torque_model_21"
environment:
model: "./models/mujoco_model_torque.xml"
kinematics: "./data/reachset_1/adjusted_kinematics_1.csv"
w_bone_diff: 100.0
w_elbow: 1.0
w_paw: 1.0
w_effort: 0.0
w_jitter: 0.0
w_action: 0.0005375
control_dt: 0.006666666
n_substeps: 16
policy:
lstm_hidden_size: 32
n_lstm_layers: 1
net_arch_pi: [16, 8]
net_arch_vf: [16, 8]
algorithm:
learning_rate: 0.0001
n_steps: 256
batch_size: 256
n_epochs: 20
gamma: 0.99
gae_lambda: 0.95
clip_range: 0.2
clip_range_vf: 0.2
ent_coef: 0.0
vf_coef: 0.5
max_grad_norm: 0.5
training:
timesteps: 3_000_000
num_envs: 16
testing:
slowmo: 0.1 |